Hydraulically driven walking system and vehicle

Abstract

The application discloses a hydraulic driving walking system and a vehicle, and relates to the technical field of hydraulic control. The hydraulic driving walking system comprises a pilot control valve, a logic valve and a shunt valve. The pilot control valve comprises a series-parallel connection switching valve. The logic valve comprises a first two-way valve, a second two-way valve, a third two-way valve and a fourth two-way valve. The shunt valve comprises a shunt collecting valve. The hydraulic driving walking system utilizes the combined valve body of the series-parallel connection switching valve, the first two-way valve, the second two-way valve, the third two-way valve, the fourth two-way valve and the shunt collecting valve. The opening and closing of each two-way valve are controlled by the series-parallel connection switching valve, the series-parallel connection switching of each executing element is realized, meanwhile, the shunt valve realizes the speed synchronization or the fixed ratio relationship of each executing element when each executing element is driven in parallel, so that the series-parallel connection switching of each executing element can be realized under the condition of high pressure and large flow, the comprehensive utilization rate of each executing element is improved, the pressure loss of the system is reduced, and the heat generation power of the system is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic control, in particular to a hydraulic drive walking system and vehicle. BACKGROUND

[0002] At present, the series-parallel switching of the executing elements in the vehicle walking system is mainly realized by relying on the conventional reversing valve, and the switching of the reversing valve is used to make the vehicle adjust the driving torque on both sides of the vehicle under various road surfaces such as off-road surface, ice and snow surface, wet and slippery grassland and urban road surface, so as to realize the working conditions such as vehicle climbing, obstacle crossing, in-place turning and high-speed driving. However, when the conventional four-way reversing valve is reversely switched, the T port cannot bear high pressure (the working pressure is generally about 21 MPa), resulting in low comprehensive utilization rate of the executing elements.

[0003] Therefore, it is necessary for those skilled in the art to timely provide a hydraulic drive walking system and vehicle capable of realizing the series-parallel switching of the executing elements under high pressure (greater than 21 MPa) and large flow working conditions. SUMMARY

[0004] The purpose of the present application is to provide a hydraulic drive walking system and vehicle, which can improve the comprehensive utilization rate of the executing elements, reduce the pressure loss and reduce the heating power.

[0005] To achieve the above purpose, the present application provides a hydraulic drive walking system, comprising a pilot control valve, a logic valve and a shunt valve, the pilot control valve comprising a series-parallel switching valve, the logic valve comprising a first two-way valve, a second two-way valve, a third two-way valve and a fourth two-way valve, and the shunt valve comprising a shunt collector valve.

[0006] Further comprising a first executing element and a second executing element, the first interface of the first two-way valve is used for communicating with a first pressure oil interface, the second interface of the first two-way valve communicates with a first end of the first executing element, the first interface of the second two-way valve and the first interface of the third two-way valve both communicate with a second end of the first executing element, the second interface of the second two-way valve communicates with a first end of the second executing element, the second interface of the third two-way valve is used for communicating with a second pressure oil interface, the first oil port of the shunt collector valve communicates with the first pressure oil interface, the second oil port of the shunt collector valve communicates with the first end of the first executing element, the third oil port of the shunt collector valve communicates with the first interface of the fourth two-way valve, the second interface of the fourth two-way valve communicates with the first end of the second executing element, and the second end of the second executing element communicates with the second pressure oil interface.

[0007] The oil tank is further communicated with the first interface and the second interface of the series-parallel switch valve, the third interface and the fourth interface of the series-parallel switch valve are communicated with the control cavities of the third two-way valve and the fourth two-way valve, and the fourth interface of the series-parallel switch valve is communicated with the control cavities of the first two-way valve and the second two-way valve, so as to control the first interface and the second interface of the first two-way valve, the first interface and the second interface of the second two-way valve, the first interface and the second interface of the third two-way valve, and the first interface and the second interface of the fourth two-way valve to be turned on or turned off.

[0008] In some embodiments, the series-parallel switch valve is a two-position four-way switch valve, and the two-position four-way switch valve is configured to:

[0009] When the two-position four-way switch valve is in the first working state, the pressure oil flowing from the first pressure oil interface flows into the control cavities of the third two-way valve and the fourth two-way valve through the first interface and the third interface of the two-position four-way switch valve, so that the first interface and the second interface of the third two-way valve and the first interface and the second interface of the fourth two-way valve are turned off, and the pressure oil in the control cavities of the first two-way valve and the second two-way valve flows into the oil tank through the fourth interface and the second interface of the two-position four-way switch valve, so that the first interface and the second interface of the first two-way valve and the first interface and the second interface of the second two-way valve are turned on.

[0010] When the two-position four-way switch valve is in the second working state, the pressure oil flowing from the first pressure oil interface flows into the control cavities of the first two-way valve and the second two-way valve through the first interface and the fourth interface of the two-position four-way switch valve, so that the first interface and the second interface of the first two-way valve and the first interface and the second interface of the second two-way valve are turned off, and the pressure oil in the control cavities of the third two-way valve and the fourth two-way valve flows into the oil tank through the third interface and the second interface of the two-position four-way switch valve, so that the first interface and the second interface of the third two-way valve and the first interface and the second interface of the fourth two-way valve are turned on.

[0011] In some embodiments, the pilot control valve further comprises a shuttle valve, the first end of the shuttle valve is communicated with the first pressure oil interface, the second end of the shuttle valve is communicated with the second pressure oil interface, and the third end of the shuttle valve is communicated with the first interface of the two-position four-way switch valve, so that the pressure oil flowing from the first pressure oil interface flows into the first interface of the two-position four-way switch valve through the shuttle valve, and the pressure oil flowing from the second pressure oil interface flows into the first interface of the two-position four-way switch valve through the shuttle valve.

[0012] In some embodiments, the control device is further connected to the two-position four-way switching valve, and the two-position four-way switching valve is in the first working state when the first actuating element and the second actuating element are connected in series, and is in the second working state when the first actuating element and the second actuating element are connected in parallel.

[0013] In some embodiments, the flow distribution ratio of the flow divider valve when the first actuating element and the second actuating element are connected in parallel is 1:1, so that the speeds of the first actuating element and the second actuating element remain synchronized.

[0014] Alternatively, the flow distribution ratio of the flow divider valve when the first actuating element and the second actuating element are connected in parallel is greater than 1:1, so that the speeds of the first actuating element and the second actuating element remain in a fixed ratio greater than 1:1.

[0015] In some embodiments, the flow divider valve further comprises a damper, and the two ends of the damper are respectively connected to the second oil port of the flow divider manifold and the third oil port of the flow divider manifold.

[0016] The application also provides a vehicle comprising the hydraulic drive walking system described in any one of the preceding embodiments.

[0017] With respect to the background art described above, the hydraulic drive walking system provided by the embodiments of the application comprises a pilot control valve, a logic valve and a flow divider valve. The pilot control valve comprises a series-parallel switching valve, the logic valve comprises a first two-way valve, a second two-way valve, a third two-way valve and a fourth two-way valve, and the flow divider valve comprises a flow divider manifold. The first interface of the first two-way valve is connected to the first pressure oil interface, the second interface of the first two-way valve is connected to the first end of the first actuating element, the first interfaces of the second two-way valve and the third two-way valve are both connected to the second end of the first actuating element, the second interface of the second two-way valve is connected to the first end of the second actuating element, the second interface of the third two-way valve is connected to the second pressure oil interface, the first oil port of the flow divider manifold is connected to the first pressure oil interface, the second oil port of the flow divider manifold is connected to the first end of the first actuating element, the third oil port of the flow divider manifold is connected to the first interface of the fourth two-way valve, the second interface of the fourth two-way valve is connected to the first end of the second actuating element, and the second end of the second actuating element is connected to the second pressure oil interface. The first interface of the series-parallel switching valve is connected to the first pressure oil interface and the second pressure oil interface, the second interface of the series-parallel switching valve is connected to the oil tank, the third interface of the series-parallel switching valve is connected to the control cavities of the third two-way valve and the fourth two-way valve, and the fourth interface of the series-parallel switching valve is connected to the control cavities of the first two-way valve and the second two-way valve. In this way:

[0018] When the vehicle is in series forward, the pressure oil of the first pressure oil interface flows into the first interface of the series-parallel switch valve, and since the third interface of the series-parallel switch valve is communicated with the control cavities of the third and fourth two-way valves, when the third interface and the first interface of the series-parallel switch valve are connected, the first and second interfaces of the third two-way valve and the first and second interfaces of the fourth two-way valve are closed. At the same time, since the fourth interface of the series-parallel switch valve is communicated with the control cavities of the first and second two-way valves, and the second interface of the series-parallel switch valve is communicated with the oil tank, when the fourth interface and the second interface of the series-parallel switch valve are connected, the first and second interfaces of the first two-way valve and the first and second interfaces of the second two-way valve are opened. The pressure oil flows through the first and second actuators in turn and finally flows back to the second pressure oil interface. At this time, the first and second actuators are driven in series to form a complete circuit.

[0019] When the vehicle is in series backward, the pressure oil of the second pressure oil interface flows into the first interface of the series-parallel switch valve, and since the third interface of the series-parallel switch valve is communicated with the control cavities of the third and fourth two-way valves, when the third interface and the first interface of the series-parallel switch valve are connected, the first and second interfaces of the third two-way valve and the first and second interfaces of the fourth two-way valve are closed. At the same time, since the fourth interface of the series-parallel switch valve is communicated with the control cavities of the first and second two-way valves, and the second interface of the series-parallel switch valve is communicated with the oil tank, when the fourth interface and the second interface of the series-parallel switch valve are connected, the first and second interfaces of the first two-way valve and the first and second interfaces of the second two-way valve are opened. The pressure oil flows through the second and first actuators in turn and finally flows back to the first pressure oil interface. At this time, the second and first actuators are driven in series to form a complete circuit.

[0020] When the vehicle is parallel forward, the pressure oil of the first pressure oil interface flows into the first interface of the series-parallel switch valve, and since the fourth interface of the series-parallel switch valve is communicated with the control cavities of the first and second two-way valves, when the fourth interface and the first interface of the series-parallel switch valve are connected, the first and second interfaces of the first two-way valve and the first and second interfaces of the second two-way valve are closed, and at the same time, since the third interface of the series-parallel switch valve is communicated with the control cavities of the third and fourth two-way valves and the second interface of the series-parallel switch valve is communicated with the oil tank, when the third interface and the second interface of the series-parallel switch valve are connected, the first and second interfaces of the third two-way valve and the first and second interfaces of the fourth two-way valve are connected, the pressure oil flows into the first oil port of the shunt and collector valve, and flows through the first and second actuating elements from the second and third oil ports of the shunt and collector valve, and finally flows back to the second pressure oil interface. At this time, the first and second actuating elements are driven in parallel.

[0021] When the vehicle is parallel backward, the pressure oil of the second pressure oil interface flows into the first interface of the series-parallel switch valve, and since the fourth interface of the series-parallel switch valve is communicated with the control cavities of the first and second two-way valves, when the fourth interface and the first interface of the series-parallel switch valve are connected, the first and second interfaces of the first two-way valve and the first and second interfaces of the second two-way valve are closed, and at the same time, since the third interface of the series-parallel switch valve is communicated with the control cavities of the third and fourth two-way valves and the second interface of the series-parallel switch valve is communicated with the oil tank, when the third interface and the second interface of the series-parallel switch valve are connected, the first and second interfaces of the third two-way valve and the first and second interfaces of the fourth two-way valve are connected, the pressure oil flows into the third and second oil ports of the shunt and collector valve from the second and first actuating elements, and finally flows back to the first pressure oil interface from the first oil port of the shunt and collector valve. At this time, the first and second actuating elements are driven in parallel.

[0022] Compared with the traditional switch valve arrangement, the hydraulic drive walking system provided by the embodiment of the application utilizes the combined valve body of the series-parallel switch valve, the first two-way valve, the second two-way valve, the third two-way valve, the fourth two-way valve and the shunt and collector valve, controls the opening and closing of each two-way valve through the series-parallel switch valve, realizes the series-parallel switching of each actuating element, and at the same time, realizes the speed synchronization or fixed ratio relationship of each actuating element when each actuating element is driven in parallel through the shunt and collector valve. Such an arrangement can realize the series-parallel switching of each actuating element under high pressure (greater than 21 MPa) and large flow conditions, which is of great significance to improving the comprehensive utilization rate of each actuating element, reducing system pressure loss, reducing system heating power, improving the integration of the control valve group and the installation efficiency of the pipeline. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a hydraulic schematic diagram of the hydraulically driven walking system in the embodiments of this application;

[0025] Figure 2 for Figure 1 A schematic diagram of the integrated flushing valve of the hydraulically driven walking system shown.

[0026] Figure 3 for Figure 1 The diagram shows another series-parallel switching valve for the hydraulic drive walking system.

[0027] in:

[0028] 1-Pilot control valve, 11-Shuttle valve, 12-Series-parallel switching valve;

[0029] 2-First actuating element;

[0030] 3-Logic valve, 31-First two-way valve, 32-Second two-way valve, 33-Third two-way valve, 34-Fourth two-way valve;

[0031] 4-Second actuating element;

[0032] 5-Flow divider valve, 51-Flow divider / combiner valve, 52-Damping;

[0033] 6-Integrated flushing valve, 61-Slide valve type three-way valve, 62-Pressure reducing valve. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Please see Figure 1The hydraulic driving walking system provided by the embodiment of the application comprises a control valve group, a first execution element 2 and a second execution element 4, the control valve group comprises a pilot control valve 1, a logic valve 3 and a shunt valve 5.

[0037] The first execution element 2 and the second execution element 4 are both hydraulic motors, and the control valve group is used to realize the series-parallel switching of the two hydraulic motors. Specifically, the pilot control valve 1 comprises a series-parallel switching valve 12, the logic valve 3 comprises a first two-way valve 31, a second two-way valve 32, a third two-way valve 33 and a fourth two-way valve 34, and the shunt valve 5 comprises a shunt collector valve 51.

[0038] The first interface L1 of the first two-way valve 31 is in communication with the first pressure oil interface A, the second interface L2 of the first two-way valve 31 is in communication with the first end of the first execution element 2, the first interface L3 of the second two-way valve 32 and the first interface L5 of the third two-way valve 33 are both in communication with the second end of the first execution element 2, the second interface L4 of the second two-way valve 32 is in communication with the first end of the second execution element 4, the second interface L6 of the third two-way valve 33 is in communication with the second pressure oil interface B, the first oil port M1 of the shunt collector valve 51 is in communication with the first pressure oil interface A, the second oil port M2 of the shunt collector valve 51 is in communication with the first end of the first execution element 2, the third oil port M3 of the shunt collector valve 51 is in communication with the first interface L7 of the fourth two-way valve 34, the second interface L8 of the fourth two-way valve 34 is in communication with the first end of the second execution element 4, and the second end of the second execution element 4 is in communication with the second pressure oil interface B; the first interface K1 of the series-parallel switching valve 12 is in communication with the first pressure oil interface A and the second pressure oil interface B, the second interface K2 of the series-parallel switching valve 12 is in communication with an oil tank, the third interface K3 of the series-parallel switching valve 12 is in communication with the control cavities of the third two-way valve 33 and the fourth two-way valve 34, and the fourth interface K4 of the series-parallel switching valve 12 is in communication with the control cavities of the first two-way valve 31 and the second two-way valve 32.

[0039] When the vehicle is forward driving in series, the pressure oil of the first pressure oil interface A flows into the first interface K1 of the series-parallel switch valve 12, and since the third interface K3 of the series-parallel switch valve 12 is communicated with the control cavities of the third two-way valve 33 and the fourth two-way valve 34, when the third interface K3 and the first interface K1 of the series-parallel switch valve 12 are connected, the first interface L5 and the second interface L6 of the third two-way valve 33 are turned off, and the first interface L7 and the second interface L8 of the fourth two-way valve 34 are turned off, at the same time, since the fourth interface K4 of the series-parallel switch valve 12 is communicated with the control cavities of the first two-way valve 31 and the second two-way valve 32, and the second interface K2 of the series-parallel switch valve 12 is communicated with the oil tank, when the fourth interface K4 and the second interface K2 of the series-parallel switch valve 12 are connected, the first interface L1 and the second interface L2 of the first two-way valve 31 are turned on, and the first interface L3 and the second interface L4 of the second two-way valve 32 are turned on, the pressure oil flows through the first actuating element 2 and the second actuating element 4 in turn, and finally flows back to the second pressure oil interface B. At this time, the first actuating element 2 and the second actuating element 4 are driven in series, forming a complete circuit.

[0040] When the vehicle is backward driving in series, the pressure oil of the second pressure oil interface B flows into the first interface K1 of the series-parallel switch valve 12, and since the third interface K3 of the series-parallel switch valve 12 is communicated with the control cavities of the third two-way valve 33 and the fourth two-way valve 34, when the third interface K3 and the first interface K1 of the series-parallel switch valve 12 are connected, the first interface L5 and the second interface L6 of the third two-way valve 33 are turned off, and the first interface L7 and the second interface L8 of the fourth two-way valve 34 are turned off, at the same time, since the fourth interface K4 of the series-parallel switch valve 12 is communicated with the control cavities of the first two-way valve 31 and the second two-way valve 32, and the second interface K2 of the series-parallel switch valve 12 is communicated with the oil tank, when the fourth interface K4 and the second interface K2 of the series-parallel switch valve 12 are connected, the first interface L1 and the second interface L2 of the first two-way valve 31 are turned on, and the first interface L3 and the second interface L4 of the second two-way valve 32 are turned on, the pressure oil flows through the second actuating element 4 and the first actuating element 2 in turn, and finally flows back to the first pressure oil interface A. At this time, the second actuating element 4 and the first actuating element 2 are driven in series, forming a complete circuit.

[0041] When the vehicle is parallel forward, the pressure oil of the first pressure oil interface A flows into the first interface K1 of the series-parallel switch valve 12, because the fourth interface K4 of the series-parallel switch valve 12 is communicated with the control cavities of the first two-way valve 31 and the second two-way valve 32, when the fourth interface K4 and the first interface K1 of the series-parallel switch valve 12 are connected, the first interface L1 and the second interface L2 of the first two-way valve 31 are closed, and the first interface L3 and the second interface L4 of the second two-way valve 32 are closed, at the same time, because the third interface K3 of the series-parallel switch valve 12 is communicated with the control cavities of the third two-way valve 33 and the fourth two-way valve 34, the second interface K2 of the series-parallel switch valve 12 is communicated with the oil tank, when the third interface K3 and the second interface K2 of the series-parallel switch valve 12 are connected, the first interface L5 and the second interface L6 of the third two-way valve 33 are connected, and the first interface L7 and the second interface L8 of the fourth two-way valve 34 are connected, the pressure oil flows into the first oil port M1 of the shunt collector valve 51, and flows through the first actuating element 2 and the second actuating element 4 from the second oil port M2 and the third oil port M3 of the shunt collector valve 51 respectively, and finally flows back to the second pressure oil interface B. At this time, the first actuating element 2 and the second actuating element 4 are driven in parallel.

[0042] When the vehicle is parallel backward, the pressure oil of the second pressure oil interface B flows into the first interface K1 of the series-parallel switch valve 12, because the fourth interface K4 of the series-parallel switch valve 12 is communicated with the control cavities of the first two-way valve 31 and the second two-way valve 32, when the fourth interface K4 and the first interface K1 of the series-parallel switch valve 12 are connected, the first interface L1 and the second interface L2 of the first two-way valve 31 are closed, and the first interface L3 and the second interface L4 of the second two-way valve 32 are closed, at the same time, because the third interface K3 of the series-parallel switch valve 12 is communicated with the control cavities of the third two-way valve 33 and the fourth two-way valve 34, the second interface K2 of the series-parallel switch valve 12 is communicated with the oil tank, when the third interface K3 and the second interface K2 of the series-parallel switch valve 12 are connected, the first interface L5 and the second interface L6 of the third two-way valve 33 are connected, and the first interface L7 and the second interface L8 of the fourth two-way valve 34 are connected, the pressure oil flows into the third oil port M3 and the second oil port M2 of the shunt collector valve 51 from the second actuating element 4 and the first actuating element 2 respectively, and finally flows back to the first pressure oil interface A from the first oil port M1 of the shunt collector valve 51. At this time, the first actuating element 2 and the second actuating element 4 are driven in parallel.

[0043] Compared with the traditional switching valve arrangement, the hydraulic drive walking system provided by the embodiments of the present application utilizes the combined valve body of the series-parallel switching valve 12, the first two-way valve 31, the second two-way valve 32, the third two-way valve 33, the fourth two-way valve 34 and the shunt valve 51, controls the opening and closing of each two-way valve through the series-parallel switching valve 12, realizes the series-parallel switching of each actuator, and at the same time, realizes the speed synchronization or fixed ratio relationship of each actuator when each actuator is driven in parallel through the shunt valve 51. In this way, the series-parallel switching of each actuator can be realized under the condition of high pressure (greater than 21 MPa) and large flow, which is of great significance to improve the comprehensive utilization rate of each actuator, reduce the pressure loss of the system, reduce the heating power of the system, improve the integration of the control valve group and the installation efficiency of the pipeline.

[0044] In some embodiments, the series-parallel switching valve 12 is a two-position four-way switching valve, which includes a first working state (as shown in the upper position) and a second working state (as shown in the lower position). Figure 1 When the vehicle is in series forward or reverse, the two-position four-way switching valve is in the first working state, and when the vehicle is in parallel forward or reverse, the two-position four-way switching valve is in the second working state. Figure 1

[0045] Specifically, when the two-position four-way switching valve is in the first working state, the pressure oil flowing into the first pressure oil interface A flows into the control cavities of the third two-way valve 33 and the fourth two-way valve 34 through the first interface K1 and the third interface K3 of the two-position four-way switching valve, so that the first interface L5 and the second interface L6 of the third two-way valve 33 are closed, and the first interface L7 and the second interface L8 of the fourth two-way valve 34 are closed. The pressure oil in the control cavities of the first two-way valve 31 and the second two-way valve 32 flows into the oil tank through the fourth interface K4 and the second interface K2 of the two-position four-way switching valve, so that the first interface L1 and the second interface L2 of the first two-way valve 31 are turned on, and the first interface L3 and the second interface L4 of the second two-way valve 32 are turned on.

[0046] When the two-position four-way switching valve is in the second working state, the pressure oil flowing into the first pressure oil interface A flows into the control cavities of the first two-way valve 31 and the second two-way valve 32 through the first interface K1 and the fourth interface K4 of the two-position four-way switching valve, so that the first interface L1 and the second interface L2 of the first two-way valve 31 are closed, and the first interface L3 and the second interface L4 of the second two-way valve 32 are closed. The pressure oil in the control cavities of the third two-way valve 33 and the fourth two-way valve 34 flows into the oil tank through the third interface K3 and the second interface K2 of the two-position four-way switching valve, so that the first interface L5 and the second interface L6 of the third two-way valve 33 are turned on, and the first interface L7 and the second interface L8 of the fourth two-way valve 34 are turned on.

[0047] ​It should be noted that the above-mentioned first two-way valve 31, second two-way valve 32, third two-way valve 33 and fourth two-way valve 34 are all two-way cartridge valves. The opening and closing of the valve core (also known as the cartridge) is controlled by the pilot pressure applied to the control chamber of the two-way cartridge valve. Since each two-way valve has only two ports, it only serves to connect or disconnect the two ports, so it is called a two-way cartridge valve.

[0048] It can be understood that the two-way cartridge valve is similar to the logical control function of 1 and 0 in digital signals, so it is also called a logic valve 3. In this way, the control chamber (also known as the spring chamber) of the two-way valve is connected to the highest pressure in the circuit, and the control oil of the cartridge is used to pressurize and close; or the control chamber is connected to the tank to make the cartridge drain and open.

[0049] On the basis of the above, the hydraulic drive walking system further comprises a control device, the two-position four-way switching valve is a two-position four-way electric control switching valve, and the control device is in communication connection with the two-position four-way electric control switching valve, so that the two-position four-way electric control switching valve is in the first working state when the first actuator 2 and the second actuator 4 are connected in series, and is in the second working state when the first actuator 2 and the second actuator 4 are connected in parallel.

[0050] That is, when the vehicle is connected in series to move forward or backward, the control device controls the two-position four-way electric control switching valve to be de-energized, and the two-position four-way electric control switching valve is in the first working state, at this time, the first interface K1 and the third interface K3 of the two-position four-way electric control switching valve are connected, and the second interface K2 and the fourth interface K4 are connected; when the vehicle is connected in parallel to move forward or backward, the control device controls the two-position four-way electric control switching valve to be energized, and the two-position four-way electric control switching valve is switched from the first working state to the second working state, at this time, the first interface K1 and the fourth interface K4 of the two-position four-way electric control switching valve are connected, and the second interface K2 and the third interface K3 are connected.

[0051] As shown in Figure 1 The first pressure oil interface A and the first pressure oil interface B of the control valve group are respectively connected to the inlet and outlet of the hydraulic pump (not shown in the figure), the C and D ports are respectively connected to the two ends of the first actuator 2, the E and F ports are respectively connected to the two ends of the second actuator 4, and the T port is connected to the oil tank drain port.

[0052] When the vehicle is in series forward driving, the two-position four-way electric control switch valve is not powered, the pressure oil of the hydraulic pump flows into the first interface K1 of the series-parallel switch valve 12 through the first pressure oil interface A, since the third interface K3 of the series-parallel switch valve 12 is in communication with the control cavities of the third two-way valve 33 and the fourth two-way valve 34, when the third interface K3 and the first interface K1 of the series-parallel switch valve 12 are connected, the first interface L5 and the second interface L6 of the third two-way valve 33 are turned off, and the first interface L7 and the second interface L8 of the fourth two-way valve 34 are turned off, at the same time, since the fourth interface K4 of the series-parallel switch valve 12 is in communication with the control cavities of the first two-way valve 31 and the second two-way valve 32, and the second interface K2 of the series-parallel switch valve 12 is in communication with the oil tank, when the fourth interface K4 and the second interface K2 of the series-parallel switch valve 12 are connected, the first interface L1 and the second interface L2 of the first two-way valve 31 are turned on, and the first interface L3 and the second interface L4 of the second two-way valve 32 are turned on, the pressure oil flows through the first actuating element 2 from the C port of the control valve group, then flows through the second actuating element 4 from the D port and the E port of the control valve group, and finally flows back to the second pressure oil interface B from the F port of the control valve group. At this time, the first actuating element 2 and the second actuating element 4 are driven in series to form a complete circuit.

[0053] When the vehicle is in series forward driving, the two-position four-way electric control switch valve is not powered, the pressure oil of the hydraulic pump flows into the first interface K1 of the series-parallel switch valve 12 through the first pressure oil interface A, since the third interface K3 of the series-parallel switch valve 12 is in communication with the control cavities of the third two-way valve 33 and the fourth two-way valve 34, when the third interface K3 and the first interface K1 of the series-parallel switch valve 12 are connected, the first interface L5 and the second interface L6 of the third two-way valve 33 are turned off, and the first interface L7 and the second interface L8 of the fourth two-way valve 34 are turned off, at the same time, since the fourth interface K4 of the series-parallel switch valve 12 is in communication with the control cavities of the first two-way valve 31 and the second two-way valve 32, and the second interface K2 of the series-parallel switch valve 12 is in communication with the oil tank, when the fourth interface K4 and the second interface K2 of the series-parallel switch valve 12 are connected, the first interface L1 and the second interface L2 of the first two-way valve 31 are turned on, and the first interface L3 and the second interface L4 of the second two-way valve 32 are turned on, the pressure oil flows through the first actuating element 2 from the C port of the control valve group, then flows through the second actuating element 4 from the D port and the E port of the control valve group, and finally flows back to the second pressure oil interface B from the F port of the control valve group. At this time, the first actuating element 2 and the second actuating element 4 are driven in series to form a complete circuit.

[0054] When the vehicle is in parallel driving, the two-position four-way electric control switch valve is powered, the pressure oil of the hydraulic pump flows into the first interface K1 of the series-parallel switch valve 12 through the first pressure oil interface A, and since the fourth interface K4 of the series-parallel switch valve 12 is in communication with the control cavities of the first two-way valve 31 and the second two-way valve 32, when the fourth interface K4 and the first interface K1 of the series-parallel switch valve 12 are connected, the first interface L1 and the second interface L2 of the first two-way valve 31 are turned off, and the first interface L3 and the second interface L4 of the second two-way valve 32 are turned off. At the same time, since the third interface K3 of the series-parallel switch valve 12 is in communication with the control cavities of the third two-way valve 33 and the fourth two-way valve 34, and the second interface K2 of the series-parallel switch valve 12 is in communication with the oil tank, when the third interface K3 and the second interface K2 of the series-parallel switch valve 12 are connected, the first interface L5 and the second interface L6 of the third two-way valve 33 are turned on, and the first interface L7 and the second interface L8 of the fourth two-way valve 34 are turned on. The pressure oil flows into the first oil port M1 of the shunt collector valve 51, one way from the second oil port M2 of the shunt collector valve 51 through the C port of the control valve group, through the first actuating element 2, and from the D port of the control valve group, through the third two-way valve 33, back to the second pressure oil interface B. The other way is from the third oil port M3 of the shunt collector valve 51, through the fourth two-way valve 34 and the E port of the control valve group, through the second actuating element 4, and finally back to the second pressure oil interface B through the F port of the control valve group. At this time, the first actuating element 2 and the second actuating element 4 are driven in parallel.

[0055] When the vehicle is parallel backward, the two-position four-way electric control switch valve is electrified, the pressure oil of the hydraulic pump flows into the first interface K1 of the series-parallel switch valve 12 through the second pressure oil interface B, and since the fourth interface K4 of the series-parallel switch valve 12 is communicated with the control cavities of the first and second two-way valves 31 and 32, when the fourth interface K4 and the first interface K1 of the series-parallel switch valve 12 are connected, the first and second interfaces L1 and L2 of the first two-way valve 31 and the first and second interfaces L3 and L4 of the second two-way valve 32 are turned off, and at the same time, since the third interface K3 of the series-parallel switch valve 12 is communicated with the control cavities of the third and fourth two-way valves 33 and 34, and the second interface K2 of the series-parallel switch valve 12 is communicated with the oil tank, when the third interface K3 and the second interface K2 of the series-parallel switch valve 12 are connected, the first and second interfaces L5 and L6 of the third two-way valve 33 and the first and second interfaces L7 and L8 of the fourth two-way valve 34 are turned on, part of the pressure oil of the second pressure oil interface B flows through the F port of the control valve group, the second actuating element 4, the E port of the control valve group and the third oil port M3 of the shunt collector valve 51, and the other part of the pressure oil flows through the third two-way valve 33, the D port of the control valve group, the first actuating element 2 and the C port of the control valve group, and then flows through the second oil port M2 of the shunt collector valve 51, and finally, the two parts of the pressure oil flow through the second oil port M1 of the shunt collector valve 51 and flow back to the first pressure oil interface A. At this time, the first and second actuating elements 2 and 4 are driven in parallel.

[0056] The pilot control valve 1 not only includes the series-parallel switch valve 12, but also includes the shuttle valve 11, the first end of the shuttle valve 11 is communicated with the first pressure oil interface A, the second end of the shuttle valve 11 is communicated with the second pressure oil interface B, and the third end of the shuttle valve 11 is communicated with the first interface K1 of the two-position four-way switch valve, so that the pressure oil flowing in from the first pressure oil interface A flows into the first interface K1 of the two-position four-way switch valve through the shuttle valve 11, and the pressure oil flowing in from the second pressure oil interface B flows into the first interface K1 of the two-position four-way switch valve through the shuttle valve 11.

[0057] Specifically, the shuttle valve 11 includes two oil inlets and one oil outlet, the oil outlet is communicated with the first interface K1 of the two-position four-way switch valve, and the two oil inlets are respectively communicated with the first and second pressure oil interfaces A and B, and the function of the shuttle valve 11 is to select the oil path, that is, no matter which oil inlet of the shuttle valve 11 has high pressure, the oil outlet of the shuttle valve 11 can be ensured to have pressure, and the shuttle valve 11 is commonly used to lead out a control oil path between two main oil paths with alternating pressure.

[0058] It can be understood that the shuttle valve 11 is similar to the "or" gate logic control function in digital signal, which is commonly used for extraction of signal oil source, wherein both of the two oil inlets can be communicated with the oil outlet, and the two oil inlets are not communicated, and the oil outlet has output no matter whether the oil signal has pressure in the oil inlet one or the oil inlet two.

[0059] The shunt valve 5 is used to realize that the speeds of the first actuating element 2 and the second actuating element 4 are kept in synchronization or in a fixed ratio when the first actuating element 2 and the second actuating element 4 are driven in parallel.

[0060] For example, the flow distribution ratio of the shunt valve 5 when the first actuating element 2 and the second actuating element 4 are in parallel is 1:1, so that the speeds of the first actuating element 2 and the second actuating element 4 are kept in synchronization.

[0061] For another example, the flow distribution ratio of the shunt valve 5 when the first actuating element 2 and the second actuating element 4 are in parallel can also be greater than 1:1, such as 2:1, so that the speeds of the first actuating element 2 and the second actuating element 4 are kept in a fixed ratio of 2:1.

[0062] To this end, the shunt valve 5 further comprises a damper 52, two ends of the damper 52 being communicated with the second oil port M2 of the shunt manifold valve 51 and the third oil port M3 of the shunt manifold valve 51 respectively. It can be seen that the damper 52 is added in the shunt valve 5 in order to reduce the influence of pressure fluctuation on shunt accuracy, thereby improving the synchronization of the speeds of the wheels on both sides of the vehicle.

[0063] Please refer to Figure 2 , the hydraulic driving walking system further comprises an integrated flushing valve 6, a first interface A2 of the integrated flushing valve 6 being communicated with the first pressure oil interface A, a second interface B2 of the integrated flushing valve 6 being communicated with the second pressure oil interface B, and a third interface T1 of the integrated flushing valve 6 being communicated with the T port, the integrated flushing valve 6 being used to pass part of the pressure oil into the oil tank when the first pressure oil interface A and the second pressure oil interface B are respectively communicated with two ends of a hydraulic pump (not shown in the figure) to reduce heat.

[0064] Specifically, the integrated flushing valve 6 comprises a spool type three-position three-way valve 61 (specifically a spool type three-position three-way hot oil shuttle valve 11) and a pressure reducing valve 62, the first interface A2 of the spool type three-position three-way valve 61 being communicated with the first pressure oil interface A through the A1 port, the second interface B2 of the spool type three-position three-way valve 61 being communicated with the second pressure oil interface B through the B1 port, the third interface of the spool type three-position three-way valve 61 being communicated with one end of the pressure reducing valve 62, and the other end of the pressure reducing valve 62 being communicated with the oil tank through the T1 port and the T port.

[0065] When the pressure oil flowing out of the first pressure oil interface A flows into the first interface A2 of the spool type three-position three-way valve 61, the spool type three-position three-way valve 61 switches to the right position, so that the second interface B2 and the third interface of the spool type three-position three-way valve 61 are connected, so that the pressure oil in the oil circuit where the second pressure oil interface B is located flows into the pressure reducing valve 62 through the second interface B2 and the third interface of the spool type three-position three-way valve 61, and finally flows into the oil tank; when the pressure oil flowing out of the second pressure oil interface B flows into the second interface B2 of the spool type three-position three-way valve 61, the spool type three-position three-way valve 61 switches to the left position, so that the first interface A2 and the third interface of the spool type three-position three-way valve 61 are connected, so that the pressure oil in the oil circuit where the first pressure oil interface A is located flows into the pressure reducing valve 62 through the first interface A2 and the third interface of the spool type three-position three-way valve 61, and finally flows into the oil tank.

[0066] Further, a radiator can also be arranged after the integrated flushing valve 6, which is used to reduce the oil temperature of the pressure oil, so that the cooled pressure oil flows into the oil tank.

[0067] In this way, during the driving of the vehicle, a part of the high-temperature hydraulic oil in the driving oil circuit will flow through the radiator after the integrated flushing valve 6 and then flow back to the oil tank, thereby taking away part of the heat and preventing the temperature of the pressure oil in the circuit from being too high.

[0068] Please refer to Figure 3 The above-mentioned series-parallel switching valve 12 can also be a combined valve of four plate type two-position two-way electromagnetic valves, which are KT1, KT2, KT3 and KT4, that is, the four plate type two-position two-way electromagnetic valves can be used to replace the above-mentioned two-position four-way switching valve.

[0069] In the embodiment, the specific control logic is that when the first executing element 2 and the second executing element 4 drive the vehicle in series, KT2 and KT4 are powered on; when the first executing element 2 and the second executing element 4 drive the vehicle in parallel, KT1 and KT3 are powered on.

[0070] When the vehicle drives forward or backward in series, the control device controls KT2 and KT4 to be powered on, at this time, the first interface K1 and the third interface K3 of the series-parallel switching valve 12 are connected, and the second interface K2 and the fourth interface K4 are connected; when the vehicle drives forward or backward in parallel, the control device controls KT1 and KT3 to be powered on, at this time, the first interface K1 and the fourth interface K4 of the series-parallel switching valve 12 are connected, and the second interface K2 and the third interface K3 are connected.

[0071] The vehicle provided in the present application includes the hydraulic driving system described in the above specific embodiments; other parts of the vehicle can refer to the related art, which will not be expanded herein.

[0072] It should be noted that the relative terms, such as first and second, are used herein solely to distinguish one entity from another entity, and do not necessarily require or imply any such actual relationship or order between such entities.

[0073] The hydraulic drive walking system and the vehicle provided by the application are described in detail above. The principles and implementation manners of the application are described by applying specific examples in this paper, and the above example descriptions are only used to help understand the scheme of the application and its core idea. It should be pointed out that, for ordinary skilled persons in the technical field, some improvements and modifications can be made to the application without departing from the principles of the application, and these improvements and modifications also fall within the protection scope of the application.

Claims

1. A hydraulically driven walking system, characterized by, The pilot control valve comprises a series-parallel switching valve, the logic valve comprises a first two-way valve, a second two-way valve, a third two-way valve and a fourth two-way valve, and the flow distribution valve comprises a flow distribution and collection valve; The first two-way valve is connected in communication with a first pressure oil interface at a first port thereof, and a first end of a first actuating element at a second port thereof; the first end of the first actuating element is connected in communication with a second end of the first actuating element at a first port of the second two-way valve and at a first port of the third two-way valve; the second two-way valve is connected in communication with a first end of a second actuating element at a second port thereof; the third two-way valve is connected in communication with a second pressure oil interface at a second port thereof; the flow distribution and collection valve is connected in communication with the first pressure oil interface at a first oil port thereof, the first end of the first actuating element at a second oil port thereof, a first port of the fourth two-way valve at a third oil port thereof, and the first end of the second actuating element at a second port of the fourth two-way valve; and the second end of the second actuating element is connected in communication with the second pressure oil interface. The series-parallel switching valve is connected in communication with the first pressure oil interface and the second pressure oil interface at a first port thereof, an oil tank at a second port thereof, control chambers of the third two-way valve and the fourth two-way valve at a third port thereof, and control chambers of the first two-way valve and the second two-way valve at a fourth port thereof, so as to control the first two-way valve, the second two-way valve, the third two-way valve and the fourth two-way valve.

2. The hydraulically driven track system of claim 1, wherein, The series-parallel switching valve is a two-position four-way switching valve, which is configured to: when the two-position four-way switching valve is in a first working state, pressure oil flowing from the first pressure oil interface flows into the control chambers of the third two-way valve and the fourth two-way valve through the first port and the third port of the two-position four-way switching valve, so as to make the first port and the second port of the third two-way valve and the first port and the second port of the fourth two-way valve be closed, and pressure oil in the control chambers of the first two-way valve and the second two-way valve flows into the oil tank through the fourth port and the second port of the two-position four-way switching valve, so as to make the first port and the second port of the first two-way valve and the first port and the second port of the second two-way valve be open; When the two-position four-way switching valve is in the second working state, the pressure oil flowing in from the first pressure oil interface flows into the control cavities of the first two-way valve and the second two-way valve through the first interface and the fourth interface of the two-position four-way switching valve, so that the first interface and the second interface of the first two-way valve are closed, and the first interface and the second interface of the second two-way valve are closed, and the pressure oil in the control cavities of the third two-way valve and the fourth two-way valve flows into the oil tank through the third interface and the second interface of the two-position four-way switching valve, so that the first interface and the second interface of the third two-way valve are open, and the first interface and the second interface of the fourth two-way valve are open.

3. The hydraulically driven track system of claim 2, wherein, The pilot control valve further comprises a shuttle valve, a first end of the shuttle valve being in communication with the first pressure oil interface, a second end of the shuttle valve being in communication with the second pressure oil interface, and a third end of the shuttle valve being in communication with the first interface of the two-position four-way switching valve, so that the pressure oil flowing in from the first pressure oil interface flows into the first interface of the two-position four-way switching valve through the shuttle valve, and the pressure oil flowing in from the second pressure oil interface flows into the first interface of the two-position four-way switching valve through the shuttle valve.

4. The hydraulically driven track system of claim 2, wherein, Further comprising a control device, the two-position four-way switching valve is a two-position four-way electrically-controlled switching valve, and the control device is in communication connection with the two-position four-way electrically-controlled switching valve, so that the two-position four-way electrically-controlled switching valve is in the first working state when the first actuating element and the second actuating element are in series, and is in the second working state when the first actuating element and the second actuating element are in parallel.

5. The hydraulically driven track system of claim 1, wherein, The flow distribution ratio of the flow divider valve when the first actuating element and the second actuating element are in parallel is 1:1, so that the speeds of the first actuating element and the second actuating element remain synchronized. Alternatively, the flow distribution ratio of the flow divider valve when the first actuating element and the second actuating element are in parallel is greater than 1:1, so that the speeds of the first actuating element and the second actuating element remain in a fixed ratio greater than 1:

1.

6. The hydraulically driven track system of claim 1, wherein, The flow divider valve further comprises a damper, two ends of the damper being in communication with the second oil port of the flow divider valve and the third oil port of the flow divider valve, respectively.

7. A vehicle characterized by comprising: A hydraulic drive walking system comprising the hydraulic drive walking system according to any one of claims 1-6.

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