Self-moving device and hydraulic system thereof

Abstract

The present application relates to the technical field of coal mine equipment, and discloses a self-moving device and a hydraulic system thereof, which comprises a base provided with sliding rails, two sliding bodies sliding along the sliding rails, two locking mechanisms respectively arranged on the sliding bodies and a driving mechanism connected between the two sliding bodies; wherein the locking mechanism is installed on the sliding body through a first hinged mechanism and cooperates with a limiting block to perform floating limiting, and the two ends of the driving mechanism are connected with the sliding bodies through a second hinged mechanism; each mechanism cooperatively acts to realize step-by-step displacement through alternating locking and driving. The present application realizes non-rigid connection through floating limiting of the hinged mechanism and the limiting block, automatically compensates the perpendicularity and position deviation between the base and the sliding body, releases radial stress, effectively prevents damage of the locking mechanism and the driving mechanism caused by unbalanced load, and ensures the stability and reliability of step-by-step displacement of the device.

Description

Technical Field

[0001] This invention relates to the field of coal mining equipment technology, and in particular to a self-moving device and its hydraulic system. Background Technology

[0002] In coal mine underground mining operations or large industrial equipment maintenance scenarios, the frequent relocation of equipment between multiple workstations is a key link to ensure production continuity. Traditional methods of movement mainly rely on manual traction, forklift handling, or overhead crane assistance. Due to the constraints of narrow working space and complex environment, not only is the labor intensity high, but the displacement accuracy and automation level are also difficult to meet the needs of modern industry.

[0003] To overcome the limitations of traditional movement methods, the industry currently employs self-moving devices that integrate drive and locking components. However, these existing technologies have the following drawbacks in actual production: During the machining of the sliding body, due to limitations in controlling the thermal deformation of large welded parts and machining errors, it is difficult to maintain the theoretical perpendicularity between the base and the sliding body. During the assembly stage, the power axis of the locking component often exhibits unavoidable positional and perpendicularity deviations. Since existing devices mostly use rigid fixed connections, when the piston rod presses against the base to lock, the deviation between the power axis and the base's reaction force line causes the piston rod to bear continuous radial off-center loads. Long-term operation under off-center load conditions can easily lead to irreversible bending deformation of the locking mechanism, resulting in decreased locking reliability and increased operational safety risks. Summary of the Invention

[0004] The purpose of this invention is to provide a self-moving device and its hydraulic system, which uses first and second hinge mechanisms to non-rigidly connect the locking mechanism, the driving mechanism, and the sliding body, and uses a limit block to implement floating limit on the locking mechanism, thereby automatically compensating for the perpendicularity and positional deviation between the base and the sliding body. While releasing the radial stress of the locking mechanism and the driving mechanism to prevent damage caused by off-center loading, it ensures that the device achieves stable and reliable step-by-step displacement through the alternating locking of the sliding body.

[0005] To achieve the above objectives, a first aspect of the present invention provides a self-moving device, comprising: A base, on which a slide rail is provided; Two sliding bodies are slidably disposed along the slide rail; Two locking mechanisms are respectively disposed on the two sliding bodies, for locking the sliding bodies to the base to restrict their sliding relative to the slide rail; A driving mechanism is connected between the two sliding bodies and is used to drive the two sliding bodies to undergo relative displacement. The locking mechanism is mounted on the sliding body via a first hinge mechanism. The sliding body is provided with a limiting block for floating and limiting the locking mechanism. The two ends of the driving mechanism are respectively mounted on the two sliding bodies via two second hinge mechanisms. The two locking mechanisms and the driving mechanism are configured to work together to achieve step-like displacement by alternately locking the two sliding bodies and driving the two sliding bodies to move relative to each other.

[0006] Furthermore, both the first hinge mechanism and the second hinge mechanism are hinge seats and pins that are mutually fitted and inserted. The locking mechanism is a vertically arranged locking hydraulic cylinder. The upper end of the locking hydraulic cylinder is provided with an ear ring. The ear ring of the locking hydraulic cylinder is rotatably connected to the hinge seat provided on the sliding body through the pin. The driving mechanism is a horizontally arranged push-pull hydraulic cylinder. The cylinder body end and piston rod end of the push-pull hydraulic cylinder are rotatably connected to the hinge seats provided on the two sliding bodies through the pins.

[0007] Furthermore, the limiting block is an annular sleeve structure fixedly disposed on the sliding body. The limiting block has an inner cavity extending vertically. The locking hydraulic cylinder passes through the inner cavity of the limiting block. The inner diameter of the inner cavity is larger than the outer diameter of the locking hydraulic cylinder. There is an movable gap between the inner cavity and the locking hydraulic cylinder.

[0008] Furthermore, the piston rod end of the locking hydraulic cylinder is detachably mounted with a pressure head, and the pressure head has an installation groove. The piston rod end of the locking hydraulic cylinder is inserted into the installation groove, and the inner diameter of the installation groove is larger than the outer diameter of the piston rod end. The piston rod end of the locking hydraulic cylinder is hinged to the pressure head through the installation groove.

[0009] Furthermore, the slide rail has a T-shaped groove extending in the horizontal direction, and the bottom of the sliding body has a T-shaped block that is slidably accommodated in the T-shaped groove. The T-shaped block has sliding pads on both sides in the extending direction of the T-shaped groove, and the sliding pads can abut against the upper surface of the slide rail.

[0010] A second aspect of the invention provides a hydraulic system for driving the self-moving device, comprising a control valve, a first sequence valve assembly, and a second sequence valve assembly, the control valve having a first working port and a second working port; a locking hydraulic cylinder having a locking chamber and an unlocking chamber separated by a piston end plate, the two locking hydraulic cylinders being referred to as a first locking hydraulic cylinder and a second locking hydraulic cylinder; and a push-pull hydraulic cylinder having an extension chamber and a retraction chamber separated by a piston end plate. The first working port is connected in parallel to the locking chamber of the first locking hydraulic cylinder, the unlocking chamber of the second locking hydraulic cylinder, and the oil inlet of the first sequence valve assembly via an oil circuit. The oil outlet of the first sequence valve assembly is connected to the extension chamber of the push-pull hydraulic cylinder. The second working port is connected in parallel to the locking chamber of the second locking hydraulic cylinder, the unlocking chamber of the first locking hydraulic cylinder, and the oil inlet of the second sequence valve assembly via an oil circuit. The oil outlet of the second sequence valve assembly is connected to the contraction chamber of the push-pull hydraulic cylinder.

[0011] Furthermore, both the first locking hydraulic cylinder and the second locking hydraulic cylinder are differential hydraulic cylinders, and the effective pressure-bearing area of ​​the locking cavity is greater than the effective pressure-bearing area of ​​the unlocking cavity.

[0012] Furthermore, the control valve is a four-position four-way directional valve, and the control valve also has a first oil inlet and a second oil inlet; When the control valve is in the first position, the first oil inlet is connected to the first working port, and the second oil inlet is connected to the second working port; When the control valve is in the second position, the first oil inlet is connected to the first working port, and the first oil inlet is connected to the second working port; When the control valve is in the third position, the first oil inlet is connected to the second working port, and the second oil inlet is connected to the first working port. When the control valve is in the fourth position, the first oil inlet, the second oil inlet, the first working port, and the second working port are not connected.

[0013] Furthermore, the first sequence valve assembly includes a first sequence valve and a first check valve arranged in parallel. The oil flow direction of the first check valve is from the oil outlet end of the first sequence valve assembly to the oil inlet end of the first sequence valve assembly. The second sequence valve assembly has the same structure as the first sequence valve assembly.

[0014] Furthermore, the hydraulic system also includes a two-position four-way directional valve, which has a third working port, a fourth working port, a fifth working port, and a sixth working port. The first sequence valve assembly is connected to the third working port, the second sequence valve assembly is connected to the fourth working port, the fifth working port is connected to the extension chamber of the push-pull hydraulic cylinder, and the sixth working port is connected to the retraction chamber of the push-pull hydraulic cylinder. The two-position four-way valve has a forward position and a reverse position. When the two-position four-way directional valve is in the positive position, the third working port is connected to the fifth working port, and the fourth working port is connected to the sixth working port; When the two-position four-way directional valve is in the reverse position, the third working port is connected to the sixth working port, and the fourth working port is connected to the fifth working port.

[0015] Compared with the prior art, the self-moving device and its hydraulic system of this invention have the following advantages: A first hinge mechanism is set between the sliding body and the locking mechanism, and the two ends of the driving mechanism are respectively installed on the two sliding bodies through a second hinge mechanism. The rotational degrees of freedom of the first and second hinge structures realize adaptive compensation for the perpendicularity and positional deviation between the base and the sliding body. With the help of the limiting block set on the sliding body, the locking mechanism is floated and limited, which not only reserves space to eliminate the offset, but also constrains the movement posture of the locking mechanism. It can convert the radial off-center load force generated by the locking mechanism and the driving mechanism during operation due to the welding heat deformation of the sliding seat or the assembly tolerance into a small displacement of the hinge point, preventing irreversible bending deformation of the locking mechanism and the driving mechanism, enhancing the stability of the device operation and the locking reliability, and ensuring that the device can achieve reliable step-by-step movement through the alternating locking of the sliding bodies under complex working conditions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the self-moving device according to an embodiment of the present invention; Figure 2 This is a structural schematic diagram of the self-moving device according to another embodiment of the present invention; Figure 3 This is a circuit diagram of the hydraulic system according to an embodiment of the present invention; In the picture, 1. Base; 11. Slide rail; 12. T-slot; 2. Sliding body; 21. First sliding body; 22. Second sliding body; 23. First hinge mechanism; 24. Second hinge mechanism; 25. Hinge seat; 26. Pin; 27. T-block; 28. Sliding pad; 3. Locking mechanism; 31. Locking hydraulic cylinder; 311. First locking hydraulic cylinder; 312. Second locking hydraulic cylinder; 313. Locking chamber; 314. Unlocking chamber; 315. Earring; 32. Pressure head; 321. Mounting groove; 4. Drive mechanism; 41. Push-pull hydraulic cylinder; 411. Extension chamber; 412. Retraction chamber; 5. Limiting block; 51. Fixed ring; 52. Movable ring; 6. Hydraulic system; 61. Control valve; 611. Four-position four-way directional valve; 6111. First oil inlet; 6112. Second oil inlet; 6113. First working port; 6114. Second working port; 62. First sequence valve assembly; 621. First sequence valve; 622. First check valve; 63. Second sequence valve assembly; 64. Two-position four-way directional valve; 641. Third working port; 642. Fourth working port; 643. Fifth working port; 644. Sixth working port. Detailed Implementation

[0017] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0018] In the description of this invention, the terms "upper," "lower," "left," "right," "front," "rear," "inner," "outer," "lateral," and "longitudinal," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances.

[0019] In the description of this invention, the terms "provided with," "set up," "connected," and "placed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0021] The technical solution of the present invention will be further described below with reference to the embodiments and accompanying drawings.

[0022] like Figure 1 , 2 As shown, the first embodiment of the present invention provides a self-moving device, comprising: Base 1, with slide rail 11 on it; Two sliding bodies 2 are slidably set along the slide rail 11; Two locking mechanisms 3 are respectively disposed on two sliding bodies 2, and are used to lock the sliding bodies 2 on the base 1 to limit their sliding relative to the slide rail 11; Drive mechanism 4 is connected between two sliding bodies 2 and is used to drive the two sliding bodies 2 to undergo relative displacement; The locking mechanism 3 is mounted on the sliding body 2 via the first hinge mechanism 23. The sliding body 2 is provided with a limiting block 5 for floating and limiting the locking mechanism 3. The two ends of the driving mechanism 4 are respectively mounted on the two sliding bodies 2 via two second hinge mechanisms 24. The two locking mechanisms 3 and the driving mechanism 4 are configured to work together, and step displacement is achieved by alternately locking the two sliding bodies 2 and driving the two sliding bodies 2 to move relative to each other.

[0023] Based on the above technical solution, during the manufacturing process of the device, the sliding body 2 is affected by welding, and it is difficult to keep the axes of the two locking mechanisms 3 consistent with the normal direction of the slide rail 11 of the base 1. The two locking mechanisms 3 are installed on the corresponding sliding body 2 through the first hinge mechanism 23, so that the connection between the locking mechanism 3 and the sliding body 2 is changed from a rigid fixed connection to a hinge with rotational freedom. When the locking mechanism 3 moves and contacts the base 1, it can rotate a small range around the first hinge mechanism 23 according to its own weight to offset the offset caused by welding error and assembly error, so that the reaction force on the locking mechanism 3 is almost kept in the direction of the axis where the locking mechanism 3 is located. At the same time, the limiting block 5 set on the sliding body 2 provides the necessary posture constraint for the locking mechanism 3. The movable gap between the limiting block 5 and the locking mechanism 3 ensures that the locking mechanism 3 has enough swing to release the offset, and avoids the locking mechanism 3 from swinging too much when it is not working. The two ends of the drive mechanism 4 are respectively mounted on the two sliding bodies 2 through two second hinge mechanisms 24. Two rotational degrees of freedom are introduced between the drive mechanism 4 and the two sliding bodies 2. When the two sliding bodies 2 are relatively misaligned on the slide rail 11, the drive mechanism 4 can deflect slightly around the rotation center at both ends. This ensures that the radial displacement deviation between the two sliding bodies 2 is absorbed by the rotation of the second hinge mechanism 24 during the push-pull process of the drive mechanism 4. This avoids the sliding bodies 2 from transmitting the lateral load caused by the unevenness of the track to the drive mechanism 4 in a hard and forced manner, and prevents the piston rod from bending deformation caused by radial shear force during the extension and retraction process.

[0024] Preferably, the first hinge mechanism 23 and the second hinge mechanism 24 are both hinge seats 25 and pins 26 that are mutually engaged and inserted. The locking mechanism 3 is a vertically arranged locking hydraulic cylinder 31. The upper end of the locking hydraulic cylinder 31 is provided with an ear ring 315. The ear ring 315 of the locking hydraulic cylinder 31 is rotatably connected to the hinge seat 25 provided on the sliding body 2 through the pin 26. The drive mechanism 4 is a horizontally arranged push-pull hydraulic cylinder 41. The cylinder body end and piston rod end of the push-pull hydraulic cylinder 41 are rotatably connected to the hinge seats 25 set on the two sliding bodies 2 via pins 26.

[0025] A lug 315 is provided on the upper end of the vertically arranged locking hydraulic cylinder 31 and connected to the hinge seat 25 provided on the sliding body 2 by means of a pin 26. The cylinder body end and piston rod end of the horizontally arranged push-pull hydraulic cylinder 41 are respectively rotatably connected to the hinge seats 25 provided on the two sliding bodies 2 by means of pins 26. When performing maintenance work, the operator only needs to remove or install the corresponding pins 26 to make the lug plate and the hinge seat 25 mutually constrain or disengage. The assembly and maintenance efficiency is high, and the smoothness and safety of the disassembly and assembly process are ensured.

[0026] Preferably, the limiting block 5 is an annular sleeve structure fixedly mounted on the sliding body 2. The limiting block 5 has an inner cavity that extends vertically through it. The locking hydraulic cylinder 31 passes through the inner cavity of the limiting block 5. The inner diameter of the inner cavity is larger than the outer diameter of the locking hydraulic cylinder 31. There is an movable gap between the inner cavity and the locking hydraulic cylinder 31.

[0027] In one specific embodiment, the limiting block 5 includes a fixed ring 51 fixedly disposed on the sliding body 2 and a movable ring 52 detachably mounted on the fixed ring 51 via a pin 26 structure.

[0028] The split-type annular sleeve structure, consisting of a fixed ring 51 and a movable ring 52, changes the installation path of the locking hydraulic cylinder 31 from axial through-mounting to radial lateral installation. In work sites with limited height and narrow space, if the locking hydraulic cylinder 31 needs to be replaced, the operator does not need to disassemble the first hinge mechanism 23 located at the top of the sliding body 2. They only need to pull out the pin 26 structure and remove the movable ring 52 to move the locking hydraulic cylinder 31 to the side from the constraint of the fixed ring 51, thus reducing the height requirement of the locking hydraulic cylinder 31 during maintenance.

[0029] More preferably, a pressure head 32 is detachably mounted on the piston rod end of the locking hydraulic cylinder 31. The pressure head 32 has an installation groove 321. The piston rod end of the locking hydraulic cylinder 31 is inserted into the installation groove 321. The inner diameter of the installation groove 321 is larger than the outer diameter of the piston rod end. The piston rod end of the locking hydraulic cylinder 31 is hinged to the pressure head 32 through the installation groove 321.

[0030] The fitting structure, in which the inner diameter of the mounting groove 321 is larger than the outer diameter of the piston rod end of the locking hydraulic cylinder 31, creates a local radial displacement compensation range between the pressure head 32 and the piston rod end of the locking hydraulic cylinder 31. When the piston rod end of the locking hydraulic cylinder 31 drives the pressure head 32 to press downward against the surface of the base 1, this structure allows the pressure head 32 to tilt slightly so that the bottom surface of the pressure head 32 can fit the actual shape of the base 1. This ensures that the top pressure load of the locking hydraulic cylinder 31 is evenly distributed on the contact surface, avoids the load from concentrating on the edge or local points of the pressure head 32, and prevents damage to the surface of the base 1 caused by excessive contact stress.

[0031] Preferably, the slide rail 11 has a T-shaped groove 12 extending in the horizontal direction, and the bottom of the sliding body 2 has a T-shaped block 27 that is slidably accommodated in the T-shaped groove 12. The T-shaped block 27 has sliding pads 28 on both sides in the extending direction of the T-shaped groove 12, and the sliding pads 28 can abut against the upper end surface of the slide rail 11.

[0032] Specifically, the sliding pad 28 is made of polyamide.

[0033] like Figure 3 As shown, a second embodiment of the present invention provides a hydraulic system for driving a self-moving device, including a control valve 61, a first sequence valve assembly 62, and a second sequence valve assembly 63. The control valve 61 has a first working port 6113 and a second working port 6114. The locking hydraulic cylinder 31 has a locking chamber 313 and an unlocking chamber 314 separated by a piston end plate. The two locking hydraulic cylinders 31 are respectively referred to as the first locking hydraulic cylinder 311 and the second locking hydraulic cylinder 312. The push-pull hydraulic cylinder 41 has an extension chamber 411 and a retraction chamber 412 separated by a piston end plate. The first working port 6113 is connected in parallel to the locking chamber 313 of the first locking hydraulic cylinder 311, the unlocking chamber 314 of the second locking hydraulic cylinder 312, and the oil inlet of the first sequence valve assembly 62 through an oil circuit. The oil outlet of the first sequence valve assembly 62 is connected to the extension chamber 411 of the push-pull hydraulic cylinder 41. The second working port 6114 is connected in parallel to the locking chamber 313 of the second locking hydraulic cylinder 312, the unlocking chamber 314 of the first locking hydraulic cylinder 311, and the oil inlet of the second sequence valve assembly 63 via an oil circuit. The oil outlet of the second sequence valve assembly 63 is connected to the contraction chamber 412 of the push-pull hydraulic cylinder 41.

[0034] When the self-moving device steps, when the control valve 61 switches to the first working position, high-pressure liquid enters from the first working port 6113. The liquid simultaneously reaches three branches: the liquid enters the locking chamber 313 of the first locking hydraulic cylinder 311, driving its piston rod to extend and press against the base 1, making the first sliding body 21 a fixed anchor point; at the same time, the liquid enters the unlocking chamber 314 of the second locking hydraulic cylinder 312, and its piston rod retracts, releasing the constraint between the second sliding body 22 and the base 1. As the locking and unlocking actions are completed, the oil pressure in the first working port 6113 increases as the first locking hydraulic cylinder 311 and the second locking hydraulic cylinder 312 reach the end of their strokes. When the pressure reaches the preset opening pressure of the first sequence valve assembly 62, the valve core opens, and the high-pressure liquid enters the extension chamber 411 of the push-pull hydraulic cylinder 41 through the first sequence valve assembly 62. Since the first sliding body 21 has been anchored and the second sliding body 22 is a free end, the extension force of the push-pull hydraulic cylinder 41 will push the second sliding body 22 forward along the slide rail 11 by a preset stroke. When the control valve 61 switches to the second working position, the high-pressure liquid enters through the second working port 6114, and the liquid simultaneously reaches three branches: the liquid enters the locking chamber 313 of the second locking hydraulic cylinder 312, driving its piston rod to extend and press against the base 1, making the second sliding body 22 a fixed anchor point; at the same time, the liquid enters the unlocking chamber 314 of the first locking hydraulic cylinder 311, and its piston rod retracts, releasing the constraint between the first sliding body 21 and the base 1; As the locking and unlocking actions are completed, the oil pressure in the second working port 6114 increases as the second locking hydraulic cylinder 312 and the first locking hydraulic cylinder 311 reach the end of their strokes. When the pressure reaches the preset opening pressure of the second sequence valve assembly 63, the valve core opens, and the high-pressure liquid enters the contraction chamber 412 of the push-pull hydraulic cylinder 41 through the second sequence valve assembly 63. Since the second sliding body 22 has been anchored and the first sliding body 21 is a free end, the contraction force of the push-pull hydraulic cylinder 41 will pull the first sliding body 21 forward along the slide rail 11 by a preset stroke. At this point, the self-moving device has completed one step cycle, and the position of the self-moving device has moved forward as a whole.

[0035] More preferably, both the first locking hydraulic cylinder 311 and the second locking hydraulic cylinder 312 are differential hydraulic cylinders, and the effective pressure-bearing area of ​​the locking cavity 313 is greater than the effective pressure-bearing area of ​​the unlocking cavity 314.

[0036] More preferably, the control valve 61 is a four-position four-way directional valve 611, and the control valve 61 also has a first oil inlet 6111 and a second oil inlet 6112. When the control valve 61 is in the first position, the first oil supply port 6111 is connected to the first working port 6113, and the second oil supply port 6112 is connected to the second working port 6114. When the control valve 61 is in the second position, the first oil supply port 6111 is connected to the first working port 6113 and the first oil supply port 6111 is connected to the second working port 6114. When the control valve 61 is in the third position, the first oil supply port 6111 is connected to the second working port 6114, and the second oil supply port 6112 is connected to the first working port 6113. When the control valve 61 is in the fourth position, the first oil supply port 6111, the second oil supply port 6112, the first working port 6113, and the second working port 6114 are not connected.

[0037] When the control valve 61 is switched to the first position, high-pressure liquid enters the first working port 6113 from the first oil inlet 6111. At the same time, the second working port 6114 is connected to the second oil inlet 6112. The high-pressure liquid enters the locking chamber 313 of the first locking hydraulic cylinder 311 and the unlocking chamber 314 of the second locking hydraulic cylinder 312 through the first working port 6113. At this time, the first sliding body 21 presses down on the base 1 to enter the locking state, and the second sliding body 22 retracts the piston rod upward to enter the unlocking state. When the first locking hydraulic cylinder 311 completely locks the base 1, the oil pressure rises and reaches the opening threshold of the first sequence valve assembly 62. The high-pressure liquid then drives the extension chamber 411 of the push-pull hydraulic cylinder 41, causing the second sliding body 22, which is in the unlocked state, to push forward relative to the fixed first sliding body 21.

[0038] When the control valve 61 is switched to the third position, the high-pressure liquid enters the locking chamber 313 of the second locking hydraulic cylinder 312 and the unlocking chamber 314 of the first locking hydraulic cylinder 311 through the second working port 6114. At this time, the second sliding body 22, which has moved forward, switches to a fixed anchor point, while the first sliding body 21 is unlocked. The liquid pressure rises and triggers the second sequence valve assembly 63 to open. The high-pressure liquid drives the contraction chamber 412 of the push-pull hydraulic cylinder 41 to pull the unlocked first sliding body 21 forward, completing one displacement cycle of the entire device.

[0039] When the control valve 61 switches to the second position, the first oil inlet 6111 simultaneously supplies oil to the first working port 6113 and the second working port 6114. Since the first working port 6113 and the second working port 6114 are pressurized simultaneously, both the locking chamber 313 and the unlocking chamber 314 of the first and second locking hydraulic cylinders 312 are filled with high-pressure liquid. According to the differential principle, since the effective pressure-bearing area of ​​the locking chamber 313 (rodless chamber) is greater than the effective pressure-bearing area of ​​the unlocking chamber 314 (rod chamber), under the same system pressure, the outward thrust of the piston is always greater than the inward pull, and the resultant force on the piston rod always points in the extension direction. Under this state, both locking hydraulic cylinders 31 can extend simultaneously and lock the base 1, ensuring that the sliding bodies 2 at both ends can maintain maximum grip during maintenance, emergency braking, or long-term parking, thus ensuring the stable fixation of the sliding bodies 2 relative to the base 1.

[0040] After the first locking cylinder 311 and the second locking cylinder 312 are in position and apply preset pressure, the control valve switches from the second position to the fourth position through hydraulic feedback from the oil inlet pipeline. The first oil inlet 6111, the second oil inlet 6112, the first working port 6113, and the second working port 6114 are disconnected to prevent excessive hydraulic pressure in the oil pipeline from exceeding the preset opening pressure of the first sequence valve group 62 and the second sequence valve group 63, causing oil to be transmitted to the push-pull hydraulic cylinder 41, thereby ensuring that the push-pull hydraulic cylinder 41 remains stationary and without output force under this condition; at the same time, due to the first working... The working port 6113 and the second working port 6114 are closed off, and the oil entering the first locking hydraulic cylinder 311 and the second locking hydraulic cylinder 312 is effectively blocked. This allows the first locking hydraulic cylinder 311 and the second locking hydraulic cylinder 312 to continuously and stably fix the sliding body 2 on the base 1 by relying on the established preset hydraulic pressure. This achieves double-end fixation under conditions of long-term parking, emergency braking or maintenance, and eliminates the unexpected horizontal movement tendency of the sliding body caused by the differential extension of the push-pull hydraulic cylinder 41, thereby improving the safety and structural life of the self-moving device.

[0041] More preferably, the first sequence valve assembly 62 includes a first sequence valve 621 and a first check valve 622 arranged in parallel. The oil flow direction of the first check valve 622 is from the oil outlet end of the first sequence valve assembly 62 toward the oil inlet end of the first sequence valve assembly 62. The second sequence valve assembly 63 has the same structure as the first sequence valve assembly 62.

[0042] More preferably, the hydraulic system 6 further includes a two-position four-way directional valve 64, which has a third working port 641, a fourth working port 642, a fifth working port 643 and a sixth working port 644. The first sequence valve assembly 62 is connected to the third working port 641, the second sequence valve assembly 63 is connected to the fourth working port 642, the fifth working port 643 is connected to the extension chamber 411 of the push-pull hydraulic cylinder 41, and the sixth working port 644 is connected to the retraction chamber 412 of the push-pull hydraulic cylinder 41. The two-position four-way valve has a forward position and a reverse position. When the two-position four-way directional valve 64 is in the positive position, the third working port 641 is connected to the fifth working port 643, and the fourth working port 642 is connected to the sixth working port 644. When the two-position four-way directional valve 64 is in the reverse position, the third working port 641 is connected to the sixth working port 644, and the fourth working port 642 is connected to the fifth working port 643.

[0043] When the two-position four-way directional valve 64 is in the forward position, the third working port 641 connects to the fifth working port 643. While keeping the first sliding body 21 locked, the pressure oil output by the first sequence valve assembly 62 drives the push-pull hydraulic cylinder 41 to extend, thereby performing forward stepping movement.

[0044] When switched to the reverse position, the third working port 641 connects to the sixth working port 644. While keeping the first sliding body 21 locked, the pressure oil output from the same first sequence valve assembly 62 drives the push-pull hydraulic cylinder 41 to contract, causing the entire mechanism to achieve a reverse stepping movement.

[0045] In summary, this invention provides a self-moving device and its hydraulic system. A first hinge mechanism 23 is provided between the sliding body 2 and the locking mechanism 3, and the two ends of the driving mechanism 4 are respectively mounted on the two sliding bodies 2 via a second hinge mechanism 24. The rotational degrees of freedom of the first and second hinge structures achieve adaptive compensation for the perpendicularity and positional deviations between the base 1 and the sliding body 2. The limiting block 5 on the sliding body 2 provides floating limit for the locking mechanism 3, reserving space to eliminate offset and constraining the movement posture of the locking mechanism 3. This converts the radial off-center load force generated by the locking mechanism 3 and driving mechanism 4 during operation due to welding heat deformation or assembly tolerances of the sliding seat into a small displacement at the hinge point, preventing irreversible bending deformation of the locking mechanism 3 and driving mechanism 4. This enhances the stability and locking reliability of the device's operation, ensuring reliable step-by-step movement of the device under complex working conditions through the alternating locking of the sliding bodies 2.

[0046] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A self-moving device, characterized in that, include: Base (1), on which slide rail (11) is provided; Two sliding bodies (2) are slidably disposed along the slide rail (11); Two locking mechanisms (3) are respectively disposed on the two sliding bodies (2) for locking the sliding bodies (2) on the base (1) to limit their sliding relative to the slide rail (11); A driving mechanism (4) is connected between the two sliding bodies (2) and is used to drive the two sliding bodies (2) to undergo relative displacement. The locking mechanism (3) is mounted on the sliding body (2) via a first hinge mechanism (23). The sliding body (2) is provided with a limiting block (5) for floating and limiting the locking mechanism (3). The two ends of the driving mechanism (4) are respectively mounted on the two sliding bodies (2) via two second hinge mechanisms (24). The two locking mechanisms (3) and the driving mechanism (4) are configured to work together to achieve step displacement by alternately locking the two sliding bodies (2) and driving the two sliding bodies (2) to move relative to each other.

2. The self-moving device according to claim 1, characterized in that, The first hinge mechanism (23) and the second hinge mechanism (24) are both hinge seats (25) and pins (26) that are inserted into each other. The locking mechanism (3) is a vertically arranged locking hydraulic cylinder (31). The upper end of the locking hydraulic cylinder (31) is provided with an ear ring (315). The ear ring (315) of the locking hydraulic cylinder (31) is rotatably connected to the hinge seat (25) provided on the sliding body (2) through the pin (26). The drive mechanism (4) is a horizontally arranged push-pull hydraulic cylinder (41). The cylinder body end and piston rod end of the push-pull hydraulic cylinder (41) are rotatably connected to the hinge seat (25) provided on the two sliding bodies (2) through the pin (26).

3. The self-moving device according to claim 2, characterized in that, The limiting block (5) is an annular sleeve structure fixedly installed on the sliding body (2). The limiting block (5) has an inner cavity that extends vertically. The locking hydraulic cylinder (31) passes through the inner cavity of the limiting block (5). The inner diameter of the inner cavity is larger than the outer diameter of the locking hydraulic cylinder (31). There is a movable gap between the inner cavity and the locking hydraulic cylinder (31).

4. The self-moving device according to claim 2, characterized in that, The piston rod end of the locking hydraulic cylinder (31) is detachably mounted with a pressure head (32). The pressure head (32) has an installation groove (321). The piston rod end of the locking hydraulic cylinder (31) is inserted into the installation groove (321). The inner diameter of the installation groove (321) is larger than the outer diameter of the piston rod end. The piston rod end of the locking hydraulic cylinder (31) is hinged to the pressure head (32) through the installation groove (321).

5. The self-moving device according to claim 1, characterized in that, The slide rail (11) has a T-shaped groove (12) extending in the horizontal direction. The bottom of the sliding body (2) is provided with a T-shaped block (27) that is slidably accommodated in the T-shaped groove (12). The T-shaped block (27) has sliding pads (28) on both sides in the extension direction of the T-shaped groove (12). The sliding pads (28) can abut against the upper surface of the slide rail (11).

6. A hydraulic system for driving a self-moving device as described in any one of claims 1-5, characterized in that, The system includes a control valve (61), a first sequence valve assembly (62), and a second sequence valve assembly (63). The control valve (61) has a first working port (6113) and a second working port (6114). The locking hydraulic cylinder (31) has a locking chamber (313) and an unlocking chamber (314) separated by a piston end plate. The two locking hydraulic cylinders (31) are respectively referred to as the first locking hydraulic cylinder (311) and the second locking hydraulic cylinder (312). The push-pull hydraulic cylinder (41) has an extension chamber (411) and a retraction chamber (412) separated by a piston end plate. The first working port (6113) is connected in parallel to the locking chamber (313) of the first locking hydraulic cylinder (311), the unlocking chamber (314) of the second locking hydraulic cylinder (312) and the oil inlet of the first sequence valve assembly (62) through an oil circuit. The oil outlet of the first sequence valve assembly (62) is connected to the extension chamber (411) of the push-pull hydraulic cylinder (41). The second working port (6114) is connected in parallel to the locking chamber (313) of the second locking hydraulic cylinder (312), the unlocking chamber (314) of the first locking hydraulic cylinder (311), and the oil inlet of the second sequence valve assembly (63) through an oil circuit. The oil outlet of the second sequence valve assembly (63) is connected to the contraction chamber (412) of the push-pull hydraulic cylinder (41).

7. The hydraulic system according to claim 5, characterized in that, Both the first locking hydraulic cylinder (311) and the second locking hydraulic cylinder (312) are differential hydraulic cylinders, and the effective pressure-bearing area of ​​the locking cavity (313) is greater than the effective pressure-bearing area of ​​the unlocking cavity (314).

8. The hydraulic system according to claim 6, characterized in that, The control valve (61) is a four-position four-way directional valve (611), and the control valve (61) also has a first oil inlet (6111) and a second oil inlet (6112). When the control valve (61) is in the first position, the first oil inlet (6111) is connected to the first working port (6113), and the second oil inlet (6112) is connected to the second working port (6114). When the control valve (61) is in the second position, the first oil inlet (6111) is connected to the first working port (6113), and the first oil inlet (6111) is connected to the second working port (6114). When the control valve (61) is in the third position, the first oil inlet (6111) is connected to the second working port (6114), and the second oil inlet (6112) is connected to the first working port (6113). When the control valve (61) is in the fourth position, the first oil inlet (6111), the second oil inlet (6112), the first working port (6113), and the second working port (6114) are not connected.

9. The hydraulic system according to claim 8, characterized in that, The first sequence valve assembly (62) includes a first sequence valve (621) and a first check valve (622) arranged in parallel. The oil flow direction of the first check valve (622) is from the oil outlet end of the first sequence valve assembly (62) toward the oil inlet end of the first sequence valve assembly (62). The second sequence valve assembly (63) has the same structure as the first sequence valve assembly (62).

10. The hydraulic system according to claim 9, characterized in that, It also includes a two-position four-way directional valve (64), which has a third working port (641), a fourth working port (642), a fifth working port (643) and a sixth working port (644). The first sequence valve assembly (62) is connected to the third working port (641), the second sequence valve assembly (63) is connected to the fourth working port (642), the fifth working port (643) is connected to the extension chamber (411) of the push-pull hydraulic cylinder (41), and the sixth working port (644) is connected to the contraction chamber (412) of the push-pull hydraulic cylinder (41). The two-position four-way valve has a forward position and a reverse position. When the two-position four-way reversing valve (64) is in the positive position, the third working port (641) is connected to the fifth working port (643), and the fourth working port (642) is connected to the sixth working port (644). When the two-position four-way reversing valve (64) is in the reverse position, the third working port (641) is connected to the sixth working port (644), and the fourth working port (642) is connected to the fifth working port (643).

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