Crawler automatic tensioning device, walking mechanism and automatic tensioning control method

Abstract

The application relates to the technical field of engineering machinery, and provides a crawler automatic tensioning device, a walking mechanism and an automatic tensioning control method.The crawler automatic tensioning device comprises an electromagnetic proportional pressure-reducing valve, an electromagnetic reversing valve, an electromagnetic proportional unloading valve and two tensioning oil cylinders, one end of the electromagnetic proportional pressure-reducing valve is connected with an oil source pump, the other end is connected with the electromagnetic reversing valve, a first oil way and a second oil way are connected with the end of the electromagnetic reversing valve away from the electromagnetic proportional pressure-reducing valve, the first oil way is connected with a rod cavity of the tensioning oil cylinder, and the second oil way is connected with a rodless cavity of the tensioning oil cylinder; wherein, a pressure sensor and a controller are further included, one end of the pressure sensor is connected with the second oil way, the pressure sensor is used for detecting a tensioning pressure value of a tensioning wheel connected with the tensioning oil cylinder, and the pressure sensor, the electromagnetic reversing valve and the electromagnetic proportional pressure-reducing valve are all connected with the controller. According to different impacts from the outside world, the controller can adjust the internal pressure to adapt, and the adaptability is stronger.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to an automatic track tensioning device, a traveling mechanism, and an automatic tensioning control method. Background Technology

[0002] Tracked walking mechanisms, used in excavators, road rollers, and cranes, offer numerous advantages such as high traction, low ground pressure, strong climbing ability, and small turning radius, leading to their widespread application in the construction machinery industry. During the use of track tensioning devices, the pretension force significantly impacts track performance. Excessive pretension results in overly rigid tracks, rendering the tensioning device ineffective in cushioning, and increasing internal friction, leading to low transmission efficiency and excessive track wear. Conversely, insufficient pretension causes track slack, failing to provide tension, and resulting in track vibration and jumping, further increasing friction and wear.

[0003] Most existing solutions use a hydraulic tensioning method with spring tensioning and hydraulic accumulator pressure holding. This tensioning method requires frequent manual adjustment of the pre-tension force, resulting in low automation. Summary of the Invention

[0004] This invention provides an automatic track tensioning device, a walking mechanism, and an automatic tensioning control method to solve the technical problems of low automation level and complex control methods in existing tensioning mechanisms.

[0005] In a first aspect, embodiments of the present invention provide an automatic track tensioning device, comprising:

[0006] The system includes an electromagnetic proportional pressure reducing valve, an electromagnetic directional valve, an electromagnetic proportional unloading valve, and two tensioning cylinders. One end of the electromagnetic proportional pressure reducing valve is connected to an oil source pump, and the other end is connected to the electromagnetic directional valve. The end of the electromagnetic directional valve furthest from the electromagnetic proportional pressure reducing valve is connected to a first oil circuit and a second oil circuit. The first oil circuit is connected to the rod-side chamber of the tensioning cylinder, and the second oil circuit is connected to the rodless chamber of the tensioning cylinder.

[0007] It also includes a pressure sensor and a controller. One end of the pressure sensor is connected to the second oil circuit and is used to detect the tensioning pressure value of the tensioning wheel connected to the tensioning cylinder. The pressure sensor, the electromagnetic reversing valve, and the electromagnetic proportional pressure reducing valve are all connected to the controller.

[0008] According to an embodiment of the present invention, the automatic track tensioning device further includes an electromagnetic proportional unloading valve, one end of which is connected to the second oil circuit and the other end of which is connected to the oil tank.

[0009] According to an embodiment of the present invention, in an automatic track tensioning device, the pressure value of the electromagnetic proportional unloading valve is not less than 1.5 times the pressure value of the electromagnetic proportional pressure reducing valve.

[0010] According to an embodiment of the present invention, an automatic track tensioning device is provided in the second oil circuit, and the hydraulic control check valve is connected to the first oil circuit.

[0011] It also includes an accumulator, which is connected to the second oil circuit.

[0012] Secondly, embodiments of the present invention also provide a tracked walking mechanism, comprising: a frame;

[0013] The aforementioned automatic track tensioning device is mounted on the frame.

[0014] Thirdly, embodiments of the present invention also provide an automatic track tensioning control method, employing the aforementioned track walking mechanism, the method comprising:

[0015] Receives the tension pressure value sent by the pressure sensor;

[0016] When the tensioning pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, a control signal is sent to the electromagnetic directional valve to control the tensioning pressure value of the tensioning wheel by adjusting the oil inlet and outlet state to the tensioning cylinder.

[0017] The automatic track tensioning control method provided in this embodiment of the invention further includes determining whether the track walking mechanism is in a walking state when the tensioning pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve.

[0018] If the vehicle is in a walking state, output the command that requires tensioning.

[0019] If the system is stationary, a control signal for a preset time period is given, and then the operating status of the tracked walking mechanism is further determined.

[0020] The automatic track tensioning control method provided in this embodiment of the invention outputs a tensioning completion command when the tensioning pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve after the control signal ends.

[0021] If the tension pressure value is lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, then the state of the tension pressure value within a preset time period is determined.

[0022] The automatic track tensioning control method provided in this embodiment of the invention includes determining the state of the tensioning pressure value within a preset time period, comprising:

[0023] If the tension pressure value remains constant within a preset time period, then compare the tension pressure value with the rated pressure value of the electromagnetic proportional pressure reducing valve.

[0024] If the tension pressure value is not constant within a preset time period, a tension leakage command will be output.

[0025] The automatic track tensioning control method provided in this embodiment of the invention, wherein after the tensioning pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, it is determined whether the tensioning pressure value exceeds the rated pressure value of the electromagnetic proportional unloading valve.

[0026] When the tension pressure is not lower than the rated pressure of the electromagnetic proportional unloading valve and exceeds the predetermined time, a judgment command is issued to determine whether to switch to manual mode.

[0027] The automatic track tensioning device provided in this embodiment of the invention uses a controller to control the electromagnetic reversing valve, the electromagnetic proportional pressure reducing valve, and the electromagnetic proportional unloading valve. It has a high degree of automation, and the pressure holding and tensioning method has been changed to an automatic control method. The controller can adjust the internal pressure to adapt to different external impacts, making it more adaptable. Moreover, the tensioning process is simple, which greatly saves manpower and material resources.

[0028] The tracked walking mechanism provided in this embodiment of the invention includes the above-mentioned automatic tensioning device, and therefore has the beneficial effects of the above-mentioned automatic tensioning device, which are not limited here.

[0029] The automatic track tensioning control method provided in this embodiment of the invention uses the above-mentioned automatic track tensioning device and also has the beneficial effects of the automatic track tensioning device, so it is not limited here. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the automatic track tensioning device according to an embodiment of the present invention;

[0032] Figure 2 This is a control flowchart of the controller of the present invention;

[0033] Figure 3 This is a schematic diagram showing the coordination of cylinder stroke and pressure in an embodiment of the present invention;

[0034] Figure 4 This is a flowchart of the automatic track tensioning control method of the present invention;

[0035] Figure label:

[0036] 10. Electromagnetic proportional pressure reducing valve; 110. First oil circuit; 120. Second oil circuit; 1210. Hydraulic control check valve; 1220. Accumulator;

[0037] 20. Solenoid directional valve;

[0038] 30. Electromagnetic proportional unloading valve;

[0039] 40. First tensioning cylinder;

[0040] 50. Second tensioning cylinder; 510. Tensioning wheel;

[0041] 60. Oil source pump;

[0042] 70. Fuel tank;

[0043] 80. Pressure sensor;

[0044] 90. Controller. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0048] The following is combined Figure 1 This invention protects an automatic track tensioning device, comprising an electromagnetic proportional pressure reducing valve 10, an electromagnetic directional valve 20, an electromagnetic proportional unloading valve 30, and two tensioning cylinders. This application uses the first tensioning cylinder 40 and the second tensioning cylinder 50 as examples for description. One end of the electromagnetic proportional pressure reducing valve 10 is connected to an oil source pump 60, and the other end is connected to the electromagnetic directional valve 20. The end of the electromagnetic directional valve 20 away from the electromagnetic proportional pressure reducing valve 10 is connected to a first oil passage 110 and a second oil passage 120. The first oil passage 110 is connected to the rod chamber of the tensioning cylinder, that is, the first oil passage 110 is connected to the rod chamber of the first tensioning cylinder 40 and the second tensioning cylinder 50. The second oil passage 120 is connected to the rodless chamber of the tensioning cylinder, that is, the second oil passage 120 is connected to the rodless chamber of the first tensioning cylinder 40 and the second tensioning cylinder 50. It also includes a pressure sensor 80 and a controller 90. One end of the pressure sensor 80 is connected to the second oil circuit 120. The pressure sensor 80, the solenoid directional valve 20 and the solenoid proportional pressure reducing valve 10 are all connected to the controller 90.

[0049] It also includes an electromagnetic proportional unloading valve 30, one end of which is connected to the second oil circuit 120, and the other end is connected to the oil tank 70. It should be noted that the electromagnetic proportional unloading valve 30 is also connected to the controller 90.

[0050] Compared to the traditional hydraulic tensioning method, which cannot effectively absorb impacts and has a complex untensioning process, making it prone to hydraulic oil leakage, this embodiment uses a controller 90 to control the solenoid directional valve 20, the solenoid proportional pressure reducing valve 10, and the solenoid proportional unloading valve 30. This method offers a high degree of automation, replacing the pressure-holding tensioning method with automatic control. The controller 90 can adjust the internal pressure to adapt to different external impacts, making it more adaptable. Furthermore, the untensioning process is simple, significantly saving manpower and resources.

[0051] Specifically, for example, for tracked walking mechanisms of different tonnages, the controller 90 can input different pressure values ​​to the electromagnetic proportional pressure reducing valve 10, thus adapting to the tension pressure of the appropriate tensioning wheel 510 corresponding to the tracked walking mechanism. The adjustment method is convenient, time-saving and labor-saving.

[0052] Specifically, tensioning rollers 510 are connected to the first tensioning cylinder 40 and the second tensioning cylinder 50 respectively; the electromagnetic reversing valve 20 includes a first state and a second state; the controller 90 controls the electromagnetic reversing valve 20 to be in the first state, and the oil source pump 60 feeds oil into the rod chambers of the first tensioning cylinder 40 and the second tensioning cylinder 50 along the first oil circuit 110 to contract the tensioning rollers 510; the controller 90 controls the electromagnetic reversing valve 20 to be in the second state, and the oil source pump 60 feeds oil into the rodless chambers of the first tensioning cylinder 40 and the second tensioning cylinder 50 along the second oil circuit 120 to tension the tensioning rollers 510.

[0053] That is, the controller 90 can control the solenoid directional valve 20 to adjust the tension state of the tension wheel 510 under different needs. The control method of the tension wheel 510 is simple and the release method is more convenient.

[0054] Specifically, the solenoid directional valve 20 also includes a neutral position; the controller 90 controls the solenoid directional valve 20 to be in the neutral position, and the oil circuit between the solenoid directional valve 20 and the oil source pump 60 is closed.

[0055] In other words, the solenoid directional valve 20 has three states. When the solenoid directional valve 20 is in the neutral position, the track is in normal walking mode, and the tension pressure of the tensioning wheel 510 does not need to be adjusted. When the solenoid directional valve 20 is in the first state, it indicates that the tension pressure of the tensioning wheel 510 is too high, which can easily increase the internal friction of the traveling machinery. At this time, the tension pressure of the tensioning wheel 510 needs to be reduced. When the solenoid directional valve 20 is in the second state, it indicates that the tension pressure of the tensioning wheel 510 is too low, causing the track to slack and failing to provide tension, or the tension is insufficient, which can easily cause track vibration or jumping. At this time, the tension pressure of the tensioning wheel 510 needs to be increased.

[0056] In some embodiments of the present invention, the pressure value detected by the pressure detector is the tensioning pressure of the tensioning wheel 510, which includes a normal state and a tensioning state; when the tensioning wheel 510 is in the normal state, the tensioning pressure is at least 90% of the pressure value of the electromagnetic proportional pressure reducing valve 10.

[0057] Furthermore, the pressure value of the electromagnetic proportional unloading valve 30 is not less than 1.5 times the pressure value of the electromagnetic proportional pressure reducing valve 10; when the tensioning wheel 510 is in normal condition, the tensioning pressure is less than the pressure value of the electromagnetic proportional unloading valve 30.

[0058] The second oil circuit 120 is equipped with a hydraulically controlled check valve 1210, which is connected to the first oil circuit 110. The hydraulically controlled check valve 1210 allows the hydraulic medium to be sealed leak-free when the first tensioning cylinder 40 and the second tensioning cylinder 50 are pressurized in the rodless chamber, and also allows the hydraulic medium to be released from the rodless chamber when pressure is applied to the rod-side cylinder chamber.

[0059] Furthermore, it also includes an accumulator 1220, which is connected to the second oil circuit 120. Specifically, the accumulator 1220 is pre-charged with a preset nitrogen pressure value. When the device is subjected to an impact, the accumulator 1220 mainly plays a buffering role.

[0060] In some embodiments of the present invention, a tracked walking mechanism is also proposed, including a frame and the aforementioned automatic track tensioning device, the automatic track tensioning device being mounted on the frame.

[0061] Please refer to Figure 2 and Figure 3 The pressure value of pressure sensor 80 is defined as P7, the pressure value of electromagnetic proportional unloading valve 30 is defined as P8, and the pressure value of electromagnetic proportional pressure reducing valve 10 is defined as P5.

[0062] Please refer to the following for details. Figure 3 When an impact occurs on the track of the tracked traveling mechanism, during time period t1, the accumulator 1220 acts as a buffer. The pressure in the rodless chambers of the first tensioning cylinder 40 and the second tensioning cylinder 50 continuously increases with the impact until the pressure value P8 of the electromagnetic proportional unloading valve 30 is reached. During time period t2, the electromagnetic proportional unloading valve 30 opens, and the pressure in the rodless chambers of the first tensioning cylinder 40 and the second tensioning cylinder 50 remains at the pressure value P8 of the electromagnetic proportional unloading valve 30, resulting in overflow, until the first tensioning cylinder 40 and the second tensioning cylinder 50 retract to their shortest lengths. The stroke of the first tensioning cylinder 40 and the second tensioning cylinder 50 absorbing the impact is X2. Based on the value of X2, the tensioning pressure required for tracked traveling mechanisms of different tonnages can be calculated. By controlling the electromagnetic proportional pressure reducing valve 10 through the controller 90, different tensioning pressures can be obtained to adapt to tracked traveling mechanisms of different tonnages. When the impact on the track is small, the accumulator 1220 buffers and limits the track stress; while when the track is subjected to large forces, the electromagnetic proportional unloading valve 30 limits the maximum track stress.

[0063] Please refer to Figure 2 For tracked traveling mechanisms, there are automatic and manual modes, and the specific control methods are as follows:

[0064] When P7 ≥ 0.9 * P5 and P7 < P8, the controller 90 does not issue a command, the tension wheel 510 remains in a tensioned state, and the automatic judgment continues.

[0065] When P7 < 0.9 * P5, and the tracked walking mechanism is in motion, the controller 90 outputs "track needs tension" to remind the operator to pay attention to the track condition.

[0066] When P7 < 0.9 * P5, and the track walking mechanism stops moving, the controller 90 outputs "Automatic track tensioning in progress" and sends a signal to the solenoid directional valve 20 after a preset delay, causing the solenoid directional valve 20 to enter the second state to tension the tensioning wheel 510. The delay time can also be 5 seconds, 10 seconds, or 15 seconds, etc., and is not limited here. Figure 2 Taking 5 seconds as an example, but without limitation.

[0067] If P7 < P5 and P7 remains stable, repeat the preset delay time and return to the automatically determined node.

[0068] When P7 < P5 and the pressure value of P7 decreases, the controller 90 outputs a "tension leakage alarm" and switches to manual mode to prompt the operator to perform maintenance and inspection.

[0069] When P7 ≥ P5, controller 90 outputs "Tensioning complete" and returns to the automatic judgment node.

[0070] When P7 ≥ P8 and the duration t ≥ t2, a severe collision is considered to have occurred in the tracked walking mechanism. Controller 90 outputs "Switch to manual mode?" and forcibly cuts off the walking action, pending operator confirmation of the situation. If the operator selects "Yes", controller 90 switches to manual mode, and the operator performs maintenance and inspection. If the operator selects "No", controller 90 remains in automatic mode and continues to automatically determine the cause.

[0071] Please refer to Figure 4 This invention also proposes a method for automatically tensioning and controlling tracks, employing the aforementioned automatic track tensioning device. It includes:

[0072] S110, Receive the tension pressure value sent by the pressure sensor;

[0073] S120. When the tensioning pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, a control signal is sent to the electromagnetic reversing valve to control the tensioning pressure value of the tensioning wheel by adjusting the oil inlet and outlet state to the tensioning cylinder.

[0074] In some embodiments of the present invention, when the tension pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, it is determined whether the tracked walking mechanism is in a walking state. At this time, the rated pressure value of the electromagnetic proportional pressure reducing valve can be 90% of its opening value. The tensioning cylinder is used to absorb the kinetic energy of the excavator. The tensioning cylinder is designed to ensure 90% of the excavator's maximum kinetic energy, thereby determining the required tension pressure for excavators of different tonnages. The controller controls the electromagnetic proportional pressure reducing valve through control signals to obtain different tension pressures, enabling the application of the tracked walking mechanism in excavators of different tonnages.

[0075] When the tracked traveling mechanism is in the traveling state, it outputs a command to tension the track. The command is sent to the solenoid directional valve, which connects the solenoid proportional pressure reducing valve to the second oil circuit, allowing oil to enter the rodless chamber of the tensioning cylinder and thus tension the tensioning wheel.

[0076] If the tracked traveling mechanism is stationary, a control signal for a preset time period is given, and then the operating status of the tracked traveling mechanism is further determined. The preset time period can be 5 seconds, 6 seconds, 10 seconds, 15 seconds, etc., and is not limited here. Figure 2The example given is a 5-second control signal, but this is not a limitation. This time is also to indicate the oil inlet tensioning time until tensioning is complete.

[0077] Specifically, if the tensioning pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve after the control signal ends, a command indicating that tensioning is complete is output. If the tensioning pressure value is lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, the state of the tensioning pressure value within a preset time period is determined.

[0078] In other words, if the tension pressure remains constant within a preset time period, the tension pressure is compared with the rated pressure of the electromagnetic proportional pressure reducing valve. Since the oil inlet tensioning process is still underway, the process returns to continue comparing the tension pressure with the rated pressure of the electromagnetic proportional pressure reducing valve.

[0079] If the tension pressure value is not constant within a preset time period, a tension leakage command will be output. At this time, an alarm signal can be issued to notify the operator to inspect the tracked walking mechanism.

[0080] Furthermore, after the tension pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, it is determined whether the tension pressure value exceeds the rated pressure value of the electromagnetic proportional unloading valve; when the tension pressure value is not lower than the rated pressure value of the electromagnetic proportional unloading valve and exceeds a predetermined time, a judgment command is issued to determine whether to switch to manual mode.

[0081] The preset time is the time it takes for the hydraulic cylinder to complete its stroke. If this time is exceeded, the tracked walking mechanism may encounter an obstacle in front of it or experience a violent collision. At this time, the controller issues a command to switch to manual mode. The driver can click to confirm and operate manually. After returning to normal operation, the automatic mode can be resumed.

[0082] Specifically, please refer to Figure 2 The pressure value of the pressure sensor is defined as P7, the pressure value of the electromagnetic proportional unloading valve is P8, and the pressure value of the electromagnetic proportional pressure reducing valve is P5.

[0083] When P7 ≥ 0.9 * P5 and P7 < P8, the controller does not issue a command, the tension wheel remains in a tensioned state, and the automatic judgment continues.

[0084] When P7 < 0.9 * P5, and the tracked walking mechanism is in motion, the controller outputs "track needs tension" to remind the operator to pay attention to the track condition.

[0085] When P7 < 0.9 * P5, and the track walking mechanism stops moving, the controller outputs "track is automatically tensioning" and sends a signal to the solenoid directional valve after a preset delay, so that the solenoid directional valve is in the second state to tension the tensioning wheel.

[0086] If P7 < P5 and P7 remains stable, repeat the preset delay time and return to the automatically determined node.

[0087] When P7 < P5 and the pressure value of P7 decreases, the controller outputs a "tension leakage alarm" and switches to manual mode, prompting the operator to perform maintenance and inspection.

[0088] When P7 ≥ P5, the controller outputs "Tensioning complete" and returns to the automatic judgment node.

[0089] When P7 ≥ P8 and the duration t ≥ t2, a severe collision is considered to have occurred in the tracked walking mechanism. The controller outputs "Switch to manual mode?" and forcibly cuts off the walking action, pending operator confirmation of the situation. If the operator selects "Yes", the controller switches to manual mode, and the operator performs maintenance and inspection. If the operator selects "No", the controller remains in automatic mode and continues to automatically determine the cause.

[0090] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0091] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic track tensioning device, characterized in that, include: The system includes an electromagnetic proportional pressure reducing valve, an electromagnetic directional valve, an electromagnetic proportional unloading valve, and two tensioning cylinders. Tensioning rollers are connected to the first and second tensioning cylinders, respectively. One end of the electromagnetic proportional pressure reducing valve is connected to an oil source pump, and the other end is connected to the electromagnetic directional valve. The end of the electromagnetic directional valve away from the electromagnetic proportional pressure reducing valve is connected to a first oil circuit and a second oil circuit. The first oil circuit is connected to the rod-side chamber of the tensioning cylinder, and the second oil circuit is connected to the rodless chamber of the tensioning cylinder. It also includes a pressure sensor and a controller. One end of the pressure sensor is connected to the second oil circuit and is used to detect the tension pressure value of the tensioning wheel connected to the tensioning cylinder. The pressure sensor, the electromagnetic reversing valve, and the electromagnetic proportional pressure reducing valve are all connected to the controller. When the controller controls the solenoid directional valve to be in the first state, the oil pump supplies oil along the first oil circuit to the rod chamber of the first tensioning cylinder and the second tensioning cylinder to contract the tensioning wheel; when the controller controls the solenoid directional valve to be in the second state, the oil pump supplies oil along the second oil circuit to the rodless chamber of the first tensioning cylinder and the second tensioning cylinder to tension the tensioning wheel. The pressure value of the electromagnetic proportional unloading valve shall not be less than 1.5 times the pressure value of the electromagnetic proportional pressure reducing valve. The second oil circuit is equipped with a hydraulically controlled check valve, which is connected to the first oil circuit; It also includes an accumulator, which is connected to the second oil circuit; Specifically, when the tension pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve: if the device is in a walking state, a command to tension it is output; if the device is in a stationary state, a control signal for a preset time period is given, and then the operating status of the track walking mechanism is further determined.

2. The automatic track tensioning device according to claim 1, characterized in that, It also includes an electromagnetic proportional unloading valve, one end of which is connected to the second oil circuit and the other end is connected to the oil tank.

3. A tracked walking mechanism, characterized in that, include: frame; The automatic track tensioning device according to any one of claims 1-2, wherein the automatic track tensioning device is mounted on the frame.

4. An automatic track tensioning control method, characterized in that, The method using the tracked walking mechanism of claim 3 includes: Receives the tension pressure value sent by the pressure sensor; When the tensioning pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, a control signal is sent to the electromagnetic directional valve to control the tensioning pressure value of the tensioning wheel by adjusting the oil inlet and outlet state to the tensioning cylinder.

5. The automatic track tensioning control method according to claim 4, characterized in that, When the tension pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, the method also includes determining whether the track walking mechanism is in a walking state. If the vehicle is in a walking state, output the command that requires tensioning. If the system is stationary, a control signal for a preset time period is given, and then the operating status of the tracked walking mechanism is further determined.

6. The automatic track tensioning control method according to claim 5, characterized in that, If the tensioning pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve after the control signal ends, a tensioning completion command will be output. If the tension pressure value is lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, then the state of the tension pressure value within a preset time period is determined.

7. The automatic track tensioning control method according to claim 6, characterized in that, The determination of the tension pressure value within a preset time period includes: If the tension pressure value remains constant within a preset time period, then compare the tension pressure value with the rated pressure value of the electromagnetic proportional pressure reducing valve. If the tension pressure value is not constant within a preset time period, a tension leakage command will be output.

8. The automatic track tensioning control method according to claim 5, characterized in that, After the tensioning pressure value is not lower than the rated pressure value of the electromagnetic proportional pressure reducing valve, it is determined whether the tensioning pressure value exceeds the rated pressure value of the electromagnetic proportional unloading valve. When the tension pressure is not lower than the rated pressure of the electromagnetic proportional unloading valve and exceeds the predetermined time, a judgment command is issued to determine whether to switch to manual mode.

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