Deviation correction monitoring device and deviation correction control method for multi-track chassis

Abstract

The present application relates to a deviation correction monitoring device and a deviation correction control method for a multi-track chassis, and belongs to the field of engineering machinery. The deviation correction monitoring device for the multi-track chassis includes four track chassis, each of which contains two tracks. Each track chassis is provided with an independent rotating device, and the rotating devices on the four track chassis are fixed to each other through a truss. The deviation correction monitoring device for the multi-track chassis provided by the present application can directly adjust the deviation angle of the track chassis through the rotating device when the deviation angle of the track chassis does not meet the walking requirements, thereby correcting the deviation in time and achieving high correction accuracy. The response speed is fast, and the damage of the entire multi-track walking mechanism caused by the imbalance force due to the deviation of a single track chassis and the delay in correction is avoided, thereby greatly improving the safety of the multi-track walking.

Description

Technical Field

[0001] This invention relates to a deviation monitoring device and deviation control method for preventing multi-track chassis from veering off course, belonging to the field of engineering machinery. Background Technology

[0002] In the construction machinery industry, tracked walking mechanisms are widely used due to their advantages such as wide adaptability to various road conditions, high traction, strong passability, low ground pressure, and good stability. However, existing hydraulic systems for controlling track movement are not closed-loop control, resulting in low control accuracy, significant track deviation during movement, and difficulty in correcting deviation, sometimes even leading to track immobility. Therefore, it is necessary to design a method for detecting and controlling track chassis deviation. This method should be able to detect deviation during track movement and automatically correct it.

[0003] The existing hydraulic control system for tracked vehicles is relatively crude, lacking methods for detecting and effectively controlling track misalignment. This results in low control precision, significant track misalignment during operation, and the need for manual correction. This leads to difficulties in correction, high risks, high workload for personnel, complex operation, and the possibility of the track becoming stuck. Summary of the Invention

[0004] This invention addresses the aforementioned problems by providing a deviation correction monitoring device and a deviation correction control method for multi-track chassis.

[0005] The present invention adopts the following technical solution:

[0006] The multi-track chassis anti-deviation monitoring device includes four tracked chassis, each containing two tracks; each tracked chassis is equipped with an independent slewing device, and the slewing devices on the four tracked chassis are fixed together by a truss.

[0007] The multi-track chassis anti-deviation monitoring device of the present invention includes a slewing device comprising an upper structure, a slewing mechanism, a slewing bearing, and a lower structure; the lower structure is fixed to the track chassis, and the lower structure and the upper structure are interconnected through the slewing bearing; the slewing mechanism is arranged outside the upper structure, and the drive end of the slewing mechanism drives the lower structure to rotate.

[0008] The multi-track chassis anti-deviation monitoring device of the present invention includes a slewing mechanism comprising a plurality of drive motors, the drive ends of the plurality of drive motors being provided with gears; a geared disc is provided on the lower structure, and the gears mesh with the geared disc.

[0009] The multi-track chassis anti-deviation monitoring device of the present invention includes two laser rangefinders and two limit switches; a fixed rod perpendicular to the track chassis is provided on the truss, and the laser rangefinders and limit switches are provided on the track chassis; the limit switches are respectively located on the steering deviation path of the fixed rod; the laser rangefinders are respectively located on both sides of the fixed rod; a certain distance is provided between the laser rangefinders and the fixed rod.

[0010] The multi-track chassis anti-deviation monitoring device of the present invention uses a single pump station to control four tracked chassis or uses multiple pump stations to control four tracked chassis respectively.

[0011] The correction control method of the correction monitoring device for preventing deviation of multi-track chassis according to the present invention comprises the following steps:

[0012] Step 1: In the construction machinery industry, when a multi-track walking mechanism is in motion, check whether the undercarriage deflection angle of each track meets the walking requirements;

[0013] Step 2: If the tracked chassis deflection angle does not meet the requirements, mark the tracked chassis with the deflection angle that does not meet the requirements, and use the slewing mechanism of the slewing device to rotate the tracked chassis to achieve the rotation direction and angle; or control the speed difference of the tracked chassis to achieve the rotation direction and angle of the tracked chassis.

[0014] If the tracked chassis deflection angle meets the requirements, then mark the tracked chassis track group as synchronous drive, the tracked chassis slewing mechanism does not rotate, and the brake is locked;

[0015] Step 3: Then control the track chassis slewing mechanism to rotate and correct the track chassis deflection angle to meet the walking requirements.

[0016] In the correction control method of the multi-track chassis anti-deviation monitoring device of the present invention, when deviation of the track chassis is detected in step 2, the slewing mechanism performs rotation correction and locks the chassis.

[0017] The correction control method of the correction monitoring device for preventing deviation of multi-track chassis described in this invention, in step 2, the deviation amount of the track chassis is preset and the deviation angle of the track chassis is determined by whether there is contact between the fixed rod and the limit switch.

[0018] If the track offset exceeds the set value, but the fixing rod does not touch the limit switch, the system will automatically correct the track offset.

[0019] If the track deflection exceeds a certain value, the fixed rod will touch the limit switch. The limit switch will send a signal to the controller, which will then send a signal to stop the track travel mechanism and allow for manual correction.

[0020] Beneficial effects

[0021] The multi-track chassis anti-deviation monitoring device provided by this invention can directly adjust the deviation angle of the track chassis through a rotary device to correct deviation in a timely manner when the deviation angle of the track chassis does not meet the walking requirements. The correction accuracy is high and the response speed is fast. It avoids damage to the entire multi-track walking mechanism due to excessive unbalanced force caused by the failure to correct deviation in time after the deviation of a single track chassis, and greatly improves the safety of multi-track walking.

[0022] The correction control method of the correction monitoring device for multi-track chassis anti-deviation provided by the present invention detects the deviation of the track chassis in real time by feeding back data from the detection device. If the track chassis deviates, the flow rate of the variable pump outlet can be adjusted to control the flow rate into each motor, thereby realizing the function of automatic correction when the track moves, reducing the risk of structural component failure and improving safety. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the tracked chassis structure of the present invention;

[0024] Figure 2 This is an axle side view of the tracked chassis of the present invention;

[0025] Figure 3 This is a front view of the eight-track walking mechanism of the present invention;

[0026] Figure 4 This is a top view of the eight-track walking mechanism of the present invention;

[0027] Figure 5 This is an axonometric view of the eight-track walking mechanism of the present invention;

[0028] Figure 6 This is a schematic diagram of the tracked chassis structure containing a fixing rod according to the present invention;

[0029] Figure 7 This is a top view schematic diagram of the tracked chassis structure containing the fixing rod of the present invention;

[0030] Figure 8 This is a schematic diagram of the fixed rod correction triggering method of the present invention;

[0031] Figure 9 This is a schematic diagram of the hydraulic system of the four walking mechanisms of this invention;

[0032] Figure 10 This is a schematic diagram of the hydraulic system of a walking mechanism according to the present invention. Detailed Implementation

[0033] To make the objectives and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0034] like Figures 1-5 As shown: a deviation correction monitoring device for a multi-track chassis. The multi-track chassis includes four tracked chassis 5, each tracked chassis 5 containing two tracks; each tracked chassis 5 is equipped with an independent slewing device, and the slewing devices on the four tracked chassis 5 are fixed to each other by a truss 6.

[0035] The slewing device includes an upper structure 1, a slewing mechanism 2, a slewing bearing 3, and a lower structure 4. The lower structure 4 is fixed to the tracked chassis 5, and the lower structure 4 and the upper structure 1 are connected to each other via the slewing bearing 3. The slewing mechanism 2 is located outside the upper structure 1, and its drive end drives the lower structure 4 to rotate. The slewing mechanism 2 includes several drive motors, and the drive ends of the drive motors are equipped with gears. A geared disc is provided on the lower structure, and the gears mesh with the geared disc.

[0036] During the movement of the multi-tracked traveling mechanism, the deviation angle of each tracked chassis 5 is checked to ensure it meets the travel requirements. If the deviation angle of the tracked chassis 5 does not meet the requirements, the tracked chassis with the incorrect deviation angle is marked. Based on the direction and magnitude of the deviation angle, the rotation direction and angle of the slewing mechanism 2 of the tracked chassis slewing device are determined. Then, the rotation mechanism 2 of the tracked chassis 5 is controlled to correct the deviation angle of the tracked chassis until it meets the travel requirements. If the deviation angle of the tracked chassis 5 meets the requirements, the tracked chassis track assembly is marked as synchronously driven, the tracked chassis slewing mechanism 2 does not rotate, and the brakes are locked.

[0037] By using this slewing device and the anti-deviation control method for single-track chassis in multi-track travel, the deviation angle of the tracked chassis can be directly adjusted to correct the deviation in a timely manner when the deviation angle does not meet the requirements. The correction accuracy is high and it can adapt to more occasions with high travel accuracy requirements. Moreover, the response speed is fast, avoiding damage to the entire multi-track travel mechanism due to unbalanced forces caused by the failure to correct deviation in time after the deviation of a single tracked chassis, which greatly improves the safety of multi-track travel.

[0038] like Figures 6-7 As shown: The truss is equipped with a fixed rod 7 perpendicular to the tracked chassis, and the tracked chassis 5 is equipped with a laser rangefinder sensor 8 and a limit switch 9.

[0039] The multi-track chassis anti-deviation monitoring device includes two laser rangefinders 8 and two limit switches 9. A mounting plate 10 for installing the laser rangefinders 8 and limit switches 9 is provided between the two tracks of the tracked chassis 5. The limit switches 9 are located on the steering deviation path of the fixed rod 7. The laser rangefinders 8 are located on both sides of the fixed rod 7. A certain distance is provided between the laser rangefinders 8 and the fixed rod 7.

[0040] This track movement detection element uses a laser rangefinder sensor, but differential GPS or other detection elements can also be used. Limit switches are used to transmit switching signals as boundary protection. The fixed rod is fixedly connected to the truss. This fixed rod is not affected by the track movement. A laser rangefinder sensor is installed at an appropriate position on the track chassis to detect the track offset in real time. The track offset is automatically corrected within a set range. Limit switches are also installed at appropriate positions on the track chassis.

[0041] like Figure 8 As shown: Controlling track deviation involves two processes: First, when the track deviation exceeds the set value, but the fixed rod 7 does not touch the limit switch 9, the system automatically corrects the deviation.

[0042] Secondly, when the track deflection exceeds a certain value, the fixed rod 7 will touch the limit switch 9, the limit switch 9 will send a signal to the controller, the controller will send a signal, the track walking mechanism will stop running, and manual correction will be performed.

[0043] The hydraulic system of the tracked walking mechanism can use one pump station to control four sets of tracks, or multiple pump stations to control four sets of tracks.

[0044] The following example, using a pump station controlling a set of tracks, illustrates the specific control method for track misalignment. The schematic diagram is shown below. Figure 9 , Figure 10 As shown. Functions that can be achieved:

[0045] (1) The two tracks of a single track chassis can merge and move synchronously, or each track can move independently.

[0046] (2) The two tracked chassis can merge and move synchronously, or each tracked chassis can move independently. The left front tracked chassis and the left rear tracked chassis can merge or move independently, as can the right front tracked chassis and the right rear tracked chassis. The left front tracked chassis and the right front tracked chassis can merge or move independently, as can the left rear tracked chassis and the right rear tracked chassis.

[0047] (3) The four tracked chassis can merge and move synchronously, or a single tracked chassis can move independently.

[0048] (4) The track travel hydraulic system is used to realize the forward, backward, stop and turn of the eight tracks.

[0049] (5) Under normal circumstances, the eight tracks merge when walking. When track deviation is detected, the merging oil circuit needs to be disconnected and the track chassis that is deviating is controlled separately to correct its deviation during the walking process.

[0050] Detection and control methods:

[0051] During track movement, the detection device transmits signals to the controller. If the detected track deviation exceeds a set value, the controller sends a signal, the solenoid ball valve is de-energized, and a single track can operate independently, using differential speed for correction. For example, if the left front track chassis deviates to the left front of the travel direction, the controller controls the speed of the left front left track to be greater than that of the left front right track, while ensuring that the speed component of the left front track chassis in the travel direction is the same as the travel speed of the other three track groups. The flow rate of the left front left track into the 4-1 hydraulic motor is greater than the flow rate of the left front right track into the 4-2 hydraulic motor, until the track deviation is within the allowable range. At this point, the system stops correcting the deviation, and the flow rate of the hydraulic pumps into the left front left track and the left front right track motors is consistent, as is the flow rate of the other three hydraulic pumps and motors. The solenoid ball valve is then energized and the flow is combined.

[0052] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A deviation prevention and monitoring device for a multi-track chassis, the multi-track chassis comprising four tracked chassis, each tracked chassis containing two tracks; characterized in that: Each track chassis is respectively provided with an independent rotating device, and the rotating devices on the four track chassis are fixed to each other through a truss; The truss is provided with a fixed rod perpendicular to the track chassis, and the track chassis is provided with a laser ranging sensor and a limit switch; the laser ranging sensor is two, and the limit switch is two; the limit switch is located on the turning deviation path of the fixed rod; the laser ranging sensor is located on both sides of the fixed rod; a certain spacing is provided between the laser ranging sensor and the fixed rod.

2. The multi-track chassis anti-drifting correction monitoring device according to claim 1, characterized in that: The rotating device comprises an upper structure, a rotating mechanism, a rotating support and a lower structure; the lower structure is fixed to the track chassis, the lower structure and the upper structure are connected to each other through the rotating support, the rotating mechanism is arranged outside the upper structure, and the driving end of the rotating mechanism drives the lower structure to rotate.

3. The multi-track chassis anti-drifting correction monitoring device according to claim 2, characterized in that: The rotating mechanism comprises a plurality of driving motors, and the driving end of each driving motor is provided with a gear; a toothed disc is arranged on the lower structure, and the gear is engaged with the toothed disc.

4. The multi-track chassis anti-drift correction monitoring device according to claim 1, characterized in that: The multi-track chassis adopts a single pump station to control four track chassis or adopts multiple pump stations to control four track chassis respectively.

5. A method for controlling the deviation of a multi-track chassis deviation monitoring device according to any one of claims 1 to 4, characterized in that: The steps are as follows: Step 1, in the engineering machinery industry, the multi-track walking mechanism walks, and the laser ranging sensor is used to detect whether the deflection angle of each track chassis meets the walking requirement in real time; Step 2, if the deflection angle of the track chassis does not meet the requirement, mark the track chassis with deflection angle not meeting the requirement, rotate the rotating mechanism of the rotating device to make the track chassis rotate in a certain direction and angle; or control the speed difference of the track chassis to realize the rotating direction and angle of the track chassis; If the deflection angle of the track chassis meets the requirement, mark the track chassis track group as synchronous driving, the rotating mechanism of the track chassis does not rotate, and the brake is locked; The deflection of the track chassis is preset to judge the deflection angle of the track chassis by whether the fixed rod contacts the limit switch; If the track deflection exceeds the set value, but the fixed rod does not touch the limit switch, the system automatically corrects the deviation at this time; If the track deflection exceeds a certain value, the fixed rod will touch the limit switch, the limit switch feeds back a signal to the controller, the controller sends a signal, and the track walking mechanism stops running, and manual correction is performed; Step 3, then control the rotating mechanism of the track chassis to rotate and correct the deflection angle of the track chassis to meet the walking requirement.

6. The method of claim 5, wherein the method further comprises: determining a deviation of the multi-track chassis from a straight line; and adjusting the deviation of the multi-track chassis from the straight line. In step 2, when the track chassis deviates, the rotating mechanism is rotated to correct it, and the brake is locked.

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