Crawler tensioner automatic adjustment system, method, device and crawler

Abstract

The application discloses a kind of engineering machinery technical field's track tensioner automatic adjustment system, method, device and track vehicle, to solve the problem of low accuracy and troublesome operation of track tensioner adjustment in prior art.The application includes filling device, first displacement sensor, second displacement sensor, driving device and controller.The application is suitable for track-type engineering machinery equipped with tensioner, can realize the automatic adjustment function of track tensioner, no longer needs manual operation, saves time and labor, is easy to operate, and can also collect real-time position information, improves the accuracy of track tension measurement.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically to an automatic adjustment system, method, device, and tracked vehicle for track tensioning. Background Technology

[0002] Tracked construction machinery, such as tracked cranes and tracked excavators, is a widely used and important piece of equipment in various construction projects. The track is a crucial component of this type of machinery, and it is a key element in ensuring the normal and stable movement of the equipment. If the track tension is insufficient, vibration and jumping may occur during movement, causing the track pads to jump off the track rollers. Therefore, most of them are equipped with tensioning devices to adjust the track tension.

[0003] However, currently, the need to adjust tension is usually determined manually based on the amount of track sag, as shown in the instruction manual. Figure 3 As shown, a flat plate 1-3 is typically placed on the track above the idler wheel 1-1 and the front track roller 1-2. The distance A between the maximum sag point of the track between the idler wheel 1-1 and the front track roller 1-2 and the back of the flat plate is the desired track sag. The specific operation method is as follows: add grease to the tensioning device to tighten the track, or open the drain valve of the tensioning device to release grease and loosen the track.

[0004] The above method has the following drawbacks: First, the track tension adjustment needs to be measured manually, which is not very accurate; second, the tensioning device needs to be controlled manually, which is labor-intensive, time-consuming, and inconvenient. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic adjustment system, method, device and tracked vehicle for track tensioning, solving the problems of low accuracy and cumbersome operation in current track tensioning adjustments.

[0006] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0007] In a first aspect, the present invention provides an automatic adjustment system for a track tensioning device, comprising:

[0008] A grease filling device is used to add grease into the tensioning device;

[0009] The first displacement sensor is installed on the longitudinal beam of the frame and is used to collect the real-time position information of the tensioning device;

[0010] The second displacement sensor is installed on the longitudinal beam of the chassis and is used to collect real-time position information of the tracks.

[0011] The drive unit is connected to the oil drain check valve of the tensioning device to control the oil drain of the tensioning device;

[0012] The controller has its input terminals electrically connected to the first displacement sensor and the second displacement sensor, respectively; and its output terminals electrically connected to the filling device and the drive device, respectively. It is used to control the filling device and the drive device to adjust the tensioning device based on the real-time position information of the track and the real-time position information of the tensioning device, so as to achieve the purpose of adjusting the track tension.

[0013] Furthermore, the filling device is an electric filling pump.

[0014] Furthermore, the driving device is an electromagnetic switching valve.

[0015] In a second aspect, the present invention provides an automatic adjustment method for a track tensioning device, employing the automatic adjustment system for a track tensioning device described in the first aspect, comprising the following steps:

[0016] Acquire real-time position information of the track and the tensioning device;

[0017] Based on the real-time position information of the track and the real-time position information of the tensioning device, the real-time sag of the track and the real-time displacement of the tensioning device are calculated.

[0018] Based on the real-time sag of the track and the real-time displacement of the tensioning device, the filling device or drive device is activated according to the preset control and adjustment strategy to adjust the track tension.

[0019] Furthermore, the preset control and adjustment strategy specifically includes:

[0020] When A>A max And B < B min When this happens, an alarm will be issued to remind the user to stop the machine for inspection;

[0021] When A>A max And B≥B min At that time, a refueling command is sent to the electric refueling pump until A≤A max Stop at this time;

[0022] When A<A min And B > B max When this happens, an alarm will be issued to remind the user to stop the machine for inspection;

[0023] When A<A min And B≤B max At that time, a discharge command is sent to the solenoid valve until A≥A min Stop at this time;

[0024] In the formula, A represents the real-time sag of the track. max Indicates the preset maximum allowable track sagging, A minB represents the preset minimum allowable track sagging, and B represents the real-time displacement of the tensioning device. max B represents the displacement of the preset tensioning device at the maximum allowable tension force. min This indicates the displacement of the preset tensioning device at the minimum allowable tension force.

[0025] Furthermore, the preset control and adjustment strategy includes:

[0026] When A>A max And B≥B min At that time, a refueling command is sent to the electric refueling pump until A≤A max After the time stops, the following steps are also included:

[0027] If B > B at this time max Then for B max Reset B max =B;

[0028] If B < B at this time min Then for B min Reset B min =B;

[0029] When A<A min And B≤B max At that time, a discharge command is sent to the solenoid valve until A≥A min After the time stops, the following steps are also included:

[0030] If B > B at this time max Then for B max Reset B max =B;

[0031] If B < B at this time min Then for B min Reset B min =B.

[0032] Furthermore, the method for calculating the real-time sag of the track includes:

[0033] Let the real-time position information of the track be defined in the spatial coordinate system as P(X). P ,Y P Z P );

[0034] The preset position information of the track when it is not sagging is represented by the coordinates M(X) in the spatial coordinate system. M ,Y M Z M );

[0035] The real-time sag A of the track can be calculated using the following formula:

[0036]

[0037] Furthermore, the method for calculating the real-time displacement of the tensioning device includes:

[0038] Let the coordinates of the real-time position information of the tensioning device in the spatial coordinate system be Q(X). Q ,Y Q Z Q );

[0039] The position information of the preset tensioning device when it is not displaced is represented by the coordinates N(X) in the spatial coordinate system. N ,Y N Z N );

[0040] The real-time displacement B of the tensioning device can be calculated using the following formula:

[0041]

[0042] Thirdly, the present invention provides an automatic adjustment device for track tensioning, comprising:

[0043] Data acquisition module: used to acquire real-time position information of the track and the tensioning device;

[0044] Calculation module: used to calculate the real-time sag of the track and the real-time displacement of the tensioning device based on the real-time position information of the track and the tensioning device.

[0045] Control module: Based on the real-time sag of the track and the real-time displacement of the tensioning device, and according to the preset control and adjustment strategy, it controls the start of the filling device or drive device to adjust the track tension.

[0046] Fourthly, the present invention provides a tracked vehicle, including a vehicle body and tracks and tensioning devices connected to the vehicle body; the tracks and tensioning devices are provided in two sets, respectively located on the left and right sides of the vehicle body, and the two tensioning devices are respectively equipped with an automatic tensioning device adjustment system as described in the first aspect.

[0047] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0048] 1. This invention realizes the automatic adjustment function of the track tensioning device through the filling device and the driving device, eliminating the need for manual operation, saving labor and time, and making operation convenient. In addition, it also utilizes displacement sensors to collect real-time position information, improving the accuracy of track tension measurement.

[0049] 2. This invention can automatically adjust the track tension based on the real-time sag through a preset control and adjustment strategy. Furthermore, it will issue an alarm when the real-time displacement of the tensioning device exceeds the allowable range, reminding the user to stop the machine for inspection to avoid serious accidents. The invention has good practical application results. Attached Figure Description

[0050] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0051] Figure 1 This is a circuit diagram of an automatic adjustment system for track tensioning device provided in an embodiment of the present invention;

[0052] Figure 2 This is a flowchart of an automatic adjustment method for a track tensioning device provided in an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the operation for manually measuring track sagging in existing technology;

[0054] In the diagram: 1. Filling device; 2. First displacement sensor; 3. Second displacement sensor; 4. Drive device; 5. Controller. Detailed Implementation

[0055] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0056] Example 1:

[0057] like Figure 1 As shown, an embodiment of the present invention provides an automatic adjustment system for track tensioning devices, including: a filling device 1, a first displacement sensor 2, a second displacement sensor 3, a drive device 4, and a controller 5.

[0058] Specifically, the filling device 1 is used to fill the tensioning device with grease; the first displacement sensor 2 is installed on the longitudinal beam of the frame to collect the real-time position information of the tensioning device; the second displacement sensor 3 is installed on the longitudinal beam of the frame to collect the real-time position information of the track; the drive device 4 is connected to the oil drain check valve of the tensioning device to control the oil drain of the tensioning device; the input terminal of the controller 5 is electrically connected to the first displacement sensor 2 and the second displacement sensor 3 respectively; the output terminal is electrically connected to the filling device 1 and the drive device 4 respectively, and is used to control the filling device 1 and the drive device 4 to adjust the tensioning device according to the real-time position information of the track and the real-time position information of the tensioning device, so as to achieve the purpose of adjusting the track tension.

[0059] In this embodiment, the filling device 1 is an electric filling pump.

[0060] Specifically, the output end of the electric grease pump is connected to the grease filling port of the tensioning device, so that grease can be added into the tensioning device after startup, thereby increasing the track tension. However, it is not limited to this; other devices with grease filling functions can also be used, and there are no specific limitations.

[0061] In this embodiment, the driving device 4 is an electromagnetic switching valve.

[0062] Specifically, the output end of the electromagnetic switch valve is connected to the drain check valve of the tensioning device, so that after startup, it can drive the drain check valve to loosen, allowing the lubricating grease in the tensioning cylinder to slowly overflow, thereby loosening the track and adjusting its tension to an appropriate level. However, it is not limited to this; other devices with driving functions can also be used, and there is no specific limitation.

[0063] The above settings enable automatic adjustment of the track tensioning device, eliminating the need for manual operation, saving labor and time, and making operation convenient. Furthermore, the use of displacement sensors to collect real-time position information improves the accuracy of track tension measurement.

[0064] Example 2:

[0065] like Figure 2 As shown, this embodiment provides an automatic adjustment method for a track tensioning device, employing the automatic adjustment system for a track tensioning device described in the first aspect, including the following steps:

[0066] S1: Obtain real-time position information of the track and the tensioning device;

[0067] S2: Based on the real-time position information of the track and the real-time position information of the tensioning device, calculate the real-time sag of the track and the real-time displacement of the tensioning device.

[0068] S3: Based on the real-time sag of the track and the real-time displacement of the tensioning device, the filling device or drive device is activated according to the preset control and adjustment strategy to adjust the track tension.

[0069] In this embodiment, the preset control and adjustment strategy mentioned in step S3 specifically includes:

[0070] When A>A max And B < B min When this happens, an alarm will be issued to remind the user to stop the machine for inspection;

[0071] When A>A max And B≥B min At that time, a refueling command is sent to the electric refueling pump until A≤A max Stop at this time;

[0072] When A<A min And B > B max When this happens, an alarm will be issued to remind the user to stop the machine for inspection;

[0073] When A<A min And B≤B max At that time, a discharge command is sent to the solenoid valve until A≥A min Stop at this time;

[0074] In the formula, A represents the real-time sag of the track. max Indicates the preset maximum allowable track sagging, A min B represents the preset minimum allowable track sagging, and B represents the real-time displacement of the tensioning device. max B represents the displacement of the preset tensioning device at the maximum allowable tension force. min This indicates the displacement of the preset tensioning device at the minimum allowable tension force.

[0075] In this embodiment, the preset control adjustment strategy mentioned in step S3 includes:

[0076] When A>A max And B≥B min At that time, a refueling command is sent to the electric refueling pump until A≤A max After the time stops, the following steps are also included:

[0077] If B > B at this time max Then for B max Reset B max =B;

[0078] If B < B at this time min Then for B min Reset B min =B.

[0079] When A<A min And B≤B max At that time, a discharge command is sent to the solenoid valve until A≥A min After the time stops, the following steps are also included:

[0080] If B > B at this time max Then for B max Reset B max =B;

[0081] If B < B at this time min Then for B min Reset B min =B.

[0082] It should be noted that after prolonged use, wear and tear will occur between various components of the track, including but not limited to wear on the track components themselves and on the track rollers, carrier rollers, drive sprockets, and idler rollers. This will eventually cause the track to loosen. Therefore, after adjusting the tension of the worn track to the appropriate level, it is necessary to adjust B... max The tracks are reset to adapt to actual working conditions; and the tracks are replaced when they are severely worn. Since the newly replaced tracks are quite tight, after adjusting the tension to the appropriate level, it is also necessary to adjust B... min Reconfigure the settings to adapt to actual working conditions.

[0083] In this embodiment, the method for calculating the real-time sag of the track in step S2 includes:

[0084] Let the real-time position information of the track be defined in the spatial coordinate system as P(X). P ,Y P Z P );

[0085] The preset position information of the track when it is not sagging is represented by the coordinates M(X) in the spatial coordinate system. M ,Y M Z M );

[0086] The real-time sag A of the track can be calculated using the following formula:

[0087]

[0088] Specifically, the sag of the track can be calculated using the distance formula between two points in space.

[0089] In this embodiment, the method for calculating the real-time displacement of the tensioning device in step S2 includes:

[0090] Let the coordinates of the real-time position information of the tensioning device in the spatial coordinate system be Q(X). Q ,Y Q Z Q );

[0091] The position information of the preset tensioning device when it is not displaced is represented by the coordinates N(X) in the spatial coordinate system. N ,Y N Z N );

[0092] The real-time displacement B of the tensioning device can be calculated using the following formula:

[0093]

[0094] Specifically, the displacement of the tensioning device can be calculated using the distance formula between two points in space.

[0095] Example 3:

[0096] This embodiment provides an automatic adjustment device for track tensioning, including:

[0097] Data acquisition module: used to acquire real-time position information of the track and the tensioning device;

[0098] Calculation module: used to calculate the real-time sag of the track and the real-time displacement of the tensioning device based on the real-time position information of the track and the tensioning device.

[0099] Control module: Based on the real-time sag of the track and the real-time displacement of the tensioning device, and according to the preset control and adjustment strategy, it controls the start of the filling device or drive device to adjust the track tension.

[0100] Example 4:

[0101] This embodiment provides a tracked vehicle, including a vehicle body and tracks and tensioning devices connected to the vehicle body; the tracks and tensioning devices are provided in two sets, respectively located on the left and right sides of the vehicle body, and the two tensioning devices are respectively equipped with an automatic tensioning device adjustment system as described in Embodiment 1.

[0102] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic adjustment method for a track tensioning device, characterized in that, An automatic track tensioning system is adopted, the system comprising: A grease filling device is used to add grease into the tensioning device; The first displacement sensor is installed on the longitudinal beam of the frame and is used to collect the real-time position information of the tensioning device; The second displacement sensor is installed on the longitudinal beam of the chassis and is used to collect real-time position information of the tracks. The drive unit is connected to the oil drain check valve of the tensioning device to control the oil drain of the tensioning device; The controller has its input terminals electrically connected to the first displacement sensor and the second displacement sensor, respectively; and its output terminals electrically connected to the filling device and the drive device, respectively. It is used to control the filling device and the drive device to adjust the tension device based on the real-time position information of the track and the real-time position information of the tension device, so as to achieve the purpose of adjusting the track tension. The adjustment method includes the following steps: Acquire real-time position information of the track and the tensioning device; Based on the real-time position information of the track and the real-time position information of the tensioning device, the real-time sag of the track and the real-time displacement of the tensioning device are calculated. Based on the real-time sag of the track and the real-time displacement of the tensioning device, the filling device or drive device is activated according to the preset control and adjustment strategy to adjust the track tension. The preset control and adjustment strategy specifically includes: when and At that time, a refueling command is sent to the electric refueling pump until... After the time is stopped, the following steps are also included; If at this time Then for Reset, make ; If at this time Then for Reset, make ; when and At that time, a discharge command is sent to the solenoid valve until... After the time stops, the following steps are also included: If at this time Then for Reset, make ; If at this time Then for Reset, make ; In the formula, This indicates the real-time sag of the track. This indicates the preset maximum allowable track sagging. This indicates the preset minimum allowable track sagging. This indicates the real-time displacement of the tensioning device. This indicates the displacement of the preset tensioning device at the maximum allowable tension force. This indicates the displacement of the preset tensioning device at the minimum allowable tension force.

2. The automatic adjustment method for the track tensioning device according to claim 1, characterized in that, The filling device is an electric filling pump.

3. The automatic adjustment method for the track tensioning device according to claim 1, characterized in that, The driving device is an electromagnetic switching valve.

4. The automatic adjustment method for the track tensioning device according to claim 1, characterized in that, The preset control and adjustment strategy specifically includes: when and When this happens, an alarm will be issued to remind the user to stop the machine for inspection; when and When this happens, an alarm will be issued to remind the user to stop the machine for inspection; when and At that time, a discharge command is sent to the solenoid valve until... Stop when the time comes.

5. The automatic adjustment method for the track tensioning device according to claim 1, characterized in that, The method for calculating the real-time sag of the track includes: The real-time position information of the track is set to the coordinates in the spatial coordinate system as follows: ; The coordinates of the preset track position information in the spatial coordinate system when the track is not sagging are: ; The real-time sag of the track can be calculated using the following formula. : 。 6. The automatic adjustment method for the track tensioning device according to claim 1, characterized in that, The method for calculating the real-time displacement of the tensioning device includes: The coordinates of the real-time position information of the tensioning device in the spatial coordinate system are set as follows: ; The coordinates of the preset position information of the tensioning device when it is not displaced in the spatial coordinate system are: ; The real-time displacement of the tensioning device can be calculated using the following formula. : 。 7. An automatic adjustment device for track tensioning, characterized in that, An automatic track tensioning system is adopted, the system comprising: A grease filling device is used to add grease into the tensioning device; The first displacement sensor is installed on the longitudinal beam of the frame and is used to collect the real-time position information of the tensioning device; The second displacement sensor is installed on the longitudinal beam of the chassis and is used to collect real-time position information of the tracks. The drive unit is connected to the oil drain check valve of the tensioning device to control the oil drain of the tensioning device; The controller has its input terminals electrically connected to the first displacement sensor and the second displacement sensor, respectively; and its output terminals electrically connected to the filling device and the drive device, respectively. It is used to control the filling device and the drive device to adjust the tension device based on the real-time position information of the track and the real-time position information of the tension device, so as to achieve the purpose of adjusting the track tension. The adjustment device includes: Data acquisition module: used to acquire real-time position information of the track and the tensioning device; Calculation module: used to calculate the real-time sag of the track and the real-time displacement of the tensioning device based on the real-time position information of the track and the tensioning device. Control module: Based on the real-time sag of the track and the real-time displacement of the tensioning device, the control module controls the start of the filling device or drive device according to the preset control and adjustment strategy to adjust the track tension. The preset control and adjustment strategy specifically includes: when and At that time, a refueling command is sent to the electric refueling pump until... Stop at this time; If at this time Then for Reset, make ; If at this time Then for Reset, make ; when and At that time, a discharge command is sent to the solenoid valve until... After the time stops, the following steps are also included: If at this time Then for Reset, make ; If at this time Then for Reset, make ; In the formula, This indicates the real-time sag of the track. This indicates the preset maximum allowable track sagging. This indicates the preset minimum allowable track sagging. This indicates the real-time displacement of the tensioning device. This indicates the displacement of the preset tensioning device at the maximum allowable tension force. This indicates the displacement of the preset tensioning device at the minimum allowable tension force.

8. A tracked vehicle, comprising a vehicle body and tracks and a tensioning device connected to the vehicle body; wherein the tracks and tensioning device are provided in two sets, respectively disposed on the left and right sides of the vehicle body, characterized in that, Both tensioning devices employ the automatic adjustment method for tensioning devices as described in any one of claims 1 to 6.

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