阅读说明：本技术 张紧液压系统、行走机械和行走机械的履带张紧方法 (Tensioning hydraulic system, traveling machine, and crawler tensioning method for traveling machine ) 是由 李天富 李顺 陈嫦 于 2021-08-25 设计创作，主要内容包括：本申请提供了一种张紧液压系统、行走机械和行走机械的履带张紧方法。张紧液压系统包括：张紧油缸,用于提供张紧力；蓄能器；张紧阀组,两端分别与张紧油缸和蓄能器连接,张紧阀组具有第一工作模式和第二工作模式,其中,在第一工作模式下,油液通过张紧阀组自由流通,在第二工作模式下,张紧油缸的油压大于第一预设压力时,油液从张紧油缸流向蓄能器。本方案提供的张紧液压系统,其张紧阀组具有两种工作模式,使得张紧液压系统能够根据行走机械的行驶状态,对张紧压力进行主动的调节,既能够保证履带具有足够的张紧力,又能够减少履带及其相关部件受力过大易于磨损和损坏的情况,延长履带及其相关部件的使用寿命。(The application provides a tensioning hydraulic system, a walking machine and a track tensioning method of the walking machine. The tensioning hydraulic system comprises: the tensioning oil cylinder is used for providing tensioning force; an accumulator; the tensioning valve group is connected with the tensioning oil cylinder and the energy accumulator at two ends respectively, and is provided with a first working mode and a second working mode, wherein in the first working mode, oil freely circulates through the tensioning valve group, and in the second working mode, when the oil pressure of the tensioning oil cylinder is greater than a first preset pressure, the oil flows to the energy accumulator from the tensioning oil cylinder. The tensioning hydraulic system provided by the scheme has two working modes, so that the tensioning hydraulic system can actively adjust the tensioning pressure according to the running state of the walking machine, the enough tensioning force of the crawler belt can be ensured, the conditions that the crawler belt and related parts of the crawler belt are easily abraded and damaged due to overlarge stress can be reduced, and the service lives of the crawler belt and the related parts of the crawler belt are prolonged.)

1. A tensioning hydraulic system, comprising:

the tensioning oil cylinder is used for providing tensioning force;

an accumulator;

two ends of the tensioning valve set are respectively connected with the tensioning oil cylinder and the energy accumulator, the tensioning valve set is provided with a first working mode and a second working mode,

wherein, under the first mode, fluid passes through tensioning valves free circulation under the second mode, the energy storage can be for tensioning hydro-cylinder mends oil, and when the oil pressure of tensioning hydro-cylinder is greater than first preset pressure, fluid is followed tensioning hydro-cylinder flow direction the energy storage ware.

2. The tensioning hydraulic system according to claim 1, characterized in that the tensioning valve block comprises a reversing valve and an overflow valve in parallel;

one end of the reversing valve is connected with the tensioning oil cylinder, the other end of the reversing valve is connected with the energy accumulator, one end of the overflow valve is connected with the tensioning oil cylinder, and the other end of the overflow valve is connected with the energy accumulator;

in the first working mode, the reversing valve is conducted in two directions;

and in the second working mode, the reversing valve is in one-way conduction, the oil flows to the tensioning oil cylinder along the energy accumulator through the reversing valve, and when the oil pressure of the tensioning oil cylinder is greater than the first preset pressure, the oil flows to the energy accumulator through the overflow valve.

3. The tensioning hydraulic system according to claim 2,

the reversing valve is communicated with a rodless cavity of the tensioning oil cylinder;

the reversing valve is an electromagnetic reversing valve or a hydraulic reversing valve or a manual reversing valve.

4. The tensioning hydraulic system according to any one of claims 1 to 3, characterized in that the tensioning valve group further comprises:

and the liquid filling port is connected to an oil way between the energy accumulator and the tensioning oil cylinder and is used for supplementing or releasing oil.

5. The tensioning hydraulic system according to claim 4, further comprising:

a pressure sensor for sensing pressure within the tensioning hydraulic system;

and the controller is electrically connected with the pressure sensor and the tensioning valve group and is used for controlling the opening and closing of a liquid filling port of the tensioning valve group according to the pressure sensed by the pressure sensor.

6. A mobile machine, comprising:

a walking steering system;

the crawler belt is connected with the walking steering system;

the tensioning hydraulic system of any one of claims 1 to 5, in communication with the track, the tensioning hydraulic system for tensioning the track.

7. The mobile machine of claim 6, further comprising:

the state sensor is connected with the walking steering system and used for sensing the working state of the walking steering system and judging the running state of the walking machine according to the working state of the walking steering system;

the state sensor is further connected with a controller of the tensioning hydraulic system, and the controller is further used for controlling the operation of the tensioning valve group according to the running state.

8. A track tensioning method of a walking machine, the walking machine comprises a walking steering system, a track and a tensioning hydraulic system, the tensioning hydraulic system comprises a tensioning oil cylinder, a tensioning valve group and an accumulator, and the track tensioning method comprises the following steps:

acquiring the working state of the walking steering system, and judging the running state of the walking machine according to the working state of the walking steering system, wherein the running state of the walking machine comprises the following steps: advancing, backing and steering;

determining the tensioning hydraulic system to be in a first working mode or a second working mode according to the running state of the walking machine;

if the running state is forward, determining that the tensioning hydraulic system is in a first working mode, wherein in the first working mode, oil freely circulates between the tensioning oil cylinder and the energy accumulator;

and if the driving state is backward or steering, determining that the tensioning hydraulic system is in a second working mode, wherein in the second working mode, oil flows to the tensioning oil cylinder from the energy accumulator in a one-way mode, or when the oil pressure of the tensioning oil cylinder is greater than a first preset pressure, the oil flows to the energy accumulator from the tensioning oil cylinder.

9. The track tensioning method for a mobile machine according to claim 8,

the tensioning valve group comprises a reversing valve and an overflow valve, the reversing valve and the overflow valve are connected in parallel between a tensioning oil cylinder and an energy accumulator, one end of the reversing valve is connected with the tensioning oil cylinder, the other end of the reversing valve is connected with the energy accumulator, one end of the overflow valve is connected with the tensioning oil cylinder, the other end of the overflow valve is connected with the energy accumulator, and the tensioning hydraulic system is determined to be in a first working mode, and the method specifically comprises the following steps:

controlling the reversing valve to conduct in two directions:

the determining that the tensioning hydraulic system is in the second working mode specifically includes:

and controlling the reversing valve to be in one-way conduction to enable the oil to flow from the energy accumulator to the tensioning oil cylinder through the reversing valve, or when the oil pressure of the tensioning oil cylinder is greater than a first preset pressure, enabling the oil to flow from the tensioning oil cylinder to the energy accumulator through the overflow valve.

10. The track tensioning method for a running machine according to claim 8 or 9,

the tensioning valve group further comprises a liquid filling port, the liquid filling port is arranged on an oil way between the energy accumulator and the tensioning oil cylinder, and the track tensioning method further comprises the following steps:

acquiring oil pressure in the tensioning hydraulic system;

if the oil pressure is higher than a second preset pressure, controlling the liquid filling port to be opened and releasing the oil liquid;

if the oil pressure is lower than a third preset pressure, controlling the liquid filling port to be opened, and supplementing oil to the oil way;

wherein the second preset pressure is greater than the third preset pressure.

Technical Field

The application relates to the technical field of engineering machinery, in particular to a tensioning hydraulic system, a walking machine and a track tensioning method of the walking machine.

Background

The crawler belt tensioning device is an important component in a crawler belt walking mechanical structure, can ensure that the crawler belt can keep proper tensioning force under any running working condition, avoids derailment of the crawler belt, and keeps a better working state. Meanwhile, when the crawler runs and has large impact, the crawler tensioning device can buffer and absorb the impact of the crawler, and the crawler is prevented from being broken.

In order to realize track tensioning, the existing track tensioning scheme is mainly divided into two types: mechanical spring tensioning and hydraulic ram tensioning. The mechanical spring is limited in tension due to the influence of elastic modulus parameters and cannot be adjusted according to running conditions and requirements, so that different requirements of the crawler device on the tension under different working conditions cannot be well met. Although the hydraulic oil cylinder tensioning system is relatively flexible, and oil is supplemented or returned to the hydraulic oil cylinder through the energy accumulator, most of the existing hydraulic track tensioning systems belong to passive tensioning and cannot actively adjust tensioning pressure according to working conditions, so that different requirements of a track device on the tensioning force under different working conditions cannot be met well.

Disclosure of Invention

In order to ameliorate at least one of the above technical problems, it is an object of an embodiment according to the present application to provide a tensioning hydraulic system.

It is another object according to embodiments of the present application to provide a walking machine.

It is a further object of an embodiment according to the present application to provide a track tensioning method of a mobile machine.

To achieve the above object, an embodiment according to a first aspect of the present application provides a tensioning hydraulic system, including: the tensioning oil cylinder is used for providing tensioning force; an accumulator; the tensioning valve group is connected with the tensioning oil cylinder and the energy accumulator at two ends respectively, the tensioning valve group is provided with a first working mode and a second working mode, wherein oil freely circulates through the tensioning valve group in the first working mode, the energy accumulator can supplement oil for the tensioning oil cylinder in the second working mode, and the oil flows to the energy accumulator from the tensioning oil cylinder when the oil pressure of the tensioning oil cylinder is greater than a first preset pressure.

Embodiments according to a second aspect of the present application provide a walking machine comprising: a walking steering system; the crawler belt is connected with the walking steering system; the tensioning hydraulic system of any one of the embodiments of the first aspect described above, in communication with the track, the tensioning hydraulic system for tensioning the track.

According to the third aspect of the application, the embodiment provides a track tensioning method for a walking machine, the walking machine comprises a walking steering system, a track and a tensioning hydraulic system, the tensioning hydraulic system comprises a tensioning oil cylinder, a tensioning valve group and an energy accumulator, and the track tensioning method comprises the following steps: acquiring the working state of a walking steering system, and judging the running state of the walking machine according to the working state of the walking steering system, wherein the running state of the walking machine comprises the following steps: advancing, backing and steering; determining that the tensioning hydraulic system is in a first working mode or a second working mode according to the running state of the walking machine; if the driving state is forward, determining that the tensioning hydraulic system is in a first working mode, wherein in the first working mode, oil freely circulates between the tensioning oil cylinder and the energy accumulator; and if the driving state is backward or steering, determining that the tensioning hydraulic system is in a second working mode, wherein in the second working mode, the oil flows to the tensioning oil cylinder from the energy accumulator in a one-way mode, or when the oil pressure of the tensioning oil cylinder is greater than a first preset pressure, the oil flows to the energy accumulator from the tensioning oil cylinder.

An embodiment according to the fourth aspect of the present application provides a walking machine, where the walking machine includes a walking steering system, a track, and a tensioning hydraulic system, the tensioning hydraulic system includes a tensioning cylinder, a tensioning valve set, and an energy accumulator, and the walking machine further includes: the acquisition module is used for acquiring the working state of the walking steering system and judging the running state of the walking machine according to the working state of the walking steering system, and the running state of the walking machine comprises: advancing, backing and steering; the determining module is used for determining that the tensioning hydraulic system is in a first working mode or a second working mode according to the running state of the walking machine; if the driving state is forward, determining that the tensioning hydraulic system is in a first working mode, wherein in the first working mode, oil freely circulates between the tensioning oil cylinder and the energy accumulator; and if the driving state is backward or steering, determining that the tensioning hydraulic system is in a second working mode, wherein in the second working mode, the oil flows to the tensioning oil cylinder from the energy accumulator in a one-way mode, and when the oil pressure of the tensioning hydraulic system is greater than the first preset pressure, the oil flows to the energy accumulator from the tensioning oil cylinder.

An embodiment according to a fifth aspect of the present application provides a walking machine, comprising: a memory having stored thereon a program or instructions executable on the processor, the processor when executing the program or instructions implementing the steps of the track tensioning method of the mobile machine of any one of the embodiments of the third aspect.

Embodiments according to a sixth aspect of the present application provide a readable storage medium, and a program or instructions, when executed by a processor, implement the steps of the track tensioning method of a mobile machine according to any one of the above-mentioned third aspects.

In the embodiments of the present application, the tension valve block has two modes of operation. In a first working mode, oil can freely circulate through the tensioning valve group, accordingly, the stroke of the tensioning oil cylinder can change along with the fluctuation of the load, and the oil can flow to be absorbed by the energy accumulator when the load is large, so that the tensioning hydraulic system has remarkable buffering performance, and flexible tensioning is realized. Under the condition of flexible tensioning, the flexible tensioning force can be provided, derailment of a tensioned part is avoided, the continuous high-pressure tensioning condition of the tensioned part can be effectively improved, abrasion of the relevant tensioning part is reduced, and the service life of the tensioning part is prolonged. In the second working mode, only when the oil pressure of the tensioning oil cylinder is greater than the first preset pressure, the oil can flow to the energy accumulator from the tensioning oil cylinder, so that the stroke of the tensioning oil cylinder is kept unchanged to a certain extent even if external impact is applied, and rigid tensioning is realized. Under the condition of rigid tensioning, the maximum tensioning force requirement of the tensioned part can be always met, and derailment of the tensioned part is avoided. In conclusion, through the arrangement of the tensioning valve group with two working modes, the tensioning hydraulic system can actively adjust the tensioning pressure according to the working condition or the driving state of the walking machine, so that the tensioned part can be ensured to have enough tensioning force, the situation that the tensioned part and related parts thereof are easily worn and damaged due to overlarge stress can be reduced, and the service life of the tensioned part and related parts thereof can be prolonged.

Additional aspects and advantages of embodiments in accordance with the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments in accordance with the present application.

Drawings

The above and/or additional aspects and advantages of embodiments according to the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of a tensioning hydraulic system according to one embodiment of the present application;

FIG. 2 is a schematic structural diagram of a tensioning hydraulic system according to another embodiment of the present application;

FIG. 3 is a schematic structural diagram of a tensioning hydraulic system according to yet another embodiment of the present application;

FIG. 4 is a block diagram illustrating the structure of a mobile machine according to an embodiment of the present application;

FIG. 5 is a block diagram schematically illustrating the structure of a walking machine according to another embodiment of the present application;

FIG. 6 is a block diagram schematically illustrating the structure of a walking machine according to yet another embodiment of the present application;

FIG. 7 is a schematic workflow diagram of a track tensioning method of a mobile machine according to one embodiment of the present application;

FIG. 8 is a schematic workflow diagram of a track tensioning method of a mobile machine according to another embodiment of the present application;

FIG. 9 is a schematic workflow diagram of a track tensioning method of a mobile machine according to yet another embodiment of the present application;

FIG. 10 is a schematic diagram of the operating logic of a mobile machine according to one embodiment of the present application.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 6 is:

the system comprises a tensioning hydraulic system 1, a tensioning oil cylinder 10, an energy accumulator 12, a tensioning valve group 14, an electromagnetic reversing valve 140, an overflow valve 142, a liquid filling port 144, a manual reversing valve 146, a hydraulic reversing valve 148, a walking machine 2, a crawler belt 20, an acquisition module 22, a determination module 24, a storage 26, a processor 28 and a walking steering system 29.

Detailed Description

In order that the above objects, features and advantages of embodiments according to the present application may be more clearly understood, embodiments according to the present application will be described in further detail below with reference to the accompanying drawings and detailed description. It should be noted that features of the various embodiments according to the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth to provide a thorough understanding of embodiments according to the present application, however, embodiments according to the present application may be practiced in other ways than those described herein, and therefore the scope of embodiments according to the present application is not limited by the specific embodiments disclosed below.

Some embodiments provided in accordance with the present application are described below with reference to fig. 1-10.

As shown in fig. 1 to 6, an embodiment according to a first aspect of the present application provides a tensioning hydraulic system 1, including a tensioning cylinder 10, an accumulator 12 and a tensioning valve group 14. The tensioning valve group 14 is arranged between the energy accumulator 12 and the tensioning oil cylinder 10 and is respectively connected with the energy accumulator 12 and the tensioning oil cylinder 10. The tensioning cylinder 10 is used to provide tensioning force. The accumulator 12 is used for maintaining pressure, absorbing or supplementing oil for the tensioning cylinder 10 through the tensioning valve group 14.

Further, the tension valve pack 14 has a first operating mode and a second operating mode. Depending on the driving state of the travel machine 2, the tensioning valve group 14 can be switched to different operating modes. Specifically, in the first mode of operation, oil is free to circulate through the tension valve block 14. I.e. oil can flow freely between the accumulator 12 and the tensioning cylinder 10. Accordingly, the stroke of the tensioning oil cylinder 10 can be changed along with the fluctuation of the load, and when the load is large, the oil can flow to be absorbed by the energy accumulator 12, so that the tensioning hydraulic system 1 has remarkable buffering performance, and flexible tensioning is realized. Under the condition of flexible tensioning, the flexible tensioning force can be provided, derailment of the tensioned part is avoided, the continuous high-pressure tensioning condition of the tensioned part can be effectively improved, abrasion of the relevant tensioning part is reduced, and the service life of the tensioning part is prolonged.

In the second operating mode, when the oil pressure of the tensioning cylinder 10 is greater than the first preset pressure, oil can flow from the tensioning cylinder 10 to the accumulator 12. Thus, the stroke of the tensioning cylinder 10 is kept constant to a certain extent even if external impact is applied, and rigid tensioning is realized. Under the condition of rigid tensioning, the maximum tensioning force requirement of the tensioned part can be always met, and derailment of the tensioned part is avoided.

In summary, by the arrangement of the tensioning valve group 14 having two operation modes, when the tensioning hydraulic system 1 of the present application is applied to the traveling machine 2, the tensioning hydraulic system 1 can actively adjust the tensioning pressure according to the traveling state of the traveling machine 2, so as to ensure that the tensioned component has a sufficient tensioning force, reduce the situation that the tensioned component and the related components thereof are subjected to an excessive stress and are easily worn and damaged, and prolong the service life of the tensioned component and the related components thereof.

In some embodiments, the tensioned component is a track 20. In other embodiments, the tensioned member is a chain or belt. The tensioning hydraulic system 1 will be further explained below taking the crawler belt 20 as an example.

In some embodiments, the tension valve bank 14 includes a reversing valve. The reversing valve has two working modes of one-way conduction and two-way conduction. It will be appreciated that the reversing valve is connected at each end to the tensioning cylinder 10 and the accumulator 12 respectively. Alternatively, one end of the directional valve is connected to the tensioning cylinder 10. The other of the directional valves is connected to the accumulator 12. In the first working mode, the reversing valve is conducted in two directions. The bidirectional conducting reversing valve enables oil to flow from the energy accumulator 12 to the tensioning oil cylinder 10 through the reversing valve and also enables the oil to flow from the tensioning oil cylinder 10 to the energy accumulator 12 through the reversing valve, so that flexible tensioning of the crawler 20 is achieved when load impact occurs.

As shown in fig. 1, 2 and 3, in the above embodiment, the direction change valve may be any one of the electromagnetic direction change valve 140, the manual direction change valve 146 and the hydraulic direction change valve 148. The electromagnetic directional valve 140 will be described below as an example.

For example, the directional valve is a two-position, two-way solenoid directional valve 140. When the reversing valve is electrified, the two-way conduction is realized. Oil can freely circulate between the accumulator 12 and the tensioning cylinder 10.

Further, the tension valve block 14 also includes an overflow valve 142. Two ends of the overflow valve 142 are respectively connected with the tensioning cylinder 10 and the accumulator 12. I.e., the spill valve 142 and the reversing valve are connected in parallel. More specifically, one end of the relief valve 142 is connected to the tensioning cylinder 10, and the other end of the relief valve 142 is connected to the accumulator 12. Thus, the oil can flow through the relief valve 142 and also through the selector valve. Specifically, in the second operation mode, when the oil pressure of the tensioning cylinder 10 is greater than the first preset pressure, the relief valve 142 is opened, and the oil flows toward the accumulator 12 through the relief valve 142. At this time, the tension force on the tensioning cylinder 10 is reduced, which reduces the stress on the caterpillar band 20 and the corresponding parts thereof, and is beneficial to prolonging the service life of the caterpillar band 20 and the corresponding parts thereof. Or the reversing valve is in one-way conduction. The one-way switching valve is similar to a one-way valve, so that oil can only flow along the energy accumulator 12 to the tensioning cylinder 10 via the switching valve. Thus, in the second operating mode, the oil can still flow in both directions, and pressure maintaining, oil supplementing and oil releasing in the tensioning cylinder 10 are realized. However, when the flow directions are different, the paths through which the oil flows are different. The oil flows from the tensioning cylinder 10 to the accumulator 12, and the oil pressure of the tensioning cylinder 10 is first required to exceed a first preset pressure, so that the oil can flow into the overflow valve 142. In this way, when the oil pressure does not exceed the first preset pressure, the tensioning cylinder 10 maintains the same oil pressure and corresponding stroke to tension the track 20, i.e. performs rigid tensioning, regardless of whether an impact is received or not. When the oil pressure exceeds the first preset pressure, the overflow valve 142 is opened, and the oil flows out from the tensioning cylinder 10 to be decompressed. When the oil pressure of the tensioning oil cylinder 10 is too low to tension the caterpillar band 20, the oil can flow from the energy accumulator 12 to the tensioning oil cylinder 10 through the one-way conduction reversing valve, the oil pressure and the stroke of the tensioning oil cylinder 10 are changed, and the caterpillar band 20 is tensioned again.

It will be appreciated that the reversing valve communicates with the rodless chamber of the tensioning cylinder 10. The reversing valve is in communication with the rodless cavity, so that when the crawler belt 20 is subjected to external impact, the piston rod is pushed to drive the oil in the rodless cavity to flow out of the tensioning cylinder 10 and then to the accumulator 12 through the reversing valve or the overflow valve 142. Or, when the tension on the track 20 is small, the oil flows from the energy accumulator 12 to the rodless cavity through the reversing valve, and pushes the piston of the tensioning oil cylinder 10 to move towards the direction of the rod cavity, so that the track 20 is tensioned.

In some embodiments, tension valve pack 14 also includes a fill port 144. The fluid charging port 144 is used to supply oil to the oil passage of the tensioning hydraulic system 1. Of course, the fill port 144 may also release oil. Therefore, when the pressure on the oil path is too small, oil can be supplemented through the liquid filling port 144, and the tension force of the tension oil cylinder 10 is ensured. When the pressure on the oil circuit is too high, part of the oil can be released through the liquid filling port 144, and the crawler 20 is prevented from being damaged due to too high tension. It will be appreciated that the charge port 144 is connected to the oil path between the accumulator 12 and the tensioning cylinder 10. For example, the fill port 144 is connected between the accumulator 12 and the reversing valve. Or the fluid charging port 144 is connected to the oil path between the relief valve 142 and the tensioner cylinder 10.

The number of the liquid filling ports 144 may be one or more. For example, two fill ports 144 are provided, one for replenishment oil only and the other for release oil only.

In some embodiments, tensioning hydraulic system 1 also includes a pressure sensor and a controller. The pressure sensor is electrically connected with the controller. The pressure sensor is used to sense the pressure in the tensioning hydraulic system 1 in order to determine whether the fluid charging port 144 needs to be opened for fluid charging or fluid discharge.

It will be appreciated that the pressure sensor is connected to a controller, which is also electrically connected to the tension valve pack 14. Thus, the controller can control the opening and closing of the liquid filling port 144 of the tension valve group 14 according to the pressure sensed by the pressure sensor, so as to achieve the purpose of liquid filling or liquid supplementing.

In other embodiments, unlike the embodiments described above, tensioning valve block 14 may also include a relief valve 142, a check valve, and a conventional solenoid valve. The overflow valve 142, the one-way valve and the electromagnetic valve are connected in parallel, or two ends of the overflow valve 142, the one-way valve and the electromagnetic valve are respectively connected with the energy accumulator 12 and the tensioning oil cylinder 10. In a first working mode, the conventional electromagnetic valve is opened to realize bidirectional conduction. In the second operating mode, the solenoid valve is closed and oil can only flow through the overflow valve 142 or the check valve. It will be appreciated that the inlet end of the check valve is connected to the accumulator 12 and the outlet end of the check valve is connected to the tensioning cylinder 10. In the second operation mode, when the oil pressure of the tensioning cylinder 10 exceeds the first preset pressure, the oil flows from the tensioning cylinder 10 to the accumulator 12 through the relief valve 142. When the oil pressure of the tensioning cylinder 10 is lower than the oil pressure of the accumulator 12, the oil flows to the tensioning cylinder 10 through the check valve. Conventional solenoid valves, that is, solenoid valves having only opening and closing functions, and solenoid valves having no functions of reversing, controlling opening, and the like.

In still other embodiments, the tensioning valve set 14 includes any one of, or a combination of: butterfly valve, ball valve, single seat governing valve. The opening of the valves can be adjusted by adopting butterfly valves, ball valves or single-seat adjusting valves.

As shown in fig. 4, an embodiment according to a second aspect of the present application provides a walking machine 2, the walking machine 2 comprising a walking steering system 29, a track 20 and a tensioning hydraulic system 1 as described in any one of the embodiments of the first aspect above. The tracks 20 are connected to a walk steering system 29. The tensioning hydraulic system 1 is connected to the track 20. The tensioning hydraulic system 1 achieves tensioning of the track 20 through stroke change of the tensioning cylinder 10.

In this embodiment, by adopting the tensioning hydraulic system 1 according to any one of the embodiments of the first aspect, all the beneficial technical effects of the embodiments are achieved, and are not described herein again. The crawler belt 20 is connected with the walking steering system 29 and the tensioning hydraulic system 1, so that the crawler belt 20 can be kept tensioned when walking and steering.

The traveling machine 2 may be any one of a paver, an excavator, a tractor, and a pile driver.

In the above embodiment, the tensioning hydraulic system 1 further includes a state sensor. The condition sensor is electrically connected to a controller of the tensioning hydraulic system 1. The state sensor is used for sensing the operating state of the walking steering system 29 and determining the running state of the running machine 2 according to the operating state of the walking steering system 29. Through the connection of the controller and the state sensor, the operation of the tensioning valve group 14 can be controlled according to the running state of the walking machine 2, so that the working mode of the tensioning hydraulic system 1 can be automatically switched. Therefore, automatic control of the tensioning hydraulic system 1 is facilitated, the tensioning force of the crawler 20 is adjusted rapidly in time according to the running state of the walking machine 2, derailment of the crawler 20 is avoided, and the condition that the service lives of components such as the crawler 20 are affected due to over tensioning of the crawler 20 can be reduced.

As shown in fig. 7, an embodiment according to a third aspect of the present application provides a track tensioning method for a running machine, the running machine including a running steering system, a track, and a tensioning hydraulic system, the tensioning hydraulic system including a tensioning cylinder, a tensioning valve group, and an accumulator, the track tensioning method including:

step S100: acquiring the working state of a walking steering system, and judging the running state of the walking machine according to the working state of the walking steering system, wherein the running state of the walking machine comprises the following steps: advancing, backing and steering;

step S102: determining that the tensioning hydraulic system is in a first working mode or a second working mode according to the running state of the walking machine;

step S104: if the working state is forward, determining that the tensioning hydraulic system is in a first working mode, wherein in the first working mode, oil freely circulates between the tensioning oil cylinder and the energy accumulator;

step S106: and if the driving state is backward or steering, determining that the tensioning hydraulic system is in a second working mode, wherein in the second working mode, the oil flows to the tensioning oil cylinder from the energy accumulator in a one-way mode, or when the oil pressure of the tensioning oil cylinder is greater than a first preset pressure, the oil flows to the energy accumulator from the tensioning oil cylinder.

In the embodiment, the working modes of the tensioning hydraulic system are switched, so that the track can be switched between rigid tensioning and flexible tensioning in different driving states of the driving machine, the track can be always kept with a high tensioning force without derailing, and the phenomenon that the service life of the track and corresponding parts of the track is shortened due to the overlarge tensioning force can be avoided.

Specifically, the running state of the running machine is determined by the operating state of the running steering system, thereby facilitating determination of the operating mode of the tensioning hydraulic system. When the driving state is forward, the required tension is small, and the flexible tension is easy to be impacted. Thus, when the driving state is forward, the tensioning hydraulic system is determined to be in the first operating mode. At the moment, oil between the energy accumulator and the tensioning oil cylinder can freely circulate, so that flexible tensioning is realized. When the flexible tensioning is carried out, the stroke of the tensioning oil cylinder changes along with the fluctuation of the load, the buffer performance is obvious, the proper tensioning force of the crawler belt can be maintained, the derailment of the crawler belt is avoided, the continuous high-pressure tensioning condition of the crawler belt can be effectively improved, the abrasion of relevant tensioning parts is reduced, the service life of the relevant tensioning parts is prolonged, and the flexible tensioning device is more suitable for the advancing working condition with smaller tensioning force requirement.

When the traveling state is reverse or steering, the crawler belt is easily released and derailed, and a large tension, that is, a large rigid tension needs to be maintained. Therefore, when the driving state is reverse or steering, the tensioning hydraulic system is determined to be in the second operating mode. At the moment, oil liquid flows to the tensioning oil cylinder from the energy accumulator in a one-way mode, the tensioning oil cylinder is supplemented with the oil liquid, and a large tensioning force is kept. Or when the oil pressure is higher than the first preset pressure, the oil flows from the tensioning oil cylinder to the energy accumulator through the overflow valve, so that a larger rigid tensioning force can be kept for a longer time. Therefore, the stroke of the tensioning oil cylinder is kept unchanged to a certain extent even if external impact is applied, and rigid tensioning is realized. Under the condition of rigid tensioning, the requirement of the maximum tensioning force of the crawler can be met all the time, and the crawler is prevented from derailing.

As shown in fig. 8, another embodiment according to the third aspect of the present application provides a track tensioning method of a running machine including a running steering system, a track, and a tensioning hydraulic system including a tensioning cylinder, a tensioning valve group, and an accumulator. The tensioning valve group comprises an overflow valve and a reversing valve which are connected in parallel between the energy accumulator and the tensioning oil cylinder. The track tensioning method comprises the following steps:

step S200: acquiring the working state of a walking steering system, and judging the running state of the walking machine according to the working state of the walking steering system, wherein the running state of the walking machine comprises the following steps: advancing, backing and steering;

step S202: determining that the tensioning hydraulic system is in a first working mode or a second working mode according to the running state of the walking machine;

step S204: if the working state is forward, determining that the tensioning hydraulic system is in a first working mode, controlling the reversing valve to conduct in two directions in the first working mode, and enabling oil to freely circulate between the tensioning oil cylinder and the energy accumulator;

step S206: and if the driving state is backward or steering, determining that the tensioning hydraulic system is in a second working mode, and controlling the reversing valve to be in one-way conduction in the second working mode so that the oil flows from the energy accumulator to the tensioning oil cylinder through the reversing valve, or when the oil pressure of the tensioning oil cylinder is greater than a first preset pressure, the oil flows from the tensioning oil cylinder to the energy accumulator through the overflow valve.

In the embodiment, through the bidirectional conduction reversing valve, oil between the energy accumulator and the tensioning oil cylinder can freely circulate, so that flexible tensioning is realized. When the flexible tensioning is carried out, the stroke of the tensioning oil cylinder changes along with the fluctuation of the load, the buffer performance is obvious, the proper tensioning force of the crawler belt can be maintained, the derailment of the crawler belt is avoided, the continuous high-pressure tensioning condition of the crawler belt can be effectively improved, the abrasion of relevant tensioning parts is reduced, the service life of the relevant tensioning parts is prolonged, and the flexible tensioning device is more suitable for the advancing working condition with smaller tensioning force requirement.

When the tensioning cylinder is rigidly tensioned, oil in the tensioning cylinder can only flow out through the overflow valve when the oil pressure is greater than a first preset pressure, and the tensioning force is large at the moment. The overflow valve is arranged, so that the oil pressure in the tensioning oil cylinder is convenient to limit, a larger numerical value can be kept, and a larger tensioning force is kept.

As shown in fig. 9, according to still another embodiment of the third aspect of the present application, there is provided a track tensioning method of a running machine including a running steering system, a track, and a tensioning hydraulic system including a tensioning cylinder, a tensioning valve group, and an accumulator. The tensioning valve group comprises an overflow valve, a reversing valve and a liquid filling port which are connected in parallel between the energy accumulator and the tensioning oil cylinder. The liquid filling port is arranged on an oil way between the energy accumulator and the tensioning oil cylinder. The track tensioning method comprises the following steps:

step S300: acquiring the working state of a walking steering system, and judging the running state of the walking machine according to the working state of the walking steering system, wherein the running state of the walking machine comprises the following steps: advancing, backing and steering;

step S302: determining that the tensioning hydraulic system is in a first working mode or a second working mode according to the running state of the walking machine;

step S304: if the working state is forward, determining that the tensioning hydraulic system is in a first working mode, wherein in the first working mode, oil freely circulates between the tensioning oil cylinder and the energy accumulator;

step S306: if the driving state is backward or steering, determining that the tensioning hydraulic system is in a second working mode, wherein in the second working mode, oil flows to the tensioning oil cylinder from the energy accumulator in a one-way mode, or when the oil pressure of the tensioning oil cylinder is greater than a first preset pressure, the oil flows to the energy accumulator from the tensioning oil cylinder through an overflow valve;

step S308: acquiring oil pressure in a tensioning hydraulic system;

step S310: if the oil pressure is higher than the second preset pressure, controlling the liquid filling port to open and release oil;

step S312: and if the oil pressure is lower than the third preset pressure, controlling the liquid filling port to be opened, and supplementing oil to the oil way.

Wherein the second preset pressure is greater than the third preset pressure.

In the embodiment, by acquiring the oil pressure in the tensioning hydraulic system, when the oil pressure is higher than the second preset pressure, the liquid filling port is opened to release oil, so that the tensioning oil cylinder can be unloaded, the tensioning force is reduced, the damage of components such as a crawler belt and the like due to overlarge stress is avoided, and the service life of each component is prolonged. Meanwhile, when the oil pressure is lower than the third preset pressure, the liquid filling port can be opened to supplement oil, so that the tension force of the tensioning oil cylinder is ensured, and the track derailment is avoided. Therefore, the tensioning force of the crawler can be flexibly adjusted according to the working condition, the tensioning force on the crawler can be timely adjusted by combining the oil pressure in the tensioning hydraulic system, and the flexibility of adjusting the tensioning force is further improved.

As shown in fig. 5, according to an embodiment of the fourth aspect of the present application, there is provided a traveling machine 2, where the traveling machine 2 includes a traveling steering system 29, a crawler belt 20, and a tensioning hydraulic system 1, the tensioning hydraulic system 1 includes a tensioning cylinder 10, a tensioning valve group 14, and an accumulator 12, and the traveling machine 2 further includes an obtaining module 22 and a determining module 24. The obtaining module 22 is configured to obtain an operating state of the walking steering system 29, and determine a driving state of the walking machine according to the operating state of the walking steering system 29, where the driving state of the walking machine includes: forward, backward and turn. The determination module 24 is configured to determine, according to the driving state of the traveling machine 2, that the tensioning hydraulic system 1 is in the first operating mode or the second operating mode; if the driving state is forward, determining that the tensioning hydraulic system is in a first working mode, wherein in the first working mode, oil freely circulates between the tensioning oil cylinder 10 and the energy accumulator 12; and if the driving state is backward or steering, determining that the tensioning hydraulic system is in a second working mode, wherein in the second working mode, the oil flows to the tensioning oil cylinder 10 from the energy accumulator 12 in a one-way mode, or when the oil pressure of the tensioning hydraulic system 1 is greater than a first preset pressure, the oil flows to the energy accumulator 12 from the tensioning oil cylinder 10.

In this embodiment, the working state of the walking steering system 29 is obtained by the obtaining module 22, so as to determine the driving state of the walking machine 2, and then the determining module 24 determines the working mode of the tensioning hydraulic system 1 according to the driving state, so that the crawler 20 can be switched between rigid tensioning and flexible tensioning under different working conditions, thereby not only ensuring that the crawler 20 can always maintain a large tensioning force without derailing, but also avoiding that the service life of the crawler 20 and corresponding components is shortened due to an excessive tensioning force.

Specifically, when the tensioning hydraulic system 1 is switched to the first operating mode, the oil can freely flow through the tensioning valve group 14, accordingly, the stroke of the tensioning cylinder 10 can be changed along with the fluctuation of the load, and when the load is large, the oil can be absorbed by the accumulator 12 through the flow of the oil, so that the tensioning hydraulic system 1 has remarkable buffering performance, and flexible tensioning is realized. Under the condition of flexible tensioning, the proper tensioning force of the crawler 20 can be maintained, derailment of the crawler 20 is avoided, the continuous high-pressure tensioning condition of the crawler 20 can be effectively improved, abrasion of relevant tensioning parts is reduced, and the service life of the relevant tensioning parts is prolonged. When the tensioning hydraulic system 1 is switched to the second working mode, only when the oil pressure of the tensioning cylinder 10 is greater than the first preset pressure, the oil can flow from the tensioning cylinder 10 to the energy accumulator 12, so that the stroke of the tensioning cylinder 10 is kept unchanged to a certain extent even if external impact is applied, and rigid tensioning is realized. Under the condition of rigid tensioning, the requirement of the maximum tensioning force of the crawler 20 can be met all the time, and the crawler 20 is prevented from derailing.

As shown in fig. 6, an embodiment according to a fifth aspect of the present application provides a walking machine 2 including: a memory 26 and a processor 28, wherein the memory 26 stores a program or an instruction that can be executed on the processor 28, and the processor 28 implements the steps of the method for tensioning the crawler 20 of the walking machine 2 according to any one of the above third aspects when executing the program or the instruction, so that the method has the technical effects of any one of the above embodiments, and will not be described herein again.

Embodiments according to the sixth aspect of the present application provide a readable storage medium, and when being executed by the processor 28, the program or the instructions implement the steps of the method for tensioning the crawler 20 of the walking machine 2 according to any one of the above third aspects, so that the technical effects of any one of the above embodiments are achieved, and will not be described herein again.

According to the walking machine 2 of one embodiment of the present application, the check electromagnetic directional valve 140 and the overflow valve 142 are connected in parallel and then connected to the tensioning cylinder 10 and the energy accumulator 12, and the check electromagnetic directional valve 140 controls whether the energy accumulator 12 is connected to the tensioning cylinder 10 or not. Wherein the tensioning cylinder 10 is a plunger cylinder.

When the check solenoid directional valve 140 is turned on, the accumulator 12 is connected to the rodless chamber of the tensioning cylinder 10. The energy accumulator 12 absorbs and supplements oil in the tensioning process of the tensioning oil cylinder 10, the tensioning pressure of the oil cylinder is the pressure of the energy accumulator 12, and the stroke of the tensioning oil cylinder 10 can be automatically adjusted when the tensioning load changes and is flexible tensioning.

When the check electromagnetic directional valve 140 is in one-way conduction, the oil in the tensioning cylinder 10 can only flow back to the energy accumulator 12 through the overflow valve 142, the overflow valve 142 provides the maximum tensioning pressure of the tensioning cylinder 10, and when the tensioning load pressure is low, the stroke of the tensioning cylinder 10 is unchanged, and the tensioning cylinder is in rigid tensioning.

In addition, according to the requirements of the running conditions such as forward movement, backward movement, steering and the like on the tensioning force, the control of the check electromagnetic directional valve 140 can be realized. The embodiment can realize the rigid and flexible tensioning of the crawler 20, simplify the structure and improve the reliability.

As shown in fig. 1, the tensioning hydraulic system 1 of the running machine 2 comprises at least 5 hydraulic components, which are connected to pipe connections via hydraulic lines.

Specifically, as shown in fig. 1, the present embodiment provides a rigid-flexible coupling intelligent tensioning hydraulic system 1 for a crawler 20, where the rigid-flexible coupling tensioning hydraulic system 1 includes: an accumulator 12, a tensioning valve set 14 and a tensioning cylinder 10. The tension valve block 14 includes a solenoid directional valve 140, a relief valve 142, and a fill port 144. The piston rod of the tensioning cylinder 10 is connected to a guide wheel for tensioning the track 20. Wherein the electromagnetic directional valve 140 is a two-position two-way check electromagnetic directional valve 140.

In this embodiment, the two-position two-way electromagnetic directional valve 140 is connected in parallel with the overflow valve 142 and then connected to the accumulator 12 and the tensioning cylinder 10, respectively. The oil in the accumulator 12 acts to absorb and replenish the rodless chamber oil of the tensioning cylinder 10. The oil in the accumulator 12 can enter the rodless chamber of the tensioning cylinder 10 through the electromagnetic directional valve 140, and the oil in the rodless chamber of the tensioning cylinder 10 can flow back to the accumulator 12 through the electromagnetic directional valve 140 (energized) or the overflow valve 142. In addition, an external oil source may supplement the track 20 tensioning hydraulic system 1 with oil via a fill port 144.

The tensioning device of the crawler 20 is an important component of the structure of the crawler 20 walking machine 2, and mainly ensures proper tensioning force when the crawler 20 runs, avoids derailment of the crawler 20, and keeps a better working state. The tensioning force required by the track 20 may be different for different driving conditions or different driving states, such as forward, reverse, and steering, for example, the rear drive track 20 may require a low tensioning force for forward driving and a high tensioning force for reverse and steering.

In this embodiment, the switching between the rigid tension and the flexible tension can be realized by controlling the electromagnetic directional valve 140. When the tensioning force requirement is small, the electromagnetic directional valve 140 is electrified, the energy accumulator 12 is communicated with the rodless cavity of the tensioning oil cylinder 10, at the moment, the pressure of the rodless cavity of the tensioning oil cylinder 10, namely the tensioning pressure, is consistent with the pressure of the energy accumulator 12, the energy accumulator 12 absorbs the pressure impact and fluctuation of the tensioning oil cylinder 10, meanwhile, the stroke of the tensioning oil cylinder 10 changes along with the fluctuation of the tensioning load, and the tensioning state of the tensioning oil cylinder 10 is flexible tensioning.

When the tension requirement is large, the electromagnetic directional valve 140 is powered off, the energy accumulator 12 is in one-way conduction with the tensioning oil cylinder 10, the oil path from the energy accumulator 12 to the tensioning oil cylinder 10 is conducted, the oil path from the tensioning oil cylinder 10 to the energy accumulator 12 is cut off, and when the tensioning oil cylinder 10 stretches, oil in the energy accumulator 12 is supplemented through the electromagnetic directional valve 140. During compression of the tensioning cylinder 10, oil flows out through the overflow valve 142 into the energy accumulator 12. The relief valve 142 relief pressure is set relatively high, and when the tensioning load pressure is less than the relief pressure, the tensioning pressure changes with the tensioning load, but the stroke of the tensioning cylinder 10 remains unchanged, and the tensioning cylinder 10 is in a rigid tensioning state. When the tension load or the impact pressure reaches the relief pressure, the oil of the tension cylinder 10 is relieved to the accumulator 12 through the relief valve 142, and the impact force applied to the crawler belt 20 is absorbed by the accumulator 12.

In other exemplary embodiments, the tensioning hydraulic system 1 further comprises a controller, a status sensor, and a pressure sensor. The liquid filling port 144 and the electromagnetic directional valve 140 are both connected with the controller. The controller judges the state of the traveling machine 2, such as forward movement, steering or backward movement of the paver, through the state sensor. The controller determines whether an external oil source is needed through the pressure sensor, and oil supplement can be performed on the track 20 tensioning hydraulic system 1 through the liquid charging port 144.

When the paver advances, the electromagnetic directional valve 140 is controlled to be electrified, the flexible tensioning state is realized, the stroke of the tensioning oil cylinder 10 changes along with the fluctuation of the load, the tensioning device has obvious buffering performance, the proper tensioning force of the crawler 20 can be maintained, the derailment of the crawler 20 is avoided, the continuous high-pressure tensioning condition of the crawler 20 can be effectively improved, the abrasion of related tensioning parts is reduced, and the service life of the related tensioning parts is prolonged.

When the paver retreats or turns, the electromagnetic directional valve 140 is controlled to be in a rigid tensioning state after being de-energized, so that the requirement of the maximum tensioning force of the crawler 20 can be met, and the crawler 20 is prevented from derailing.

In this embodiment, reasonable pressure of the relief valve 142 can be set to limit the maximum tensioning force of the track 20, and the coupling switching between the rigid tensioning and the flexible tensioning can be realized by controlling the power on and power off of the electromagnetic directional valve 140.

When the crawler belt 20 tensions the hydraulic system 1, oil leakage occurs, and the system oil can be supplemented through the liquid charging port 144. When the crawler 20 device has the maintenance requirement, the electromagnetic directional valve 140 can be electrified, and partial oil is released by the liquid filling port 144, so that the tensioning pressure of the crawler 20 is reduced, and the crawler 20 device is convenient to disassemble.

In this embodiment, the electromagnetic directional valve 140 is controlled according to different driving conditions to switch between rigid and flexible tensioning, the control logic of the electromagnetic directional valve 140 is as shown in fig. 10, and the electromagnetic directional valve 140 is controlled to be powered on when moving forward, powered off when moving backward and steering.

The beneficial effects of this embodiment are:

1) the parallel connection electromagnetic directional valve 140 and the overflow valve 142 have two states of rigid tensioning and flexible tensioning, and the electromagnetic directional valve 140 is controlled to realize high and low tensioning pressures (rigid tensioning and flexible tensioning).

2) And controlling the electromagnetic directional valve 140 to realize rigid-flexible tensioning state switching.

Alternatively, a manual directional valve 146 may be used in place of the solenoid directional valve 140, as shown in FIG. 2. Or a hydraulic directional valve 148 may be used in place of the solenoid directional valve 140 as shown in fig. 3.

In embodiments according to the present application, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. Specific meanings of the above terms in the embodiments according to the present application can be understood by those of ordinary skill in the art as the case may be.

In the description of the embodiments according to the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience of description and simplification of description of the embodiments according to the present application, and do not indicate or imply that the referred devices or units must have a specific direction, be configured and operated in a specific orientation, and thus, cannot be construed as limitations on the embodiments according to the present application.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment according to the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the embodiments according to the present application and is not intended to limit the embodiments according to the present application, and it will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments according to the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the embodiments according to the present application shall be included in the protection scope of the embodiments according to the present application.