CN110816697B - Crawler vehicle carrying electric control integrated pump motor driving system and driving control method - Google Patents
Crawler vehicle carrying electric control integrated pump motor driving system and driving control method Download PDFInfo
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- CN110816697B CN110816697B CN201910949408.6A CN201910949408A CN110816697B CN 110816697 B CN110816697 B CN 110816697B CN 201910949408 A CN201910949408 A CN 201910949408A CN 110816697 B CN110816697 B CN 110816697B
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims abstract description 66
- 230000007935 neutral effect Effects 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000003111 delayed effect Effects 0.000 claims description 4
- 238000011010 flushing procedure Methods 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 53
- 230000001276 controlling effect Effects 0.000 description 7
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000001934 delay Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 230000000149 penetrating effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4035—Control of circuit flow
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/431—Pump capacity control by electro-hydraulic control means, e.g. using solenoid valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/66—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Fluid Gearings (AREA)
- Motor Power Transmission Devices (AREA)
Abstract
The invention discloses a tracked vehicle carrying an electric control integrated pump motor driving system and a driving control method, wherein the tracked vehicle comprises: the device comprises a vehicle body, an integrated pump motor and an electric control system. The integrated pump motor comprises a variable pump, a movable swash plate of the variable pump is connected with a piston rod of a hydraulic cylinder, the movable swash plate is also connected with a displacement sensor, the displacement sensor is used for collecting deflection displacement of the movable swash plate, the hydraulic cylinder is connected with a three-position four-way electromagnetic valve through a left oil path and a right oil path, and a push rod safety valve is connected between the left oil path and the right oil path; the displacement sensor, the three-position four-way electromagnetic valve and the push rod safety valve are all connected with an electric control system, and the electric control system controls the three-position four-way electromagnetic valve and the push rod safety valve to be opened and closed according to a remote end control signal and the deflection displacement of the movable swash plate so as to adjust the output flow of the variable displacement pump. The tracked vehicle can avoid safety accidents caused by control precision problems, wireless signal delay problems, electric control system failures and the like of the existing vehicle carrying the integrated pump motor.
Description
Technical Field
The invention relates to the technical field of hydraulic elements, in particular to a tracked vehicle carrying an electric control integrated pump motor driving system and a driving control method.
Background
At present, a driving system of a tracked vehicle applied to the field of agricultural machinery mainly comprises two types, namely mechanical direct driving and integrated pump motor driving. Compared with mechanical direct drive, the integrated pump motor driving system has the advantage of intelligent control. The integral pump motor is a hydraulic pump which combines a variable hydraulic pump and a fixed-displacement motor together and can steplessly adjust the rotating speed of an output motor. The integral pump motor realizes variable output of hydraulic oil by controlling the position of a swash plate of the hydraulic pump, and further realizes stepless speed change.
The integrative pump motor that uses in agricultural machinery at present mainly adopts the driver to realize the gear transform through the mode of controlling the action bars, even there is a small amount of automatic operation device based on integrative pump motor, also integrates the electro-hydraulic control push rod on the action bars usually, realizes the automatic change of gear through the stroke of control push rod. The integrated pump motor vehicle integrating the electric hydraulic control push rod on the operating rod is easy to have safety accidents due to the problems of control precision, wireless signal delay, electric control system failure and the like.
Disclosure of Invention
The invention mainly aims to provide a tracked vehicle carrying an electric control integrated pump motor driving system and a driving control method, and aims to solve the problem that the tracked vehicle based on the integrated pump motor driving system in the prior art is easy to have safety accidents.
In order to achieve the above object, the present invention provides a crawler vehicle carrying an electronically controlled integrated pump motor drive system, comprising:
a vehicle body;
the integral pump motor is arranged on the vehicle body and comprises a variable pump, a movable swash plate of the variable pump is connected with a piston rod of a hydraulic cylinder, the movable swash plate is also connected with a displacement sensor, the displacement sensor is used for collecting deflection displacement of the movable swash plate, the hydraulic cylinder is connected with a three-position four-way electromagnetic valve through a left oil path and a right oil path, and a push rod safety valve is connected between the left oil path and the right oil path;
the electric control system, the displacement sensor, the three-position four-way electromagnetic valve and the push rod safety valve are all connected with the electric control system, and the electric control system controls the three-position four-way electromagnetic valve and the push rod safety valve to be opened and closed according to a remote end control signal and the deflection displacement of the movable swash plate so as to adjust the output flow of the variable displacement pump.
Further, the electronic control system comprises:
ECU；
the wireless receiver is connected with the ECU and used for receiving a remote end control signal;
the input end of the digital-to-analog converter is connected with the output end of the displacement sensor, and the output end of the digital-to-analog converter is connected with the ECU;
the push rod safety valve electromagnetic valve relay is connected with the ECU and is also connected with the push rod safety valve;
the three-position four-way electromagnetic valve left relay is connected with the ECU and is also connected with the three-position four-way electromagnetic valve;
and the three-position four-way electromagnetic valve right relay is connected with the ECU and is also connected with the three-position four-way electromagnetic valve.
Further, the hydraulic cylinder includes:
a bar body;
the piston rod penetrates through the bar body, and the end part of the piston rod extends out of the bar body;
the piston is arranged in the lever body and fixedly installed on the piston rod, the inner cavity of the lever body is divided into two independent hydraulic cavities by the piston, two springs are arranged in the two hydraulic cavities on two sides of the piston, and the two hydraulic cavities are connected with the three-position four-way electromagnetic valve through a left oil way and a right oil way respectively.
Furthermore, the push rod safety valve stops at the left position when not electrified, so that the left oil way and the right oil way are communicated, the hydraulic cylinder returns to the middle position under the action of the spring, and the integral pump motor outputs a neutral position; the push rod safety valve stops at the right position when the power is on, so that the left oil way and the right oil way are separated, and the position of a piston in the hydraulic cylinder is controlled by a three-position four-way electromagnetic valve.
Further, the integrated pump motor further includes:
the constant delivery pump and the variable delivery pump are coaxially arranged;
the quantitative motor is connected with the variable pump through an oil way;
the low-pressure overflow valve is connected with the three-position four-way electromagnetic valve, the constant delivery pump, the variable delivery pump and the constant delivery motor through oil paths respectively, the low-pressure overflow valve is also connected with an oil tank, and the oil paths of the low-pressure overflow valve, the variable delivery pump and the constant delivery motor are all provided with a flushing valve.
Furthermore, a front safety frame is installed at the front end of the vehicle body, an advancing pilot solenoid valve is installed on a first pressure relief oil path of the quantitative motor, the electric control system further comprises an advancing pilot solenoid valve electromagnet, a front switch is installed on the front safety frame and connected with the advancing pilot solenoid valve electromagnet, and the advancing pilot solenoid valve electromagnet is matched with the advancing pilot solenoid valve and used for controlling the advancing pilot solenoid valve to be opened and closed.
Further, the front safety shelf includes:
the front fixed bracket is fixedly arranged at the front end of the vehicle body;
the front movable bracket is arranged in front of the front fixed bracket;
the two ends of the front telescopic frame are respectively hinged with the front fixed bracket and the front movable bracket;
the front spring is arranged between the front fixed bracket and the front movable bracket, and two ends of the front spring are respectively connected with the front fixed bracket and the front movable bracket;
the front switch is arranged on the front movable support and faces the front fixed support, and the front switch can be turned on when the front movable support retracts towards the front fixed support.
Furthermore, a rear safety frame is installed at the rear end of the vehicle body, a retreating pilot electromagnetic valve is installed on a second pressure relief oil path of the quantitative motor, the electric control system further comprises a retreating pilot electromagnetic valve electromagnet, a rear switch is installed on the rear safety frame and connected with the retreating pilot electromagnetic valve electromagnet, and the retreating pilot electromagnetic valve electromagnet is matched with the retreating pilot electromagnetic valve and used for controlling the opening and closing of the retreating pilot electromagnetic valve.
Further, the rear safety shelf includes:
the rear fixed bracket is fixedly arranged at the rear end of the vehicle body;
the rear movable bracket is arranged behind the rear fixed bracket;
the two ends of the rear telescopic frame are respectively hinged with the rear fixed bracket and the rear movable bracket;
the rear spring is arranged between the rear fixed bracket and the rear movable bracket, and two ends of the rear spring are respectively connected with the rear fixed bracket and the rear movable bracket;
the rear switch is arranged on the rear movable support and faces the rear fixed support, and the rear switch can be turned on when the rear movable support retracts towards the rear fixed support.
According to another aspect of the present invention, there is provided a drive control method of a crawler vehicle having the above-described electronically controlled integrated pump motor drive system mounted thereon, comprising:
when the tracked vehicle normally runs, a remote end control signal is received through the wireless receiver, the ECU analyzes the remote end control signal and then compares the analyzed remote end control signal with the deflection displacement of the movable swash plate acquired by the displacement sensor, when the output flow of the variable pump needs to be changed, the ECU controls the left relay or the right relay of the three-position four-way electromagnetic valve to be electrified, the hydraulic cylinder correspondingly changes, the output flow of the variable pump is adjusted, and then the electro-hydraulic control stepless speed change adjustment is realized;
when a remote end control signal loses frames, delays, exceeds a position range, and is unstable or has no signal, the ECU starts active safety monitoring, controls the push rod safety valve not to be electrified, so that the left oil way and the right oil way are communicated, the hydraulic cylinder returns to a middle position under the action of the spring, and the integral pump motor outputs a neutral position;
when the front safety frame or the rear safety frame touches an obstacle, the front safety frame or the rear safety frame retracts, the front switch or the rear switch is opened, the forward pilot electromagnetic valve electromagnet or the backward pilot electromagnetic valve electromagnet is switched on, the forward pilot electromagnetic valve or the backward pilot electromagnetic valve is correspondingly opened, the internal oil circuit of the integrated pump motor is forcibly unloaded, and the forced neutral position in a passive state is realized.
By applying the technical scheme of the invention, the movable swash plate of the variable displacement pump is connected with the piston rod of a hydraulic cylinder, the movable swash plate is connected with a displacement sensor, and a push rod safety valve is connected between the left oil way and the right oil way which are connected by the hydraulic cylinder and the three-position four-way electromagnetic valve; when the tracked vehicle normally runs, the electric control system receives a remote end control signal and analyzes the remote end control signal, the analyzed signal data is compared with the deflection displacement data of the movable swash plate acquired by the displacement sensor, and when the output flow of the variable pump needs to be changed, the electric control system controls the corresponding change of the hydraulic cylinder through the three-position four-way electromagnetic valve, so that the output flow of the variable pump is adjusted, and further the electro-hydraulic control stepless speed change adjustment is realized; when the remote end control signal loses frames, delays, exceeds the position range, and is unstable or has no signal, the electric control system controls the push rod safety valve to enable the left oil way and the right oil way to be communicated, the hydraulic cylinder returns to the middle position, the integral pump motor outputs a neutral position, and the vehicle stops running, so that safety accidents are prevented. The tracked vehicle can effectively avoid safety accidents caused by the problems of control precision, wireless signal delay, electric control system failure and the like of the existing tracked vehicle carrying the integrated pump motor driving system.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of the overall structure of a crawler according to an embodiment of the present invention.
FIG. 2 is a schematic structural view of an integral pump motor in a tracked vehicle according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an electronic control system in a tracked vehicle according to an embodiment of the present invention.
Fig. 4 is an enlarged schematic view of a hydraulic cylinder in a track vehicle according to an embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. a vehicle body; 20. an integral pump motor; 21. a variable displacement pump; 22. a hydraulic cylinder; 23. a displacement sensor; 24. a three-position four-way electromagnetic valve; 25. a push rod safety valve; 26. a constant delivery pump; 27. a quantitative motor; 28. a low pressure relief valve; 29. an oil tank; 30. an electronic control system; 31. an ECU; 32. a wireless receiver; 33. a digital-to-analog converter; 34. a push rod safety valve solenoid valve relay; 35. a three-position four-way electromagnetic valve left relay; 36. a three-position four-way electromagnetic valve right relay; 37. an advancing pilot electromagnetic valve electromagnet; 38. a backward pilot electromagnetic valve electromagnet; 40. a front safety shelf; 41. a front switch; 42. a front fixed bracket; 43. a front movable support; 44. a front telescopic frame; 45. a front spring; 50. a rear safety shelf; 51. a rear switch; 52. a rear fixed bracket; 53. a rear movable support; 54. a rear telescopic frame; 55. a rear spring; 201. a forward pilot solenoid valve; 202. a backward pilot electromagnetic valve; 221. a bar body; 222. a piston rod; 223. a piston; 224. a hydraulic chamber; 225. a spring.
Detailed Description
In order to facilitate an understanding of the invention, the invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of the invention is not limited to the specific embodiments below. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Unless otherwise defined, all terms of art used hereinafter have the same meaning as commonly understood by one of ordinary skill in the art. The use of "first," "second," and similar terms in the description and in the claims of the present application do not denote any order, quantity, or importance, but rather the intention is to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
Referring to fig. 1 to 4, a tracked vehicle equipped with an electronically controlled integrated pump motor drive system according to an embodiment of the present invention mainly includes a vehicle body 10, an integrated pump motor 20, and an electronic control system 30. The integral pump motor 20 is mounted on the vehicle body 10, the integral pump motor 20 comprises a variable pump 21, a movable swash plate of the variable pump 21 is connected with a piston rod 222 of a hydraulic cylinder 22, the movable swash plate is also connected with a displacement sensor 23, the displacement sensor 23 is used for collecting deflection displacement of the movable swash plate, the hydraulic cylinder 22 is connected with a three-position four-way electromagnetic valve 24 through a left oil path and a right oil path, and a push rod safety valve 25 is connected between the left oil path and the right oil path; the displacement sensor 23, the three-position four-way electromagnetic valve 24 and the push rod safety valve 25 are all connected with the electronic control system 30, and the electronic control system 30 controls the three-position four-way electromagnetic valve 24 and the push rod safety valve 25 to be opened and closed according to a remote end control signal and the deflection displacement of the movable swash plate so as to adjust the output flow of the variable displacement pump 21.
In the tracked vehicle carrying the electric control integrated pump motor driving system, the movable swash plate of the variable displacement pump 21 is connected with the piston rod of the hydraulic cylinder 22, the movable swash plate is connected with the displacement sensor 23, and the push rod safety valve 25 is connected between the left oil way and the right oil way of the hydraulic cylinder 22 connected with the three-position four-way electromagnetic valve 24; when the tracked vehicle runs normally, the electric control system 30 receives a remote end control signal and analyzes the remote end control signal, the analyzed signal data is compared with the deflection displacement data of the movable swash plate acquired by the displacement sensor 23, when the output flow of the variable pump 21 needs to be changed, the electric control system 30 controls the corresponding change of the hydraulic cylinder 22 through the three-position four-way electromagnetic valve 24, the output flow of the variable pump 21 is adjusted, and then the electro-hydraulic control stepless speed change adjustment is realized; when the remote end control signal is lost, delayed, out of range, unstable or no signal, the electric control system 30 controls the push rod safety valve 25 to make the left oil path and the right oil path connected, the hydraulic cylinder 22 returns to the middle position, the integral pump motor 20 outputs the neutral position, and the vehicle stops running, thereby preventing safety accidents. The tracked vehicle can effectively avoid safety accidents caused by the problems of control precision, wireless signal delay, electric control system failure and the like of the existing tracked vehicle carrying the integrated pump motor driving system.
Specifically, referring to fig. 3, in the present embodiment, the electronic control system 30 includes an ECU (electronic control unit or a traveling computer) 31, a wireless receiver 32, a digital-to-analog converter 33, a plunger safety valve solenoid valve relay 34, a three-position four-way solenoid valve left relay 35, and a three-position four-way solenoid valve right relay 36. The wireless receiver 32 is connected with the ECU31, and is configured to receive a remote control signal and transmit the remote control signal to the ECU 31; the input end of the digital-to-analog converter 33 is connected with the output end of the displacement sensor 23, the output end of the digital-to-analog converter 33 is connected with the ECU31, and the digital-to-analog converter 33 is used for converting the deflection displacement signal acquired by the displacement sensor 23 between digital quantity and analog quantity; the push rod safety valve electromagnetic valve relay 34 is connected with the ECU31, the push rod safety valve electromagnetic valve relay 34 is also connected with the push rod safety valve 25, and the push rod safety valve electromagnetic valve relay 34 controls the push rod safety valve 25 to be switched on and off under the control of the ECU 31; the three-position four-way electromagnetic valve left relay 35 is connected with the ECU31, and the three-position four-way electromagnetic valve left relay 35 is also connected with the three-position four-way electromagnetic valve 24; the three-position four-way solenoid valve right relay 36 is connected to the ECU31, and the three-position four-way solenoid valve right relay 36 is also connected to the three-position four-way solenoid valve 24. The three-position four-way solenoid valve left relay 35 and the three-position four-way solenoid valve right relay 36 are respectively used for controlling the three-position four-way solenoid valve 24 to stop at the left position and the right position under the control of the ECU 31.
By adopting the electric control system 30, when the electro-hydraulic control stepless speed change is carried out, the ECU31 controls the three-position four-way electromagnetic valve left relay 35 or the three-position four-way electromagnetic valve right relay 36 to be electrified, the three-position four-way electromagnetic valve 24 to stop at the left position or the right position, the hydraulic cylinder 22 correspondingly changes, the movable swash plate is driven to deflect, the output flow of the variable displacement pump 21 is changed, the rotating speed of the integral pump motor 20 is further controlled, and the electro-hydraulic control stepless speed change adjustment is realized.
Specifically, referring to fig. 2 and 4, in the present embodiment, the hydraulic cylinder 22 includes a lever body 221, a piston rod 222, a piston 223, a hydraulic pressure chamber 224, and a spring 225. Wherein, the piston rod 222 is arranged in the bar body 221 in a penetrating way, and the end part thereof extends out of the bar body 221; the piston 223 is disposed in the lever body 221 and fixedly mounted on the piston rod 222, the piston 223 divides the inner cavity of the lever body 221 into two independent hydraulic chambers 224, two springs 225 are disposed in the two hydraulic chambers 224 on two sides of the piston 223, and the two hydraulic chambers 224 are connected to the three-position four-way solenoid valve 24 through a left oil path and a right oil path respectively.
With such arrangement, when the electro-hydraulic control stepless speed change is carried out, the three-position four-way solenoid valve 24 is controlled to stop at the left position or stop at the right position by electrifying the three-position four-way solenoid valve left position relay 35 or the three-position four-way solenoid valve right position relay 36, so that hydraulic oil with different amounts is injected into the left and right hydraulic cavities 224 of the hydraulic cylinder 22, the piston 223 and the piston rod 222 are driven to move, the movable swash plate is driven to deflect, and the output flow of the variable pump 21 is adjusted. When the remote end control signal is lost, delayed, out of range, unstable or no signal, the push rod safety valve 25 connects the left oil path and the right oil path, so that the hydraulic oil in the hydraulic chambers 224 on the left side and the right side are the same, the hydraulic cylinder 22 returns to the middle position, the integral pump motor 20 outputs a neutral position, the vehicle stops running, and safety accidents are prevented.
Further, in the present embodiment, the pushrod safety valve 25 stops at the left position when not energized, so that the left oil passage and the right oil passage are connected, the hydraulic cylinder 22 returns to the middle position under the action of the spring 225, and the integral pump motor 20 outputs a neutral position; the push rod relief valve 25 is deactivated to the right when energized, so that the left and right oil passages are separated, and the position of the piston 223 in the hydraulic cylinder 22 is controlled by the three-position, four-way solenoid valve 24. With the arrangement, the working state of the push rod safety valve 25 is effective when power is on and ineffective when power is off, so that safety failure caused by power failure of the electric control system 30 can be prevented.
Specifically, referring to fig. 2, in the present embodiment, the integrated pump motor 20 further includes a fixed displacement pump 26, a fixed displacement motor 27, and a low-pressure relief valve 28. Wherein, the fixed displacement pump 26 and the variable displacement pump 21 are coaxially arranged; the fixed-displacement motor 27 is connected with the variable-displacement pump 21 through an oil path; the low-pressure relief valve 28 is connected to the three-position four-way solenoid valve 24, the fixed displacement pump 26, the variable displacement pump 21, and the fixed displacement motor 27 through oil passages, and the low-pressure relief valve 28 is also connected to an oil tank 29. A flushing valve is provided in each of the oil passages connecting the low-pressure relief valve 28 to the variable displacement pump 21 and the fixed displacement motor 27.
In order to improve the passive safety of the tracked vehicle, referring to fig. 1, 2 and 3, in this embodiment, a front safety frame 40 is installed at the front end of the vehicle body 10, a forward pilot solenoid valve 201 is installed on the first pressure relief oil path of the fixed displacement motor 27, the electronic control system 30 further includes a forward pilot solenoid valve electromagnet 37, a front switch 41 is installed on the front safety frame 40, the front switch 41 is connected with the forward pilot solenoid valve electromagnet 37, the forward pilot solenoid valve electromagnet 37 is matched with the forward pilot solenoid valve 201, and the forward pilot solenoid valve electromagnet 37 is used for controlling the forward pilot solenoid valve 201 to open and close.
Further, a rear safety frame 50 is further installed at the rear end of the vehicle body 10, a backward pilot electromagnetic valve 202 is installed on the second pressure relief oil path of the quantitative motor 27, the electronic control system 30 further includes a backward pilot electromagnetic valve electromagnet 38, a rear switch 51 is installed on the rear safety frame 50, the rear switch 51 is connected with the backward pilot electromagnetic valve electromagnet 38, the backward pilot electromagnetic valve electromagnet 38 is matched with the backward pilot electromagnetic valve 202, and the backward pilot electromagnetic valve electromagnet 38 is used for controlling the opening and closing of the backward pilot electromagnetic valve 202.
By adopting the front safety frame 40 and the rear safety frame 50, when the active safety monitoring of the electronic control system 30 is out of control, or when a driver in remote wireless driving does not notice obstacles placed in front and at the back of the machine and makes the vehicle touch the obstacles; the front safety frame 40 or the rear safety frame 50 is retracted, the front switch 41 or the rear switch 51 is opened, the forward pilot solenoid valve electromagnet 37 or the backward pilot solenoid valve electromagnet 38 is energized, the corresponding forward pilot solenoid valve 201 or the backward pilot solenoid valve 202 is opened, the oil passage inside the integral pump motor 20 is forcibly unloaded, and the forced neutral position in the passive state is realized.
Specifically, referring to fig. 2 and 4, in the present embodiment, the front safety shelf 40 includes a front switch 41, a front fixed bracket 42, a front movable bracket 43, a front telescopic bracket 44, and a front spring 45. The front fixing bracket 42 is fixedly installed at the front end of the vehicle body 10; the front movable bracket 43 is arranged in front of the front fixed bracket 42; two ends of the front telescopic frame 44 are respectively hinged with the front fixed bracket 42 and the front movable bracket 43; the front spring 45 is arranged between the front fixed bracket 42 and the front movable bracket 43, and two ends of the front spring 45 are respectively connected with the front fixed bracket 42 and the front movable bracket 43; the front switch 41 is mounted on the front movable bracket 43 and faces the front fixed bracket 42, and the front movable bracket 43 can turn on the front switch 41 when retracting toward the front fixed bracket 42.
The rear safety bracket 50 includes a rear switch 51, a rear fixed bracket 52, a rear movable bracket 53, a rear telescopic bracket 54, and a rear spring 55. The rear fixing bracket 52 is fixedly mounted at the rear end of the vehicle body 10; the rear movable bracket 53 is disposed rearward of the rear fixed bracket 52; two ends of the rear telescopic frame 54 are respectively hinged with the rear fixed bracket 52 and the rear movable bracket 53; the rear spring 55 is arranged between the rear fixed bracket 52 and the rear movable bracket 53, and two ends of the rear spring 55 are respectively connected with the rear fixed bracket 52 and the rear movable bracket 53; the rear switch 51 is mounted on the rear movable bracket 53 and faces the rear fixed bracket 52, and the rear switch 51 can be turned on when the rear movable bracket 53 is retracted toward the rear fixed bracket 52.
The drive control method of the crawler vehicle carrying the electric control integrated pump motor drive system comprises the following steps:
when the tracked vehicle runs normally, a remote end control signal is received through the wireless receiver 32, the ECU31 analyzes the remote end control signal and then compares the analyzed remote end control signal with the deflection displacement of the movable swash plate acquired by the displacement sensor 23, when the output flow of the variable displacement pump 21 needs to be changed, the ECU31 controls the power on and right position of the push rod safety valve 25, the left oil path and the right oil path of the hydraulic cylinder 22 are separated, and at the moment, the position of the hydraulic cylinder 22 is controlled by the three-position four-way electromagnetic valve 24; the ECU31 controls the three-position four-way electromagnetic valve left relay 35 or the three-position four-way electromagnetic valve right relay 36 to be electrified, controls the three-position four-way electromagnetic valve 24 to stop at the left position or stop at the right position, and correspondingly changes the hydraulic cylinder 22 to drive the movable swash plate to deflect, so that the output flow of the variable displacement pump 21 is regulated, and further, the electro-hydraulic control stepless speed change regulation is realized;
when the remote end control signal is lost, delayed, out of range in position, unstable or no signal, the ECU31 starts active safety monitoring, the push rod safety valve 25 is controlled not to be electrified, so that the left oil way and the right oil way of the hydraulic cylinder 22 are communicated, the hydraulic cylinder 22 returns to the middle position under the action of the spring 225, the integral pump motor 20 outputs a neutral position, the vehicle stops running, and safety accidents are prevented; this is an active safety monitoring of the vehicle;
when the vehicle touches an obstacle after the active safety monitoring is out of control, or when the driver of the remote wireless driving does not notice the obstacle placed in front and behind the machine, the integral pump motor 20 may be forcibly stopped in the neutral position by the front safety shelf 40 or the rear safety shelf 50. When an obstacle is touched, the front safety frame 40 or the rear safety frame 50 retracts, the front switch 41 or the rear switch 51 is opened, the front switch 41 and the rear switch 51 are respectively and directly connected with the forward pilot electromagnetic valve electromagnet 37 and the backward pilot electromagnetic valve electromagnet 38 through circuits, the forward pilot electromagnetic valve electromagnet 37 or the backward pilot electromagnetic valve electromagnet 38 is switched on when the front switch 41 or the rear switch 51 is opened, and the corresponding forward pilot electromagnetic valve 201 or the corresponding backward pilot electromagnetic valve 202 is opened; the internal oil circuit of the integral pump motor 20 is forcibly unloaded, and the forced neutral parking of the vehicle in a passive state is realized.
In general, the tracked vehicle provided with the electric control integrated pump motor driving system realizes the electro-hydraulic control accurate control of the tracked vehicle driving system driven by the integrated pump motor; the active neutral position safety control of the tracked vehicle is realized by arranging the push rod safety valve 25 and the electric hydraulic control active safety control oil way and the electric control system 30; the passive neutral position safety control under the intelligent driving condition of the vehicle is realized by arranging an electric control pressure relief oil circuit inside the integrated pump motor 20 linked with the front safety frame 40 and the rear safety frame 50.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A drive control method of a tracked vehicle carrying an electric control integrated pump motor drive system is characterized by comprising the following steps:
carry on automatically controlled integrative pump motor drive system's tracked vehicle includes:
a vehicle body (10);
the integral pump motor (20) is installed on the vehicle body (10), the integral pump motor (20) comprises a variable pump (21), a movable swash plate of the variable pump (21) is connected with a piston rod (222) of a hydraulic cylinder (22), the movable swash plate is further connected with a displacement sensor (23), the displacement sensor (23) is used for collecting deflection displacement of the movable swash plate, the hydraulic cylinder (22) is connected with a three-position four-way electromagnetic valve (24) through a left oil path and a right oil path, and a push rod safety valve (25) is connected between the left oil path and the right oil path;
the displacement sensor (23), the three-position four-way electromagnetic valve (24) and the push rod safety valve (25) are connected with the electronic control system (30), and the electronic control system (30) controls the three-position four-way electromagnetic valve (24) and the push rod safety valve (25) to be opened and closed according to a remote end control signal and the deflection displacement of the movable swash plate so as to adjust the output flow of the variable pump (21);
the electronic control system (30) comprises:
ECU(31)；
a wireless receiver (32), wherein the wireless receiver (32) is connected with the ECU (31) and is used for receiving the remote end control signal;
the input end of the digital-to-analog converter (33) is connected with the output end of the displacement sensor (23), and the output end of the digital-to-analog converter (33) is connected with the ECU (31);
a push rod safety valve electromagnetic valve relay (34) connected with the ECU (31), wherein the push rod safety valve electromagnetic valve relay (34) is also connected with the push rod safety valve (25);
the three-position four-way electromagnetic valve left relay (35) is connected with the ECU (31), and the three-position four-way electromagnetic valve left relay (35) is also connected with the three-position four-way electromagnetic valve (24);
the three-position four-way electromagnetic valve right relay (36) is connected with the ECU (31), and the three-position four-way electromagnetic valve right relay (36) is also connected with the three-position four-way electromagnetic valve (24);
the hydraulic cylinder (22) includes:
a lever body (221);
a piston rod (222) which is inserted into the lever body (221) and whose end extends out of the lever body (221);
the piston (223) is arranged in the lever body (221) and fixedly mounted on the piston rod (222), the piston (223) divides an inner cavity of the lever body (221) into two independent hydraulic cavities (224), two springs (225) are arranged in the two hydraulic cavities (224) on two sides of the piston (223), and the two hydraulic cavities (224) are respectively connected with the three-position four-way electromagnetic valve (24) through the left oil path and the right oil path;
the push rod safety valve (25) stops at a left position when not electrified, so that the left oil way and the right oil way are communicated, the hydraulic cylinder (22) returns to a middle position under the action of the spring (225), and the integrated pump motor (20) outputs a neutral position; the push rod safety valve (25) stops at a right position when being electrified, so that the left oil path and the right oil path are separated, and the position of the piston (223) in the hydraulic cylinder (22) is controlled by the three-position four-way electromagnetic valve (24);
the integrated pump motor (20) further comprises:
a fixed displacement pump (26), the fixed displacement pump (26) being disposed coaxially with the variable displacement pump (21);
a fixed-displacement motor (27), wherein the fixed-displacement motor (27) is connected with the variable-displacement pump (21) through an oil path;
the low-pressure overflow valve (28) is respectively connected with the three-position four-way electromagnetic valve (24), the constant delivery pump (26), the variable pump (21) and the constant delivery motor (27) through oil paths, the low-pressure overflow valve (28) is also connected with an oil tank (29), and flushing valves are arranged on the oil paths of the low-pressure overflow valve (28) connected with the variable pump (21) and the constant delivery motor (27);
a front safety frame (40) is installed at the front end of the vehicle body (10), an advancing pilot electromagnetic valve (201) is installed on a first pressure relief oil path of the quantitative motor (27), the electric control system (30) further comprises an advancing pilot electromagnetic valve electromagnet (37), a front switch (41) is installed on the front safety frame (40), the front switch (41) is connected with the advancing pilot electromagnetic valve electromagnet (37), and the advancing pilot electromagnetic valve electromagnet (37) is matched with the advancing pilot electromagnetic valve (201) and used for controlling the advancing pilot electromagnetic valve (201) to be opened and closed;
the front safety shelf (40) comprises:
a front fixed bracket (42) fixedly mounted on the front end of the vehicle body (10);
a front movable bracket (43) arranged in front of the front fixed bracket (42);
the two ends of the front telescopic frame (44) are respectively hinged with the front fixed bracket (42) and the front movable bracket (43);
the front spring (45) is arranged between the front fixed support (42) and the front movable support (43), and two ends of the front spring (45) are respectively connected with the front fixed support (42) and the front movable support (43);
the front switch (41) is arranged on the front movable bracket (43) and faces the front fixed bracket (42), and the front switch (41) can be opened when the front movable bracket (43) retracts towards the front fixed bracket (42);
a rear safety frame (50) is installed at the rear end of the vehicle body (10), a backward pilot electromagnetic valve (202) is installed on a second pressure relief oil path of the quantitative motor (27), the electric control system (30) further comprises a backward pilot electromagnetic valve electromagnet (38), a rear switch (51) is installed on the rear safety frame (50), the rear switch (51) is connected with the backward pilot electromagnetic valve electromagnet (38), and the backward pilot electromagnetic valve electromagnet (38) is matched with the backward pilot electromagnetic valve (202) and used for controlling the opening and closing of the backward pilot electromagnetic valve (202);
the drive control method includes:
when the tracked vehicle runs normally, the remote end control signal is received through the wireless receiver (32), the ECU (31) analyzes the remote end control signal and compares the analyzed remote end control signal with the deflection displacement of the movable swash plate acquired by the displacement sensor (23), when the output flow of the variable pump (21) needs to be changed, the ECU (31) controls the left relay (35) or the right relay (36) of the three-position four-way electromagnetic valve to be electrified, the hydraulic cylinder (22) changes correspondingly, the output flow of the variable pump (21) is adjusted, and then the stepless speed change adjustment of the electro-hydraulic control is realized;
when the remote end control signal is lost, delayed, out of range in position, unstable or no signal, the ECU (31) starts active safety monitoring, controls the push rod safety valve (25) not to be electrified, so that the left oil path and the right oil path are communicated, the hydraulic cylinder (22) returns to a neutral position under the action of the spring (225), and the integral pump motor (20) outputs a neutral position;
when the front safety frame (40) or the rear safety frame (50) touches an obstacle, the front safety frame (40) or the rear safety frame (50) retracts, the front switch (41) or the rear switch (51) is opened, the forward pilot solenoid valve electromagnet (37) or the backward pilot solenoid valve electromagnet (38) is further switched on, the forward pilot solenoid valve (201) or the backward pilot solenoid valve (202) is correspondingly opened, an internal oil path of the integrated pump motor (20) is forcibly unloaded, and forced neutral under a passive state is realized.
2. The drive control method for a crawler vehicle equipped with an electronically controlled integrated pump motor drive system according to claim 1, wherein:
the rear safety shelf (50) comprises:
a rear fixed bracket (52) fixedly mounted on the rear end of the vehicle body (10);
a rear movable bracket (53) disposed behind the rear fixed bracket (52);
the two ends of the rear telescopic frame (54) are respectively hinged with the rear fixed bracket (52) and the rear movable bracket (53);
the rear spring (55) is arranged between the rear fixed support (52) and the rear movable support (53), and two ends of the rear spring (55) are respectively connected with the rear fixed support (52) and the rear movable support (53);
the rear switch (51) is mounted on the rear movable support (53) and faces the rear fixed support (52), and the rear switch (51) can be opened when the rear movable support (53) retracts towards the rear fixed support (52).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910949408.6A CN110816697B (en) | 2019-10-08 | 2019-10-08 | Crawler vehicle carrying electric control integrated pump motor driving system and driving control method |
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| CN201910949408.6A CN110816697B (en) | 2019-10-08 | 2019-10-08 | Crawler vehicle carrying electric control integrated pump motor driving system and driving control method |
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| CN110816697B true CN110816697B (en) | 2020-09-08 |
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| CN116080781A (en) * | 2023-01-10 | 2023-05-09 | 江苏徐工工程机械研究院有限公司 | Crawler chassis walking self-adaptive adjustment control system, robot and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1056462A (en) * | 1990-05-15 | 1991-11-27 | 重庆大学 | Energy-obsorbing and damping bumper for car collision |
| CN2488777Y (en) * | 2001-07-31 | 2002-05-01 | 张庆光 | Automatic brake device for car collision accident |
| CN201089451Y (en) * | 2007-05-30 | 2008-07-23 | 范立国 | Automobile reverse collision preventing device |
| CN203611976U (en) * | 2013-11-22 | 2014-05-28 | 山推工程机械股份有限公司 | Hydraulic travel emergency brake system for engineering machinery |
| CN105650044A (en) * | 2016-03-15 | 2016-06-08 | 雷沃重工股份有限公司 | Emergency braking system for harvester and braking method thereof |
| CN106697089B (en) * | 2017-02-15 | 2018-02-02 | 长沙桑铼特农业机械设备有限公司 | A kind of multichannel crawler equipment remote control equipment |
| CN107554357A (en) * | 2017-08-23 | 2018-01-09 | 北京新能源汽车股份有限公司 | Vehicle remote control driving method and system and motor controller |
| CN207550178U (en) * | 2017-12-04 | 2018-06-29 | 西安航空职业技术学院 | A kind of device for reducing hydraulic-driven traveling vehicle braking distance |
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