A crawler-type mobile machine and its drive system

Abstract

The present invention provides a crawler-type mobile machinery and its drive system, which receives movement signals and operation signals through a whole-machine controller, wherein the movement signals include forward, backward and turning, wherein the whole-machine controller can control the movement of the left-side walking system and the right-side walking system based on the movement signals, thereby controlling the movement of the crawler-type mobile machinery. Furthermore, the whole-machine controller can control the action of the actuator through the hydraulic system based on the operation signal and adjust the actuator based on the feedback device, thereby solving the problem that the crawler-type machinery generates a large amount of exhaust gas and noise during farming and has low efficiency during farming.

Description

Technical Field

[0001] The present invention relates to the field of automation, and in particular to a crawler-type mobile machine and a drive system thereof. Background Art

[0002] Tracked agricultural mobile machinery is more suitable for a variety of farming conditions than wheeled agricultural mobile machinery. Currently, most agricultural mobile machinery on the market uses traditional fuel-powered machinery, which produces a large amount of exhaust and noise during farming, causing certain environmental damage. Furthermore, the low fuel energy utilization rate reduces farming efficiency.

[0003] In view of this, this application is filed. Summary of the Invention

[0004] The invention discloses a crawler-type mobile machine and a drive system thereof, aiming to solve the problems that the existing crawler-type mobile machine generates a large amount of exhaust gas and noise during tillage and has low efficiency during tillage.

[0005] A first embodiment of the present invention provides a drive system for a crawler-type mobile machine, comprising: a whole machine controller, a left-side travel system, a right-side travel system, a high-pressure system, a hydraulic system, and a feedback device configured in the hydraulic system;

[0006] The feedback device is electrically connected to the input end of the whole machine controller; the output end of the whole machine controller is electrically connected to the control end of the left walking system, the right walking system, the hydraulic system, and the high-pressure system; the output end of the high-pressure system is electrically connected to the power supply end of the left walking system, the right walking system, and the hydraulic system; the output end of the hydraulic system is used to connect to the actuator;

[0007] The whole machine controller is configured to control the movement of the left walking system and the right walking system when receiving a movement signal, and to control the action of the actuator through the hydraulic system and adjust the actuator based on the feedback device when receiving an operation signal.

[0008] Preferably, the hydraulic system includes: an oil tank, a main pump motor controller, a main pump motor, a main pump, a relief valve, a first electric proportional reversing valve, a second electric proportional reversing valve, a first pressure reducing valve, a second pressure reducing valve, a third pressure reducing valve, a fourth pressure reducing valve, a first check valve, a second check valve, a third check valve, a fourth check valve, a fifth check valve, a sixth check valve, a seventh check valve, an eighth check valve, a shuttle valve, a hydraulic cylinder, and a rotary motor;

[0009] The main pump motor controller is connected to the main pump motor, which is in turn connected to the main pump. The output of the main pump is divided into three routes, which are respectively connected to the inlet of the relief valve, the oil inlet of the first electric proportional reversing valve, and the oil inlet of the second electric proportional reversing valve. The outlet of the relief valve is connected to the oil tank.

[0010] The oil outlet of the first electric proportional reversing valve is divided into two paths, which are respectively connected to the oil inlet of the second pressure reducing valve and the oil outlet of the third check valve;

[0011] The second pressure reducing valve outlet is divided into three routes, which are respectively connected to the third one-way valve oil inlet, the fourth one-way valve oil inlet, and the rod chamber of the hydraulic cylinder; the second pressure reducing valve overflow port, the first pressure reducing valve overflow port, the first one-way valve oil outlet, the fourth one-way valve oil outlet and the left oil port of the shuttle valve are connected; the rodless chamber of the hydraulic cylinder is divided into three routes, which are respectively connected to the first one-way valve oil inlet, the first pressure reducing valve oil inlet, and the second one-way valve oil inlet; the first pressure reducing valve oil outlet and the second one-way valve oil outlet are connected to the oil return port of the first electric proportional reversing valve;

[0012] The oil outlet of the second electric proportional reversing valve is divided into two routes, which are respectively connected to the oil inlet of the fourth pressure reducing valve and the oil outlet of the seventh check valve;

[0013] The fourth pressure reducing valve outlet will be divided into three routes, connected to the seventh check valve oil inlet, the eighth check valve oil inlet and the right side of the rotary motor respectively; the fourth pressure reducing valve overflow port, the third pressure reducing valve overflow port, the fifth check valve oil outlet and the eighth check valve oil outlet are connected to the right side oil port of the shuttle valve;

[0014] The left side of the swing motor is divided into three routes, which are respectively connected to the oil inlet of the fifth one-way valve, the oil inlet of the third pressure reducing valve, and the oil inlet of the sixth one-way valve. The oil outlet of the third pressure reducing valve and the oil outlet of the sixth one-way valve are connected to the oil return port of the second electric proportional reversing valve. The oil return port of the first electric proportional reversing valve, the oil return port of the second electric proportional reversing valve, and the oil outlet of the relief valve are connected to the oil tank.

[0015] Wherein, the actuator is configured on the hydraulic cylinder and the rotary motor.

[0016] Preferably, the first electric proportional directional control valve and the second electric proportional directional control valve are 3-position 4-way directional control valves, wherein the structure of the 3-position 4-way directional control valve is:

[0017] The left position is a cross oil circuit, and the left oil circuit has a throttling device;

[0018] The middle position is the oil circuit cut-off, and all four oil circuits are blocked;

[0019] The right position is a straight up and down oil circuit, and the right oil circuit has a throttling device.

[0020] Preferably, the feedback device comprises a first pressure sensor, a second pressure sensor, and a displacement sensor electrically connected to the input terminal of the whole machine controller;

[0021] Wherein, the first pressure sensor is arranged at the outlet of the main pump, the second pressure sensor is arranged at the outlet of the shuttle valve, and the displacement sensor is arranged on the extension rod of the hydraulic cylinder.

[0022] Preferably, the right walking system includes a first walking motor controller, a first walking motor, a first reducer, and a first crawler belt;

[0023] Among them, the input end of the first walking motor controller is electrically connected to the output end of the whole machine controller, the output end of the first walking motor controller is electrically connected to the input end of the first walking motor, the first walking motor is connected to the first reducer, and the first crawler is configured on the first reducer.

[0024] Preferably, the left side walking system includes a second walking motor controller, a second walking motor, a second reducer, and a second crawler;

[0025] The input end of the second travel motor controller is electrically connected to the output end of the whole machine controller, the output end of the second travel motor controller is electrically connected to the input end of the second travel motor, the second travel motor is connected to the second reducer, and the second crawler is configured on the second reducer.

[0026] Preferably, when the first travel motor and the second travel motor rotate forward in the same direction and at the same speed, the crawler-type mobile machine will move forward in a straight line;

[0027] When the first travel motor and the second travel motor rotate forward in the same direction and the second travel motor rotates at a faster speed, the crawler-type mobile machine rotates toward the right front;

[0028] When the first travel motor and the second travel motor rotate forward in the same direction and the second travel motor rotates faster, the crawler-type mobile machine rotates toward the left front;

[0029] When the first travel motor and the second travel motor rotate in opposite directions and have the same speed, the crawler-type mobile machine will turn in situ.

[0030] Preferably, it also includes a DC / DC module, a low-voltage battery, and auxiliary components;

[0031] The control end of the DC / DC module is electrically connected to the control end of the DC / DC module, the input end of the DC / DC module is electrically connected to the output end of the high-voltage system, and the output end of the DC / DC module is electrically connected to the low-voltage battery and the auxiliary component.

[0032] A second embodiment of the present invention provides a crawler-type mobile machine, comprising a drive system of a crawler-type mobile machine as described in any one of the above.

[0033] Based on a crawler-type mobile machinery and its drive system provided by the present invention, movement signals and operation signals are received through the whole machine controller, and the movement signals include forward, backward and turning. The whole machine controller can control the movement of the left walking system and the right walking system based on the movement signal, thereby controlling the movement of the crawler-type mobile machinery. Furthermore, the whole machine controller can control the action of the actuator through the hydraulic system based on the operation signal and adjust the actuator based on the feedback device, thereby solving the problem that the crawler type will generate a large amount of exhaust gas and noise during farming and has low efficiency during farming.

[0034] Based on the embodiments provided above, compared with the prior art, the present invention has at least the following beneficial effects:

[0035] (1) By adopting high voltage circuit system, agricultural mobile machinery can achieve fast charging in a short time. Higher voltage can also reduce the current of the whole vehicle when the agricultural machinery is working at high power, thereby reducing the heat loss of the whole vehicle and allowing the agricultural mobile machinery to work for a long time as a whole.

[0036] (2) The use of dual-motor drive control instead of traditional fuel drive control reduces the parameters required for a single motor, and distributed motor control can achieve more diverse drive solutions, making crawler agricultural mobile machinery more flexible in work and travel, meeting the needs of various working conditions and improving overall operability.

[0037] (3) Replacing the manual reversing valve with an electric proportional reversing valve can better and quickly control the hydraulic oil circuit. It can also perform emergency braking faster in unexpected situations, improving operational safety.

[0038] (4) Installing pressure sensors on the main pump outlet and shuttle valve outlet in the hydraulic system and installing displacement sensors on the extension rod of the hydraulic cylinder can provide real-time feedback signals to the whole machine controller. The whole machine controller can adapt the collected signals to the whole machine signals to achieve the best working parameters and improve the accuracy of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 1 is a schematic diagram of a drive system of a crawler-type mobile machine provided in a first embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of the power-on process of the crawler-type mobile machinery of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is sought, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0043] The invention discloses a crawler-type mobile machine and a drive system thereof, aiming to solve the problems that the existing crawler-type mobile machine generates a large amount of exhaust gas and noise during tillage and has low efficiency during tillage.

[0044] See also Figure 1 The first embodiment of the present invention provides a drive system for a crawler-type mobile machine, comprising: a whole machine controller 14, a left-side travel system, a right-side travel system, a high-pressure system, a hydraulic system, and a feedback device configured in the hydraulic system;

[0045] The feedback device is electrically connected to the input end of the whole machine controller 14; the output end of the whole machine controller 14 is electrically connected to the control end of the left walking system, the right walking system, the hydraulic system, and the high-pressure system; the output end of the high-pressure system is electrically connected to the power supply end of the left walking system, the right walking system, and the hydraulic system; the output end of the hydraulic system is used to connect to the actuator;

[0046] The whole machine controller 14 is configured to control the movement of the left travel system and the right travel system when receiving a movement signal, and to control the action of the actuator through the hydraulic system and adjust the actuator based on a feedback device when receiving an operation signal.

[0047] It should be noted that, in this embodiment, the high-voltage system may include a high-voltage lithium battery 1, a battery management system 2, and a high-voltage management unit 3; wherein the high-voltage lithium battery 1 is connected to the battery management system 2, and the battery management system 2 is connected to the high-voltage management unit 3;

[0048] Furthermore, the high-voltage management unit 3 branches out into four paths, which are respectively connected to the motor controller of the left walking system, the motor controller of the right walking system, the DC / DC module 6, and the main pump motor controller 16 of the hydraulic system;

[0049] In this embodiment, a DC / DC module 6, a low-voltage battery 7, auxiliary components 11, and a display screen 10 may also be included;

[0050] Among them, the control end of the DC / DC module 6 is electrically connected to the output end of the whole machine controller 14, the input end of the DC / DC module 6 is electrically connected to the output end of the high-voltage system, and the output end of the DC / DC module 6 is electrically connected to the low-voltage battery 7 and the auxiliary component 11.

[0051] Further, see Figure 2 The power-on sequence for a crawler mobile machine may be as follows: first, the weak current switch is turned on. The 24V battery (i.e., the low-voltage battery 7) receives the weak current signal and begins to power and enable the display screen 10, the auxiliary components 11, and the entire machine controller. The entire machine controller sends a high-voltage signal to the battery management system 2 via the CAN bus. The battery management system 2 sends a high-voltage self-test signal to the high-voltage lithium battery 1. When the high-voltage lithium battery 1 completes the self-test, the self-test result is sent to the entire machine controller via the CAN bus. If the self-test is fault-free, the high-voltage lithium battery 1 releases high-voltage direct current (HDC). The battery management system 2 pre-charges and enables the high-voltage management unit 3, splitting the high-voltage DC power from the high-voltage lithium battery 1 into four channels, which respectively power the DC / DC module 6, the main pump motor controller 16, the left travel motor controller, and the right travel motor controller. Each motor controller converts the high-voltage DC power into high-voltage alternating current (HAC) to power the corresponding actuator motors. The DC / DC module 6 also charges the 24V battery and the auxiliary components 11 and performs weak current enablement on each motor controller. At this point, the 24V battery stops supplying power. During power-up, the system controller uses the CAN bus to monitor the real-time operating status of each actuator controller, monitors sensor signals, and sends electrical signals to the proportional directional control valve. If a high-voltage reduction fault or a high-voltage reduction command occurs during the high-voltage application process or operation, the system controller immediately sends a high-voltage reduction signal to the battery management system 2 via the CAN bus, de-energizing the high-voltage lithium battery 1. Once the high-voltage lithium battery 1 is de-energized, the high-voltage components begin to lose power, leaving the entire system at low voltage. The auxiliary components 11 and the system controller are powered by the 24V battery. The system controller records operating data until power is fully removed.

[0052] In this embodiment, the right walking system includes a first walking motor controller 5, a first walking motor 9, a first reducer 13, and a first crawler belt;

[0053] Among them, the input end of the first walking motor controller 5 is electrically connected to the output end of the whole machine controller 14, the output end of the first walking motor controller 5 is electrically connected to the input end of the first walking motor 9, the first walking motor 9 is connected to the first reducer 13, and the first crawler is configured on the first reducer 13.

[0054] In this embodiment, the left side walking system includes a second walking motor controller 8, a second walking motor 4, a second reducer 12, and a second crawler;

[0055] Among them, the input end of the second travel motor controller 8 is electrically connected to the output end of the whole machine controller 14, the output end of the second travel motor controller 8 is electrically connected to the input end of the second travel motor 4, the second travel motor 4 is connected to the second reducer 12, and the second crawler is configured on the second reducer 12.

[0056] It should be noted that in this embodiment, dual-motor drive control is used instead of traditional fuel drive control, which reduces the parameters required for a single motor and enables distributed motor control to achieve more diverse drive schemes: when the two travel motors rotate forward in the same direction and at the same speed, the crawler mobile machine will move forward in a straight line; when the two travel motors rotate forward in the same direction and the left travel motor rotates faster, the crawler mobile machine will rotate to the right front; when the two travel motors rotate forward in the same direction and the right travel motor rotates faster, the crawler mobile machine will rotate to the left front; conversely, when the two travel motors rotate backward in the same direction and at the same speed, the crawler mobile machine will move backward in a straight line; when the two travel motors rotate backward in the same direction and the left travel motor rotates faster, the crawler mobile machine will rotate to the right rear; when the two travel motors rotate backward in the same direction and the right travel motor rotates faster, the crawler mobile machine will rotate backward and forward; when the two travel motors rotate in opposite directions and at the same speed, the crawler mobile machine will turn on the spot. At the same time, costs are reduced and more efficient control can be achieved based on the designed electric control system.

[0057] Preferably, the hydraulic system includes: an oil tank 15, a main pump motor controller 16, a main pump motor 17, a main pump 18, a relief valve 19, a first electric proportional reversing valve 20, a second electric proportional reversing valve 21, a first pressure reducing valve 22, a second pressure reducing valve 23, a third pressure reducing valve 24, a fourth pressure reducing valve 25, a first check valve 26, a second check valve 27, a third check valve 28, a fourth check valve 29, a fifth check valve 30, a sixth check valve 31, a seventh check valve 32, a seventh check valve 33, a shuttle valve 34, a hydraulic cylinder 35, and a swing motor 36;

[0058] The main pump motor controller 16 is connected to the main pump motor 17, which is in turn connected to the main pump 18. The output of the main pump 18 is divided into three paths, connected to the inlet of the relief valve 19, the oil inlet of the first electric proportional reversing valve 20, and the oil inlet of the second electric proportional reversing valve 21 respectively. The outlet of the relief valve 19 is connected to the oil tank 15.

[0059] The oil outlet of the first electric proportional reversing valve 20 is divided into two paths, which are respectively connected to the oil inlet of the second pressure reducing valve 23 and the oil outlet of the third one-way valve 28;

[0060] The outlet of the second pressure reducing valve 23 is divided into three routes, which are respectively connected to the oil inlet of the third one-way valve 28, the oil inlet of the fourth one-way valve 29, and the rod chamber of the hydraulic cylinder 35; the overflow port of the second pressure reducing valve 23, the overflow port of the first pressure reducing valve 22, the oil outlet of the first one-way valve 26, the oil outlet of the fourth one-way valve 29 and the left oil port of the shuttle valve 34 are connected; the rodless chamber of the hydraulic cylinder 35 is divided into three routes, which are respectively connected to the oil inlet of the first one-way valve 26, the oil inlet of the first pressure reducing valve 22, and the oil inlet of the second one-way valve 27; the oil outlet of the first pressure reducing valve 22 and the oil outlet of the second one-way valve 27 are connected to the oil return port of the first electric proportional reversing valve 20;

[0061] The oil outlet of the second electric proportional reversing valve 21 is divided into two routes, which are respectively connected to the oil inlet of the fourth pressure reducing valve 25 and the oil outlet of the seventh one-way valve 32;

[0062] The outlet of the fourth pressure reducing valve 25 is divided into three routes, which are respectively connected to the oil inlet of the seventh one-way valve 32, the oil inlet of the seventh one-way valve 33 and the right side of the rotary motor 36. The overflow port of the fourth pressure reducing valve 25, the overflow port of the third pressure reducing valve 24, the oil outlet of the fifth one-way valve 30 and the oil outlet of the seventh one-way valve 33 are connected to the oil port on the right side of the shuttle valve 34.

[0063] The left side of the swing motor 36 is divided into three paths, which are respectively connected to the oil inlet of the fifth one-way valve 30, the oil inlet of the third pressure reducing valve 24, and the oil inlet of the sixth one-way valve 31. The oil outlet of the third pressure reducing valve 24 and the oil outlet of the sixth one-way valve 31 are connected to the oil return port of the second electric proportional reversing valve 21. The oil return port of the first electric proportional reversing valve 20, the oil return port of the second electric proportional reversing valve 21, and the oil outlet of the relief valve 19 are connected to the oil tank 15.

[0064] The actuator is configured on the hydraulic cylinder 35 and the rotary motor 36 .

[0065] Preferably, the first electric proportional directional control valve 20 and the second electric proportional directional control valve 21 are 3-position 4-way directional control valves, wherein the structure of the 3-position 4-way directional control valve is:

[0066] The left position is a cross oil circuit, and the left oil circuit has a throttling device;

[0067] The middle position is the oil circuit cut-off, and all four oil circuits are blocked;

[0068] The right position is a straight up and down oil circuit, and the right oil circuit has a throttling device.

[0069] Preferably, the feedback device includes a first pressure sensor 37, a second pressure sensor 38, and a displacement sensor 39 electrically connected to the input end of the whole machine controller 14;

[0070] The first pressure sensor 37 is disposed at the outlet of the main pump 18 , the second pressure sensor 38 is disposed at the outlet of the shuttle valve 34 , and the displacement sensor 39 is disposed on the extension rod of the hydraulic cylinder 35 .

[0071] The following briefly describes the working process of crawler machinery:

[0072] When the crawler rotary tiller is ready to work, the whole machine controller sends a signal to the main pump motor controller 16 through the CAN bus. The main pump motor controller 16 controls the main pump motor 17 to rotate and drives the main pump 18 to rotate and idle and absorb oil synchronously. After that, the whole machine controller sends an electric signal to the second electric proportional reversing valve 21, so that the second electric proportional reversing valve 21 is in the right position, and the rotary motor 36 starts to work. The whole machine controller sends an electric signal to the first electric proportional reversing valve 20, so that the first electric proportional reversing valve 20 is in the left position, and the hydraulic cylinder 35 starts to work. The displacement of the hydraulic rod in the hydraulic cylinder 35 transmits the signal to the whole machine controller through the displacement sensor 39. When the hydraulic rod moves to the desired position, the whole machine controller sends an electric signal to the first electric proportional reversing valve 20, so that the first electric proportional reversing valve 20 is in the middle position, and the hydraulic cylinder 35 stops working and cooperates with the double travel motors to work forward;

[0073] When the crawler rotary tiller needs to move backward for operation, the whole machine controller sends an electrical signal to the second electric proportional reversing valve 21, which puts the second electric proportional reversing valve 21 in the left position, and the rotary motor 36 starts to work. The whole machine controller sends an electrical signal to the first electric proportional reversing valve 20, which puts the first electric proportional reversing valve 20 in the left position, and the hydraulic cylinder 35 starts to work. The displacement of the hydraulic rod in the hydraulic cylinder 35 transmits a signal to the whole machine controller through the displacement sensor 39. When the hydraulic rod moves to the required position, the whole machine controller sends an electrical signal to the first electric proportional reversing valve 20, which puts the first electric proportional reversing valve 20 in the middle position, and the hydraulic cylinder 35 stops working, cooperating with the dual travel motors to work backward.

[0074] When the crawler rotary tiller stops working or needs to deviate too much from the original working path, the whole machine control system sends an electric signal to the first electric proportional reversing valve 20, so that the first electric proportional reversing valve 20 is in the right position, the hydraulic cylinder 35 starts to work, and the hydraulic rod starts to move. By monitoring the signal transmitted by the hydraulic rod displacement sensor 39, when the hydraulic rod reaches the required position, that is, after the rotary tillage unit of the crawler rotary tiller leaves the soil, the whole machine controller sends an electric signal to the second electric proportional reversing valve 21, so that the electric proportional reversing valve is in the middle position, and the rotary motor 36 stops working. When the hydraulic rod displacement reaches the required position, the whole machine controller sends an electric signal to the first electric proportional reversing valve 20, so that the first electric proportional reversing valve 20 is in the middle position, and the hydraulic cylinder 35 stops working;

[0075] When a crawler rotary tiller encounters a small load change during operation, causing the displacement signal of the hydraulic rod to change, the whole machine controller sends an electrical signal to the main pump motor controller 16 through the CAN network, controlling the main pump motor 17 to increase the speed appropriately, and the flow of the main pump 18 to increase. Then the whole machine controller sends an electrical signal to the first electric proportional reversing valve 20, so that the first electric proportional reversing valve 20 is in the left position. By monitoring the displacement signal of the hydraulic rod, when it reaches the required position, the whole machine controller sends an electrical signal to the first electric proportional reversing valve 20, so that the first electric proportional reversing valve 20 is in the middle position, and the hydraulic cylinder 35 stops working. Similarly, if the hydraulic rod displacement signal changes within a small range later, it will be corrected by this method.

[0076] When a sudden load change occurs during the operation of the crawler rotary tiller, the whole machine controller sends an electric signal to stop the motor to the dual travel motor controller through the CAN bus, causing the crawler agricultural machinery to stop moving. At the same time, the whole machine controller sends an electric signal to the first electric proportional reversing valve 20 and the second electric proportional reversing valve 21, causing the first electric proportional reversing valve 20 to be in the right position, the second electric proportional reversing valve 21 to be in the middle position, and the rotary motor 36 to stop working. The whole machine controller monitors the hydraulic rod displacement signal. When the hydraulic rod moves to the required position, the whole machine controller sends an electric signal to the first electric proportional reversing valve 20, causing the first electric proportional reversing valve 20 to be in the middle position and the hydraulic cylinder 35 to stop working. When it is necessary to resume the operation, the preparation process needs to be repeated;

[0077] When emergency braking is required during the operation of the crawler agricultural machinery, the whole machine controller sends an electrical signal to the first electric proportional reversing valve 20 and the second electric proportional reversing valve 21, so that the first electric proportional reversing valve 20 and the second electric proportional reversing valve 21 are both in the middle position.

[0078] If a high-voltage downgrade fault or a high-voltage downgrade command occurs during the high-voltage application process or operation, the system controller immediately sends a high-voltage downgrade signal to the battery management system 2 via the CAN bus, de-energizing the high-voltage lithium battery 1. Once the high-voltage lithium battery 1 is de-energized, the high-voltage components begin to lose power. At this point, the system's low-voltage accessories and controller will be powered by the 24V battery. The system controller will record this operating data until it is fully powered down.

[0079] A second embodiment of the present invention provides a crawler-type mobile machine, comprising a drive system of a crawler-type mobile machine as described in any one of the above.

[0080] Based on a crawler-type mobile machinery and its drive system provided by the present invention, movement signals and operation signals are received through the whole machine controller 14, and the movement signals include forward, backward and turning. The whole machine controller 14 can control the movement of the left walking system and the right walking system based on the movement signal, thereby controlling the movement of the crawler-type mobile machinery. Furthermore, the whole machine controller 14 can control the action of the actuator through the hydraulic system based on the operation signal and adjust the actuator based on the feedback device, thereby solving the problem that the crawler type will generate a large amount of exhaust gas and noise during farming and has low efficiency during farming.

[0081] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

Claims

1. A drive system for a crawler-type mobile machine, characterized in that: include: The whole machine controller, the left travel system, the right travel system, the high-pressure system, the hydraulic system, and the feedback device configured in the hydraulic system; The feedback device is electrically connected to the input end of the whole machine controller; the output end of the whole machine controller is electrically connected to the control end of the left walking system, the right walking system, the hydraulic system, and the high-pressure system; the output end of the high-pressure system is electrically connected to the power supply end of the left walking system, the right walking system, and the hydraulic system; the output end of the hydraulic system is used to connect to the actuator; The whole machine controller is configured to control the movement of the left walking system and the right walking system when receiving a movement signal, and control the action of the actuator through the hydraulic system and adjust the actuator based on the feedback device when receiving an operation signal; The hydraulic system includes: an oil tank, a main pump motor controller, a main pump motor, a main pump, a relief valve, a first electric proportional reversing valve, a second electric proportional reversing valve, a first pressure reducing valve, a second pressure reducing valve, a third pressure reducing valve, a fourth pressure reducing valve, a first check valve, a second check valve, a third check valve, a fourth check valve, a fifth check valve, a sixth check valve, a seventh check valve, an eighth check valve, a shuttle valve, a hydraulic cylinder, and a rotary motor; The main pump motor controller is connected to the main pump motor, which is in turn connected to the main pump. The output of the main pump is divided into three routes, which are respectively connected to the inlet of the relief valve, the oil inlet of the first electric proportional reversing valve, and the oil inlet of the second electric proportional reversing valve. The outlet of the relief valve is connected to the oil tank. The oil outlet of the first electric proportional reversing valve is divided into two paths, which are respectively connected to the oil inlet of the second pressure reducing valve and the oil outlet of the third check valve; The second pressure reducing valve outlet is divided into three routes, which are respectively connected to the third one-way valve oil inlet, the fourth one-way valve oil inlet, and the rod chamber of the hydraulic cylinder; the second pressure reducing valve overflow port, the first pressure reducing valve overflow port, the first one-way valve oil outlet, the fourth one-way valve oil outlet and the left oil port of the shuttle valve are connected; the rodless chamber of the hydraulic cylinder is divided into three routes, which are respectively connected to the first one-way valve oil inlet, the first pressure reducing valve oil inlet, and the second one-way valve oil inlet; the first pressure reducing valve oil outlet and the second one-way valve oil outlet are connected to the oil return port of the first electric proportional reversing valve; The oil outlet of the second electric proportional reversing valve is divided into two routes, which are respectively connected to the oil inlet of the fourth pressure reducing valve and the oil outlet of the seventh check valve; The fourth pressure reducing valve outlet will be divided into three routes, connected to the seventh check valve oil inlet, the eighth check valve oil inlet and the right side of the rotary motor respectively; the fourth pressure reducing valve overflow port, the third pressure reducing valve overflow port, the fifth check valve oil outlet and the eighth check valve oil outlet are connected to the right side oil port of the shuttle valve; The left side of the swing motor is divided into three routes, which are respectively connected to the oil inlet of the fifth one-way valve, the oil inlet of the third pressure reducing valve, and the oil inlet of the sixth one-way valve. The oil outlet of the third pressure reducing valve and the oil outlet of the sixth one-way valve are connected to the oil return port of the second electric proportional reversing valve. The oil return port of the first electric proportional reversing valve, the oil return port of the second electric proportional reversing valve, and the oil outlet of the relief valve are connected to the oil tank. Wherein, the actuator is configured on the hydraulic cylinder and the rotary motor; The right walking system includes a first walking motor controller, a first walking motor, a first reducer, and a first crawler belt; The input end of the first travel motor controller is electrically connected to the output end of the whole machine controller, the output end of the first travel motor controller is electrically connected to the input end of the first travel motor, the first travel motor is connected to the first reducer, and the first crawler is configured on the first reducer; The left-side walking system includes a second walking motor controller, a second walking motor, a second speed reducer, and a second crawler belt; The input end of the second travel motor controller is electrically connected to the output end of the whole machine controller, the output end of the second travel motor controller is electrically connected to the input end of the second travel motor, the second travel motor is connected to the second reducer, and the second crawler is configured on the second reducer.

2. The drive system of a crawler-type mobile machine according to claim 1, characterized in that: The first electric proportional directional control valve and the second electric proportional directional control valve are 3-position 4-way directional control valves, wherein the structure of the 3-position 4-way directional control valve is as follows: The left position is a cross oil circuit, and the left oil circuit has a throttling device; The middle position is the oil circuit cut-off, and all four oil circuits are blocked; The right position is a straight up and down oil circuit, and the right oil circuit has a throttling device.

3. The drive system of a crawler-type mobile machine according to claim 1, characterized in that: The feedback device includes a first pressure sensor, a second pressure sensor, and a displacement sensor electrically connected to the input terminal of the whole machine controller; Wherein, the first pressure sensor is arranged at the outlet of the main pump, the second pressure sensor is arranged at the outlet of the shuttle valve, and the displacement sensor is arranged on the extension rod of the hydraulic cylinder.

4. The drive system of a crawler-type mobile machine according to claim 1, characterized in that: When the first travel motor and the second travel motor rotate forward in the same direction and at the same speed, the crawler-type mobile machine moves forward in a straight line; When the first travel motor and the second travel motor rotate forward in the same direction and the second travel motor rotates at a faster speed, the crawler-type mobile machine rotates toward the right front; When the first travel motor and the second travel motor rotate forward in the same direction and the second travel motor rotates faster, the crawler-type mobile machine rotates toward the left front; When the first travel motor and the second travel motor rotate in opposite directions and have the same speed, the crawler-type mobile machine will turn in situ.

5. The drive system of a crawler-type mobile machine according to claim 1, characterized in that: It also includes DC / DC modules, low-voltage batteries, and auxiliary components; The control end of the DC / DC module is electrically connected to the control end of the DC / DC module, the input end of the DC / DC module is electrically connected to the output end of the high-voltage system, and the output end of the DC / DC module is electrically connected to the low-voltage battery and the auxiliary component.

6. A crawler-type mobile machine, characterized in that: A drive system comprising a crawler-type mobile machinery as described in any one of claims 1 to 5.

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