Front and rear orientation adjustment system and working machine

Abstract

The application relates to the technical field of engineering machinery, and provides a front-rear orientation adjusting system and a working machine, which comprises a control device, a signal detection device and a control module, the signal detection device detects the rotating orientation of a superstructure assembly of the working machine; the control module is in communication connection with the signal detection device and the control device, the control module controls the front control element and the rear control element of the control device to be respectively switched and connected with a first controlled object and a second controlled object according to a detection signal of the signal detection device; when the detection signal is that the superstructure assembly rotates to a first range, the control module is in communication connection of the front control element with the first controlled object and in communication connection of the rear control element with the second controlled object; when the detection signal is that the superstructure assembly rotates to a second range, the control module is in communication connection of the front control element with the second controlled object and in communication connection of the rear control element with the first controlled object. The front-rear orientation definition of the chassis of the working machine can be always synchronized with the superstructure assembly.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a front-to-back orientation adjustment system and a working machine. Background Technology

[0002] To operate on rugged mountain terrain, construction machinery requires working devices with multiple chassis outriggers to periodically transport the entire machine forward, such as walking all-terrain excavators. Existing walking excavators have numerous outriggers and joints, offering a high degree of controllability. Furthermore, excavators are machines whose upper body can rotate indefinitely around the circumference. During rotation, the operator can easily lose control of the outriggers, leading to misoperation and compromising operational safety. Summary of the Invention

[0003] This invention provides a front-to-back orientation adjustment system and a working machine to solve the defect in the prior art where the vehicle body can rotate infinitely around the circumference, and the driver is prone to lose the direction of the chassis outriggers during rotation, resulting in misoperation and affecting the safety of operation.

[0004] This invention provides a forward / backward orientation adjustment system, comprising:

[0005] Control device, used to control the first and second controlled objects of the operating machinery;

[0006] A signal detection device is used to detect the rotational position of the upper assembly of the operating machinery;

[0007] The control module is communicatively connected to the signal detection device and the control device. The control module controls the front control element and the rear control element of the control device to switch connections with the first controlled object and the second controlled object respectively according to the detection signal of the signal detection device.

[0008] Wherein, the detection signal is when the upper assembly rotates to the first range, the control module communicates the front control element with the first controlled object and the rear control element with the second controlled object;

[0009] When the detection signal is that the upper assembly rotates to the second range, the control module communicates the front control element with the second controlled object and the rear control element with the first controlled object.

[0010] According to the present invention, a forward / backward orientation adjustment system includes a signal detection device comprising:

[0011] A first stator conductor is disposed on the stator of the central rotary joint of the operating machinery, and the first stator conductor is located within the first range;

[0012] The second stator conductor is disposed on the stator of the central rotary joint, and the second stator conductor is located within the second range;

[0013] The floating component can rotate with the rotor of the central rotary joint, and the floating component can contact and conduct electricity with the first stator conductor or the second stator conductor;

[0014] When the floating component contacts and conducts electricity with the first stator conductor, the control module connects the front control element to the first controlled object and the rear control element to the second controlled object.

[0015] When the floating component contacts and conducts electricity with the second stator conductor, the control module connects the front control element to the second controlled object and the rear control element to the first controlled object.

[0016] According to the forward and backward orientation adjustment system provided by the present invention, the signal detection device further includes:

[0017] The rotor lever is fixedly connected to the rotor of the central rotary joint, and the rotor lever is connected to the floating component, which can drive the floating component to rotate.

[0018] According to the present invention, a front-to-back orientation adjustment system is provided, wherein a fan-shaped groove is provided on the floating component, the fan-shaped groove is coaxially arranged with the rotor, the end of the rotor lever is located in the fan-shaped groove, and the rotor lever is slidable in the fan-shaped groove.

[0019] According to the present invention, a front-to-back orientation adjustment system is provided, wherein the first stator conductor and the second stator conductor both have a fan-shaped annular structure, and the floating component has a fan-shaped structure. The first stator conductor, the second stator conductor, and the floating component are all coaxial with the rotor.

[0020] The sum of the angles of the first stator conductor and the floating element is greater than 0 degrees and less than or equal to 180 degrees; the sum of the angles of the second stator conductor and the floating element is greater than 0 degrees and less than or equal to 180 degrees.

[0021] The present invention also provides a working machine, comprising:

[0022] Upgrade assembly;

[0023] The vehicle includes a chassis, a first controlled object, and a second controlled object. The first controlled object is located at the first end of the chassis, and the second controlled object is located at the second end of the chassis.

[0024] Forward and backward orientation adjustment system as described in any of the above.

[0025] According to the present invention, the first controlled object includes a first left traveling wheel and a first right traveling wheel, and the second controlled object includes a second left traveling wheel and a second right traveling wheel;

[0026] When the vehicle is dismounted and turns, the angle between the first left driving wheel and the first right driving wheel is greater than zero, or the angle between the second left driving wheel and the second right driving wheel is greater than zero.

[0027] The work machinery provided by the present invention further includes:

[0028] The hydraulically controlled main valve is used to control the movement of the upper assembly;

[0029] A hydraulic pilot valve is used to control the hydraulically controlled main valve, and the hydraulic pilot valve is connected to the hydraulically controlled main valve through a pilot oil circuit;

[0030] A control handle is connected to the hydraulic pilot valve, and the control handle is used to drive the hydraulic pilot valve to open or close.

[0031] The work machinery provided by the present invention further includes:

[0032] An electrically controlled valve is used to control the steering of the vehicle after disembarking;

[0033] An adjustment module is used to control the opening degree of the electrically controlled valve;

[0034] A shut-off valve is provided on the pilot oil line, and the shut-off valve is used to cut off or open the pilot oil line;

[0035] A pressure sensing element is used to detect the pressure of the hydraulic pilot valve;

[0036] The pressure sensing element and the shut-off valve are both communicatively connected to the regulating module. The regulating module controls the opening degree of the electrically controlled valve based on the opening and closing signal of the shut-off valve and the pressure signal of the pressure sensing element.

[0037] The work machinery provided by the present invention further includes:

[0038] The steering control unit is communicatively connected to the adjustment module, and the adjustment module controls the opening degree of the electronically controlled valve according to the trigger signal of the steering control unit.

[0039] The present invention provides a forward / backward orientation adjustment system and a working machine, comprising a control device, a signal detection device, and a control module. The control device controls a first controlled object and a second controlled object of the working machine. The signal detection device detects the rotational orientation of the upper assembly of the working machine. The control module is communicatively connected to the signal detection device and the control device. Furthermore, the control module can control the front and rear control elements of the control device to switch connections with the first and second controlled objects respectively, based on the detection signals from the signal detection device; that is, it switches the forward / backward definitions of the first and second controlled objects in the control device.

[0040] When the detection signal indicates that the upper assembly has rotated to the first range, the control module establishes a communication connection between the front control element and the first controlled object, defining the first controlled object as the front controlled object; and establishes a communication connection between the rear control element and the second controlled object, defining the second controlled object as the rear controlled object. When the detection signal indicates that the upper assembly has rotated to the second range, the control module establishes a communication connection between the front control element and the second controlled object, defining the second controlled object as the front controlled object; and establishes a communication connection between the rear control element and the first controlled object, defining the first controlled object as the rear controlled object. The mapping relationship between the control device and the first and second controlled objects can be adjusted, ensuring that the front-rear orientation of the work machinery chassis is always synchronized with the upper assembly. This prevents the driver from losing control of the chassis outriggers or wheels and causing misoperation, effectively improving driver safety.

[0041] The signal detection device includes a first stator conductor, a second stator conductor, and a floating element. The first stator conductor is disposed on the stator of the central rotary joint of the working machine and is located within a first range. The second stator conductor is disposed on the stator of the central rotary joint and is located within a second range. The floating element can rotate with the rotor of the central rotary joint and can contact and conduct electricity with either the first or second stator conductor. Thus, there is no need to install an additional angle sensor on the working machine to detect the rotation angle of the upper assembly.

[0042] The first controlled object includes the first left traveling wheel and the first right traveling wheel, and the second controlled object includes the second left traveling wheel and the second right traveling wheel. When the machine is turning, the angle between the first left traveling wheel and the first right traveling wheel can be greater than zero, or the angle between the second left traveling wheel and the second right traveling wheel can be greater than zero. This ensures that all traveling wheels are in a rolling state when the machine is turning, improving the stability and safety of the machine's turning, extending the service life of the traveling wheels, and preventing wear between the traveling wheels and the ground.

[0043] The operating machinery also includes a hydraulic main valve, a hydraulic pilot valve, a control handle, an electric control valve, an adjustment module, a shut-off valve, and a pressure detection element. When the shut-off valve is open, the hydraulic pilot valve can supply pilot oil to the hydraulic main valve through the pilot oil circuit, so that the hydraulic main valve can control the movement of the upper vehicle assembly. When the shut-off valve is closed, the shut-off valve cuts off the pilot oil circuit, and the pilot oil cannot enter the hydraulic main valve. At this time, the hydraulic main valve cannot control the movement of the upper vehicle assembly. Furthermore, when the pressure detection element detects the output pressure of the hydraulic pilot valve, the pressure detection element converts the pressure signal into an electrical signal and transmits it to the adjustment module. The adjustment module adjusts the opening of the electric control valve, so that the electric control valve can adjust the steering and steering angle of the lower vehicle.

[0044] The steering and steering angle can be adjusted by controlling the opening of the hydraulic pilot valve with a lever, making it easier for the driver to operate. Furthermore, by installing a shut-off valve in the pilot oil circuit and using a pressure sensing element to detect the pressure of the hydraulic pilot valve, the machine does not require large capacity or high transmission rate hardware; its structure is simple, low-cost, and easy to implement. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in this 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 this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 This is the control logic diagram of the forward and backward orientation adjustment system provided by the present invention;

[0047] Figure 2 This is a schematic diagram of the signal detection device provided by the present invention;

[0048] Figure 3 This is a distribution diagram of the first stator conductor and the second stator conductor provided by the present invention;

[0049] Figure 4 This is a schematic diagram of the structure of the floating component provided by the present invention;

[0050] Figure 5 This is one of the top views of the walking excavator provided by the present invention;

[0051] Figure 6 This is a front view of the walking excavator provided by the present invention;

[0052] Figure 7 This is the second top view of the walking excavator provided by the present invention (a schematic diagram of the walking excavator in operation);

[0053] Figure 8 This is a logic diagram of the control handle for controlling the movement of the upper vehicle assembly or controlling the steering of the chassis, provided by the present invention.

[0054] Figure label:

[0055] 1. Signal detection device; 2. Control module; 3. Control device;

[0056] 4. First controlled object; 5. Second controlled object; 11. First stator conductor;

[0057] 12. Second stator conductor; 13. Floating component; 14. Rotor lever;

[0058] 15. Sector groove. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0060] The following is combined Figures 1 to 8 The present invention describes the front-to-back orientation adjustment system and the working machinery.

[0061] like Figure 1 As shown, the present invention provides a forward and backward orientation adjustment system, which may include a control device 3, a signal detection device 1, and a control module 2.

[0062] Among them, the control device 3 can be used to control the first controlled object 4 and the second controlled object 5 of the working machinery, the signal detection device 1 can be used to detect the rotation position of the upper assembly of the working machinery, and the control module 2 can communicate with the signal detection device 1 and the control device 3.

[0063] Furthermore, the control module 2 can control the front control element and the rear control element of the control device 3 to switch connections with the first controlled object 4 and the second controlled object 5 respectively, based on the detection signal of the signal detection device 1, that is, to switch the front and rear definitions of the first controlled object 4 and the second controlled object 5 in the control device 3.

[0064] Specifically, when the detection signal is that the upper assembly rotates to the first range, the control module 2 can communicate with the front control element and the first controlled object 4 to define the first controlled object 4 as the front controlled object; and communicate with the rear control element and the second controlled object 5 to define the second controlled object 5 as the rear controlled object.

[0065] When the detection signal indicates that the upper assembly has rotated to the second range, the control module 2 can communicate with the front control element and the second controlled object 5 to define the second controlled object 5 as the front controlled object; and communicate with the rear control element and the first controlled object 4 to define the first controlled object 4 as the rear controlled object.

[0066] Here, the control device 3 can be a handle button, a remote control, a touch screen, or other components or devices capable of control. The front control element can be a forward control button on the handle button, remote control, or touch screen, and the rear control element can be a backward control button on the handle button, remote control, or touch screen.

[0067] When the signal detection device 1 detects that the upper vehicle assembly has rotated to the first range, the control module 2 switches the control mapping relationship between the control device 3 and the controlled object. That is, the control module 2 can define the first controlled object 4 as the front controlled object and the second controlled object 5 as the rear controlled object.

[0068] When the signal detection device 1 detects that the upper vehicle assembly has rotated to the second range, the control module 2 switches the control mapping relationship between the control device 3 and the controlled object. That is, the control module 2 can define the second controlled object 5 as the previous controlled object and the first controlled object 4 as the next controlled object.

[0069] It should be noted that the first controlled object 4 may include outriggers and wheels mounted at the first end of the chassis of the operating machinery, and the second controlled object 5 may include outriggers and wheels mounted at the second end of the chassis of the operating machinery. The control module 2 may be the control unit of the operating machinery, and there is no specific limitation on the control module 2.

[0070] With this configuration, the control module 2 adjusts the connection relationship between the front and rear control elements of the control device 3 and the first controlled object 4 and the second controlled object 5 respectively, based on the rotational orientation signal of the upper assembly detected by the signal detection device 1. This allows for adjustment of the mapping relationship between the control device 3 and the first controlled object 4 and the second controlled object 5, ensuring that the front and rear orientation definition of the work machinery chassis is always synchronized with the upper assembly. This prevents the driver from losing control of the chassis outriggers or the direction of the wheels, thus avoiding misoperation and effectively improving the safety of the driver's operation.

[0071] In an optional embodiment of the present invention, the signal detection device 1 may include a first stator conductor 11, a second stator conductor 12, and a floating element 13.

[0072] The first stator conductor 11 can be installed on the stator of the central rotary joint of the working machine, and the first stator conductor 11 can be located within a first range; the second stator conductor 12 can be installed on the stator of the central rotary joint, and the second stator conductor 12 can be located within a second range.

[0073] The floating element 13 can rotate with the rotor of the central rotary joint, and the floating element 13 can contact and conduct electricity with the first stator conductor 11 or the second stator conductor 12.

[0074] Therefore, there is no need to install additional angle sensors on the operating machinery to detect the rotation angle of the upper assembly.

[0075] Specifically, when the floating element 13 contacts and conducts with the first stator conductor 11, the control module 2 can communicate with the first controlled object 4 to define the first controlled object 4 as the former controlled object; and communicate with the second controlled object 5 to define the second controlled object 5 as the latter controlled object.

[0076] When the floating element 13 contacts and conducts with the second stator conductor 12, the control module 2 can communicate with the second controlled object 5 to define the second controlled object 5 as the previous controlled object; and communicate with the first controlled object 4 to define the first controlled object 4 as the next controlled object.

[0077] Here, the first stator conductor 11 and the second stator conductor 12 are electrically connected to the control module 2. When the floating member 13 contacts and is electrically connected to the first stator conductor 11, the first stator conductor 11 can send a first electrical signal to the control module 2; when the floating member 13 contacts and is electrically connected to the second stator conductor 12, the second stator conductor 12 can send a second electrical signal to the control module 2.

[0078] It should be noted that the control module 2 stores a first mapping table and a second mapping table. The first mapping table shows that the front control element is connected to the first controlled object 4 and the rear control element is connected to the second controlled object 5. The second mapping table shows that the front control element is connected to the second controlled object 5 and the rear control element is connected to the first controlled object 4.

[0079] When the floating component 13 contacts and conducts with the first stator conductor 11, the control module 2 establishes the mapping relationship between the control device 3 and the controlled object according to the first mapping table; when the floating component 13 contacts and conducts with the second stator conductor 12, the control module 2 establishes the mapping relationship between the control device 3 and the controlled object according to the second mapping table. In this way, regardless of which side the head of the upper assembly is relative to the chassis, the driver's control of the controlled object (such as the outriggers or wheels) on the chassis is based on the driver's current orientation.

[0080] In an optional embodiment, the signal detection device 1 may further include a rotor lever 14, which may be fixedly connected to the rotor of the central rotary joint. The rotor lever 14 may be connected to the floating member 13, and the rotor lever 14 may drive the floating member 13 to rotate so that the floating member 13 may contact and conduct with the first stator conductor 11 or the second stator conductor 12.

[0081] Here, the floating element 13 can be an electrical conductor.

[0082] In an optional embodiment, the floating member 13 may be provided with a fan-shaped groove 15, which may be coaxially arranged with the rotor. The end of the rotor lever 14 may be located in the fan-shaped groove 15, and the rotor lever 14 may slide in the fan-shaped groove 15.

[0083] In an optional embodiment, both the first stator conductor 11 and the second stator conductor 12 can be fan-shaped ring structures, and the floating member 13 can be fan-shaped structures. The first stator conductor 11, the second stator conductor 12 and the floating member 13 are all coaxial with the rotor.

[0084] The sum of the angles of the first stator conductor 11 and the floating element 13 is greater than 0 degrees and less than or equal to 180 degrees, and the sum of the angles of the second stator conductor 12 and the floating element 13 is greater than 0 degrees and less than or equal to 180 degrees.

[0085] Specifically, when the angles of the first stator conductor 11 and the second stator conductor 12 are both greater than 0 degrees and less than 90 degrees, the angle of the floating element 13 can be greater than or equal to 90 degrees and less than 180 degrees.

[0086] Alternatively, when the angle between the first stator conductor 11 and the second stator conductor 12 is greater than 90 degrees and less than 180 degrees, the angle of the floating element 13 is greater than 0 degrees and less than 90 degrees.

[0087] In this way, during the process of the upper assembly rotating from the first range to the second range or from the second range to the first range, the floating part 13 can be prevented from contacting both the first stator conductor 11 and the second stator conductor 12 at the same time, which would prevent the working machine from being unable to determine the forward and backward direction.

[0088] Here, the first stator conductor 11, the second stator conductor 12, and the floating element 13 are all coaxially arranged with the rotor.

[0089] In this embodiment, the angles of the first stator conductor 11 and the second stator conductor 12 can both be 85-89 degrees, and the angle of the floating member 13 can be 90 degrees. In this way, the angle of the gap between the two ends of the first stator conductor 11 and the second stator conductor 12 can be greater than 90 degrees, which can ensure that the floating member 13 avoids contacting the first stator conductor 11 and the second stator conductor 12 simultaneously during rotation.

[0090] Alternatively, the angles of the first stator conductor 11 and the second stator conductor 12 can both be 170 degrees, and the angle of the floating element 13 can be 8 degrees.

[0091] In this embodiment, the floating member 13 can be located above the first stator conductor 11 and the second stator conductor 12, and the bottom surface of the floating member 13 can contact the first stator conductor 11 or the second stator conductor 12. The floating member 13 can be movably disposed on the rotor of the central rotary joint.

[0092] When the rotor lever 14 is not in contact with both ends of the sector groove 15, the floating element 13 does not rotate with the rotor of the central rotary joint, and at this time, the floating element 13 is in a stationary state. When the rotor lever 14 contacts one end of the sector groove 15, the rotor drives the floating element 13 to rotate through the rotor lever 14. As the rotor lever 14 moves within the entire circumference, the floating element 13 alternately contacts and conducts electricity with the first stator conductor 11 and the second stator conductor 12. When the first stator conductor 11 conducts electricity, the signal detection device 1 sends a first electrical signal to the control module 2 through the first stator conductor 11. The control module 2 establishes the mapping relationship between the control device 3 and the controlled object according to the first mapping table. When the second stator conductor 12 is turned on, the second stator conductor 12 sends a second electrical signal to the control module 2. The control module 2 establishes the mapping relationship between the control device 3 and the controlled object according to the second mapping table, so that no matter which side the head of the upper assembly is relative to the chassis, the driver's control of the controlled object (chassis outriggers) is based on the driver's current orientation.

[0093] The working machinery provided by the present invention is described below. The working machinery described below can be referred to in correspondence with the front and rear orientation adjustment system described above.

[0094] The present invention provides a working machine that may include an upper assembly, an lower assembly, and a front and rear orientation adjustment system.

[0095] The vehicle can include a chassis, a first controlled object 4 and a second controlled object 5. The first controlled object 4 can be located at the first end of the chassis, and the second controlled object 5 can be located at the second end of the chassis.

[0096] The forward and backward orientation adjustment system here can be the forward and backward orientation adjustment system described in any of the above embodiments.

[0097] The beneficial effects achieved by the working machinery provided by this invention are consistent with the beneficial effects achieved by the front and rear orientation adjustment system provided by this invention, so they will not be repeated here.

[0098] It should be noted that the aforementioned operating machinery can be excavators, rotary drilling rigs, or other construction machinery.

[0099] Here, the operating machinery can specifically refer to a walking excavator.

[0100] In an optional embodiment of the present invention, the first controlled object 4 may include a first left traveling wheel and a first right traveling wheel, and the second controlled object 5 may include a second left traveling wheel and a second right traveling wheel.

[0101] Specifically, when the machine is turning, the angle between the first left and first right traveling wheels can be greater than zero, or the angle between the second left and second right traveling wheels can be greater than zero. This ensures that all traveling wheels are rolling when the machine is turning, improving the stability and safety of the turning process, extending the service life of the traveling wheels, and preventing wear between the wheels and the ground.

[0102] When the first left and first right travel wheels are used as front wheels and steering wheels, the included angle between the first left and first right travel wheels can be greater than zero.

[0103] When the second left and second right travel wheels are used as front wheels and steering wheels, the included angle between the second left and second right travel wheels can be greater than zero.

[0104] In an optional embodiment, the working machinery can be a walking excavator, and when the walking excavator performs a turning action, the condition that the tires on both sides are in a state of pure rolling (i.e., the first left traveling wheel and the first right traveling wheel, or the second left traveling wheel and the second right traveling wheel are both in a rolling state) can be:

[0105] cot(α1+β1)-cot(α2+β2)+eg / he=0

[0106] eg=dc+ab(sinβ1+be[cos(90°-γ1-α1-β1)+cos(90°-γ1+α2+β2)]

[0107] he=ab×cosβ1+be×sin(90°-α1-β1-γ1)+mk×cosβ3+hm×

[0108] sin(90°-α3-β3-γ3)+ka

[0109] According to the above formula, the control module 2 of the operating machinery can control the included angle of each traveling wheel through the steering drive mechanism to meet the requirements of pure rolling.

[0110] Here, the steering drive mechanism can be any device or mechanism for controlling the steering of the wheels in the prior art, and the structure of the steering drive mechanism is not specifically limited.

[0111] It should be noted that, as Figure 5 As shown, a is the hinge point connecting the left front outrigger to the platform (i.e., chassis); b is the hinge point connecting the left front tire mount to the left front outrigger; e is the hinge point connecting the left front tire to the left front tire mount; ab represents the left front outrigger, and be represents the left front tire mount. c is the hinge point connecting the right front outrigger to the platform (i.e., chassis); f is the hinge point connecting the right front tire mount to the right front outrigger; g is the hinge point connecting the right front tire to the right front tire mount; cf represents the right front outrigger, and fg represents the right front tire mount. k is the hinge point connecting the left rear outrigger to the platform (i.e., chassis); m is the hinge point connecting the left rear tire mount to the left front outrigger; h is the hinge point connecting the left rear tire to the left front tire mount; mk represents the left rear outrigger, and hm represents the left rear tire mount. eg represents the distance between the center of the left rear tire and the center of the right rear tire; he represents the distance between the center of the left front tire and the center of the left rear tire. dc represents the width of the chassis.

[0112] α is the angle between the longitudinal plane of the tire on each outrigger (based on outrigger ab) and its own outrigger ab; β is the angle between the outrigger and the longitudinal plane of the chassis (based on the chassis longitudinal plane); γ is the angle between the line connecting the hinge point of the tire mount and the outrigger and the center point of the tire and the longitudinal plane of the tire. Furthermore, α and β are both calculated as vectors, including positive and negative attributes. With the driver's current orientation as the reference, α and β are positive if deflected to the left of the moving surface and negative if deflected to the right. When the vehicle moves forward, the angle between the longitudinal plane of the tire on the left front outrigger and the left front outrigger is α1, the angle between the left front outrigger and the longitudinal plane of the chassis is β1, and the angle between the line connecting the hinge point of the left front tire mount and the left front outrigger and the center point of the left front tire and the longitudinal plane of the left front tire is γ1; the angle between the longitudinal plane of the tire on the right front outrigger and the right front outrigger is α2, the angle between the right front outrigger and the longitudinal plane of the chassis is β2, and the angle between the line connecting the hinge point of the right front tire mount and the right front outrigger and the center point of the right front tire and the longitudinal plane of the right front tire is γ2; the angle between the longitudinal plane of the tire on the left rear outrigger and the left rear outrigger is α3, the angle between the left rear outrigger and the longitudinal plane of the chassis is β3, and the angle between the line connecting the hinge point of the left rear tire mount and the left rear outrigger and the center point of the left rear tire and the longitudinal plane of the left rear tire is γ3.

[0113] In this way, there is no need to set up a huge database or pre-set the mapping relationship between the angles of the chassis outriggers.

[0114] It should be noted that the aforementioned tracked excavator can consist of 62 hinge points and have 40 degrees of freedom, exhibiting strong environmental adaptability. Of course, the number of hinge points and degrees of freedom of the tracked excavator can also be less than or greater than 62. No specific limitations are made here regarding the number of hinge points and degrees of freedom of the tracked excavator.

[0115] In an optional embodiment of the present invention, the operating machinery may further include a hydraulically controlled main valve and a hydraulically controlled pilot valve. The hydraulically controlled main valve can be used to control the movement of the upper assembly, such as controlling the rotation of the boom, arm, bucket, and upper assembly. The hydraulically controlled pilot valve can be used to control the hydraulically controlled main valve, and the hydraulically controlled pilot valve can be connected to the hydraulically controlled main valve through a pilot oil circuit to supply pilot oil to the hydraulically controlled main valve, thereby controlling the hydraulically controlled main valve.

[0116] The operating machinery may also include a control handle, which can be connected to a hydraulic pilot valve. The control handle can be used to open or close the hydraulic pilot valve. In this way, the operator can control the movement of the upper assembly through the control handle.

[0117] In an optional embodiment of the present invention, the working machinery may further include an electronically controlled valve and an adjustment module, wherein the electronically controlled valve can be used to control the steering of the vehicle, and the adjustment module can be used to control the opening degree of the electronically controlled valve to control the steering and steering angle of the working machinery.

[0118] The operating machinery may also include a shut-off valve, which may be installed in the pilot oil circuit and may be used to open or close the pilot oil circuit to supply pilot oil to or stop the supply of pilot oil to the hydraulic main valve.

[0119] The operating machinery may also include pressure sensing elements, which can be used to detect the pressure of the hydraulic pilot valve in order to detect whether the hydraulic pilot valve is outputting pilot oil.

[0120] Here, the pressure sensing element can be placed between the hydraulic pilot valve and the shut-off valve.

[0121] In addition, both the pressure sensing element and the shut-off valve are connected to the regulating module, which can control the opening degree of the electrically controlled valve based on the opening and closing signals of the shut-off valve and the pressure signal from the pressure sensing element.

[0122] Specifically, such as Figure 8 As shown, when the shut-off valve is in the open state, the hydraulic pilot valve can supply pilot oil to the hydraulic control main valve through the pilot oil circuit, so that the hydraulic control main valve can control the movement of the upper assembly.

[0123] When the shut-off valve is closed, it cuts off the pilot oil circuit, preventing the pilot oil from entering the hydraulic main valve. At this time, the hydraulic main valve cannot control the movement of the upper vehicle assembly. Furthermore, when the pressure detection element detects the output pressure of the hydraulic pilot valve, it converts the pressure signal into an electrical signal and transmits it to the adjustment module. The adjustment module then adjusts the opening of the electronically controlled valve, thereby enabling the electronically controlled valve to adjust the steering and steering angle of the lower vehicle.

[0124] Here, the pressure value detected by the pressure sensing element is proportional to the opening degree of the hydraulic pilot valve, and also proportional to the opening degree of the electrically controlled valve, which in turn is proportional to the steering angle. Thus, by adjusting the opening degree of the hydraulic pilot valve with a control lever, the steering and steering angle can be adjusted, facilitating driver operation. Furthermore, by installing a shut-off valve in the pilot oil circuit and detecting the pressure of the hydraulic pilot valve through a pressure sensing element, the operating machinery does not require large-capacity or high-speed hardware; its structure is simple, low-cost, and easy to implement.

[0125] The pressure sensing element can be a pressure sensor.

[0126] In this embodiment, as Figure 8 As shown, the cab of the operating machinery can be equipped with a mode button, which can control the opening and closing of the shut-off valve. When the operating machinery is in the road driving state, the driver can control the shut-off valve to close through the mode button, so that the shut-off valve cuts off the pilot oil circuit, thereby converting the control lever to control the steering and steering angle. For axleless wheeled excavators (tracked excavators) without steering wheels and steering columns, this can effectively improve the driver's road feel when making steering actions, which is conducive to improving the driver's driving experience and driving safety.

[0127] In an optional embodiment of the present invention, the working machinery further includes a steering control component, which can be communicatively connected to an adjustment module. The adjustment module can control the opening degree of the electronically controlled valve according to the trigger signal of the steering control component. Thus, when the working machinery is in operation, the driver can control the steering and steering angle of the working machinery through the steering control component without affecting the driver's operation.

[0128] Here, the steering controls can be buttons in the driver's cab.

[0129] It should be noted that, Figure 8 The 1 or 0 in the text can represent the mode button controlling the shut-off valve to be closed or open, where 1 represents the shut-off valve being closed and 0 represents the shut-off valve being open; and Figure 8 In this context, If 0 represents the shut-off valve being in the open state; If 1 represents the shut-off valve being in the closed state.

[0130] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0131] 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. A forward / backward orientation adjustment system, characterized in that, include: Control device (3) is used to control the first controlled object (4) and the second controlled object (5) of the working machinery; Signal detection device (1) is used to detect the rotational position of the upper assembly of the working machinery; The control module (2) is communicatively connected to the signal detection device (1) and the control device (3). The control module (2) controls the front control element and the rear control element of the control device (3) to switch connections with the first controlled object (4) and the second controlled object (5) respectively according to the detection signal of the signal detection device (1). Wherein, the detection signal is when the upper vehicle assembly rotates to the first range, the control module (2) connects the front control element to the first controlled object (4) and the rear control element to the second controlled object (5); When the detection signal is that the upper assembly rotates to the second range, the control module (2) connects the front control element to the second controlled object (5) and the rear control element to the first controlled object (4). The signal detection device (1) includes: The first stator conductor (11) is disposed on the stator of the central rotary joint of the working machine, and the first stator conductor (11) is located within the first range; The second stator conductor (12) is disposed on the stator of the central rotary joint, and the second stator conductor (12) is located within the second range; The floating element (13) can rotate with the rotor of the central rotary joint, and the floating element (13) can contact and conduct with the first stator conductor (11) or the second stator conductor (12); When the floating component (13) contacts and conducts with the first stator conductor (11), the control module (2) connects the front control element to the first controlled object (4) and the rear control element to the second controlled object (5). When the floating element (13) contacts and conducts with the second stator conductor (12), the control module (2) connects the front control element to the second controlled object (5) and the rear control element to the first controlled object (4).

2. The forward and backward orientation adjustment system according to claim 1, characterized in that, The signal detection device (1) further includes: The rotor lever (14) is fixedly connected to the rotor of the central rotary joint. The rotor lever (14) is connected to the floating component (13). The rotor lever (14) can drive the floating component (13) to rotate.

3. The forward and backward orientation adjustment system according to claim 2, characterized in that, The floating component (13) is provided with a fan-shaped groove (15), which is coaxially arranged with the rotor. The end of the rotor lever (14) is located in the fan-shaped groove (15), and the rotor lever (14) can slide in the fan-shaped groove (15).

4. The forward and backward orientation adjustment system according to claim 1, characterized in that, The first stator conductor (11) and the second stator conductor (12) both have a fan-shaped annular structure, and the floating component (13) has a fan-shaped structure. The first stator conductor (11), the second stator conductor (12), and the floating component (13) are all coaxial with the rotor. The sum of the angles of the first stator conductor (11) and the floating element (13) is greater than 0 degrees and less than or equal to 180 degrees; the sum of the angles of the second stator conductor (12) and the floating element (13) is greater than 0 degrees and less than or equal to 180 degrees.

5. A type of operating machinery, characterized in that, include: Upgrade assembly; The vehicle includes a chassis, a first controlled object (4), and a second controlled object (5). The first controlled object (4) is located at the first end of the chassis, and the second controlled object (5) is located at the second end of the chassis. The forward and backward orientation adjustment system as described in any one of claims 1-4.

6. The operating machinery according to claim 5, characterized in that, The first controlled object (4) includes a first left traveling wheel and a first right traveling wheel, and the second controlled object (5) includes a second left traveling wheel and a second right traveling wheel; When the vehicle is dismounted and turns, the angle between the first left driving wheel and the first right driving wheel is greater than zero, or the angle between the second left driving wheel and the second right driving wheel is greater than zero.

7. The operating machinery according to claim 5, characterized in that, Also includes: The hydraulically controlled main valve is used to control the movement of the upper assembly; A hydraulic pilot valve is used to control the hydraulically controlled main valve, and the hydraulic pilot valve is connected to the hydraulically controlled main valve through a pilot oil circuit; A control handle is connected to the hydraulic pilot valve, and the control handle is used to drive the hydraulic pilot valve to open or close.

8. The operating machinery according to claim 7, characterized in that, Also includes: An electrically controlled valve is used to control the steering of the vehicle after disembarking; An adjustment module is used to control the opening degree of the electrically controlled valve; A shut-off valve is provided on the pilot oil line, and the shut-off valve is used to cut off or open the pilot oil line; A pressure sensing element is used to detect the pressure of the hydraulic pilot valve; The pressure sensing element and the shut-off valve are both communicatively connected to the regulating module. The regulating module controls the opening degree of the electrically controlled valve based on the opening and closing signal of the shut-off valve and the pressure signal of the pressure sensing element.

9. The operating machinery according to claim 8, characterized in that, Also includes: The steering control unit is communicatively connected to the adjustment module, and the adjustment module controls the opening degree of the electronically controlled valve according to the trigger signal of the steering control unit.

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