Wheel-track composite steering hydraulic control system, control method and engineering vehicle

Abstract

The invention relates to the technical field of engineering machinery, and discloses a wheel-track composite steering hydraulic control system, a control method and an engineering vehicle. The wheel-track composite steering hydraulic control system comprises an oil supply module, a tire steering module, a track steering module and a control module. The tire steering module comprises a steering valve group and at least two wheel type steering oil cylinders, the steering valve group is connected with the oil supply module and the at least two wheel type steering oil cylinders, and the oil supply module supplies hydraulic oil to each wheel type steering oil cylinder through the steering valve group; the crawler steering module comprises a closed pump, a crawler walking motor and a first angle detection module, the closed pump is connected with the crawler walking motor, and the first angle detection module is used for detecting the rotating angle of a steering wheel. Free switching between wheel steering and track steering can be achieved through one system, the system structure is simplified, operation is more convenient, and the maintenance cost is low.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering machinery, and specifically relates to a wheel-track composite steering hydraulic control system, a control method and an engineering vehicle. Background Art

[0002] At present, transport vehicles are mainly divided into wheeled and crawler chassis. These two chassis have their own advantages and characteristics. Wheeled chassis have fast driving speed, easy transfer, and no need for special transfer tools. Crawler chassis have wide applicability and can operate in complex and harsh terrains, but the driving speed is slow and requires a special flatbed truck for transfer. How to make the vehicle adapt to complex and harsh terrains and transfer quickly has always been a difficult problem in the industry.

[0003] The wheel-track composite chassis provided by the related technology can meet the needs of wheeled walking and tracked walking, but the existing wheel-track composite steering hydraulic system adopts the separation of wheel steering and tracked steering, and the two systems work independently. As a result, the entire system structure is complex, the operation is inconvenient, and the subsequent maintenance cost is high. Summary of the invention

[0004] The purpose of this application is to provide a wheel-track composite steering hydraulic control system, control method and engineering vehicle, which are used to solve the problem that the wheel steering and track steering in the wheel-track composite chassis in the prior art use two sets of systems to work independently, resulting in a complex system structure and inconvenient operation. 。

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a wheel-track composite steering hydraulic control system, comprising:

[0006] Oil supply module;

[0007] A tire steering module, comprising a steering valve group and at least two wheel steering cylinders, wherein the steering valve group is connected to the oil supply module and the at least two wheel steering cylinders respectively, wherein the oil supply module is used to supply hydraulic oil to each wheel steering cylinder through the steering valve group;

[0008] A crawler steering module, comprising a closed pump, a crawler travel motor and a first angle detection module, wherein the closed pump is connected to the crawler travel motor, and the first angle detection module is used to detect the rotation angle of the steering wheel; and

[0009] The control module is configured to control the operation of the two closed pumps according to the track steering signal or the rotation angle of the steering wheel.

[0010] As a further improvement of the above technical solution:

[0011] In some embodiments, the steering valve group is provided in plurality, and the plurality of steering valve groups include a manual steering valve group and an electric-controlled steering valve group, and the manual steering valve group and the electric-controlled steering valve group are both connected to at least two of the wheel steering cylinders;

[0012] The tire steering module further includes a steering switching valve module, which is connected to the manual steering valve group and the electric steering valve group respectively. The steering switching valve module includes a manual steering position, a cut-off position and an electric steering position for wheels. When the steering switching valve module is switched to the manual steering position for wheels, the oil supply module supplies oil to the manual steering valve group. When the steering switching valve module is switched to the electric steering position for wheels, the oil supply module supplies oil to the electric steering valve group.

[0013] Wherein, the control module is also configured to control the steering switching valve module to switch to the wheel electronic steering position according to an externally input wheel steering signal, and control the electronically controlled steering valve group to drive at least two of the wheel steering cylinders to operate through hydraulic oil.

[0014] In some embodiments, the tire steering module further includes a second angle detection module, and the second angle detection module is used to detect the steering angle of the wheel;

[0015] The control module is also configured to control the electronically controlled steering valve group to drive at least two of the wheel steering cylinders to operate via hydraulic oil according to the steering angle of the wheel.

[0016] In some embodiments, the electrically controlled steering valve group includes an electrically proportional speed regulating valve, a reversing valve and a double-lock balancing valve connected in sequence;

[0017] The electric proportional speed regulating valve is connected to the steering switching valve module, and the control end of the electric proportional speed regulating valve is electrically connected to the control module;

[0018] The reversing valve is electrically connected to the control module;

[0019] The double-lock balancing valve is connected to the two wheel steering cylinders;

[0020] Among them, the double lock balancing valve has two first oil outlets, one of the first oil outlets is connected to the rod chamber of the first wheel steering cylinder and the rodless chamber of the second wheel steering cylinder, and the other first oil outlet is connected to the rodless chamber of the first wheel steering cylinder and the rod chamber of the second wheel steering cylinder. The control module is configured to control the switching of the reversing valve to selectively supply oil to one of the first oil outlets of the double lock balancing valve.

[0021] In some embodiments, the manual steering valve group includes a hydraulic steering gear for transmission connection with an external steering wheel, and the hydraulic steering gear is respectively connected to the oil supply module and the two wheel steering cylinders;

[0022] Among them, the hydraulic steering gear has two second oil outlets, one of the second oil outlets is connected to the rod chamber of the first wheel steering cylinder and to the rodless chamber of the second wheel steering cylinder, and the other second oil outlet is connected to the rodless chamber of the first wheel steering cylinder and to the rod chamber of the second wheel steering cylinder.

[0023] In some embodiments, a first overflow valve is provided at the oil inlet of the hydraulic steering gear, and a second overflow valve is provided between the two second oil outlets of the hydraulic steering gear and the corresponding wheel steering cylinders.

[0024] In some embodiments, the control module includes a controller and a turn signal input module, the turn signal input module is communicatively connected to the controller, and the turn signal input module is used to input a track turn signal;

[0025] Wherein, the controller is configured to control the operation of the two closed pumps according to the track steering signal.

[0026] In some embodiments, the control module includes a controller and a wireless communication module, the wireless communication module is electrically connected to the controller, and the wireless communication module is wirelessly connected to an external mobile terminal for receiving a track steering signal sent by the mobile terminal;

[0027] Wherein, the controller is configured to control the operation of the two closed pumps according to the track steering signal.

[0028] In order to achieve the above object, the second aspect of the present application further provides a control method of a wheel-track compound steering hydraulic control system, which is applied to the wheel-track compound steering hydraulic control system provided according to the first aspect above, and the control method comprises:

[0029] Start wheel steering, deliver hydraulic oil to the steering valve group through the oil supply module, the steering valve group supplies oil to the rod chamber of one of the wheel steering cylinders according to the wheel steering signal, and supplies oil to the rodless chamber of the other wheel steering cylinder at the same time, wherein the wheel steering signal is a mechanical signal or an electrical signal;

[0030] When the track steering is started, the oil supply module stops supplying hydraulic oil, and according to the track steering signal or the steering wheel rotation angle fed back by the first angle detection module, the two closed pumps are controlled to output different flow rates so that the two crawler travel motors form a steering speed difference.

[0031] In order to achieve the above-mentioned purpose, the third aspect of the present application further provides an engineering vehicle, including a wheel-track composite chassis and a wheel-track composite steering hydraulic control system provided according to the above-mentioned first aspect.

[0032] Compared with the prior art, the present application provides a wheel-track composite steering hydraulic control system, a control method and an engineering vehicle, wherein in the wheel-track composite steering hydraulic control system, hydraulic oil is supplied to the steering valve group and at least two wheel steering cylinders in the tire steering module through an oil supply module, and the wheel steering cylinder controls the steering of the tire through piston movement. In this way, when performing wheel steering, the oil supply module is kept working, and the steering valve group works according to the wheel steering signal to supply oil to the rod chamber of one of the wheel steering cylinders and to the rodless chamber of the other wheel steering cylinder, thereby realizing the steering control of the wheel; when performing track steering, the supply of hydraulic oil is stopped by controlling the oil supply module, and the control module controls the two closed pumps to output different flow rates according to the track steering signal or the steering wheel rotation angle fed back by the first angle detection module, so that the two crawler travel motors form a steering speed difference, thereby realizing track steering; the system structure is simplified, the operation is more convenient, the components are reduced, the installation is simpler, there are fewer wearing parts in the later stage, and the maintenance cost is lower.

[0033] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0035] Figure 1 A schematic diagram of the oil circuit structure of a wheel-track composite steering hydraulic control system provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the oil circuit structure of another wheel-track composite steering hydraulic control system provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of the partial structure of the tire steering module in the wheel-track composite steering hydraulic control system provided in this embodiment.

[0038] Description of Reference Numerals

[0039] 100, oil supply module; 110, oil tank; 120, oil pump;

[0040] 200, tire steering module; 210, manual steering valve group; 211, hydraulic steering gear; 212, first overflow valve; 213, second overflow valve; 220, wheel steering cylinder; 230, electric control steering valve group; 231, electric proportional speed regulating valve; 232, reversing valve; 233, double lock balancing valve; 240, steering switching valve module; 250, second angle detection module;

[0041] 300, crawler steering module; 310, closed pump; 311, control valve; 320, crawler travel motor; 330, first angle detection module;

[0042] 400, control module; 410, controller; 420, turn signal input module; 430, wireless communication module;

[0043] 500, steering wheel;

[0044] 600. Mobile terminal. DETAILED DESCRIPTION

[0045] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0046] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0047] Embodiment 1

[0048] See also Figure 1 , Figure 2 and Figure 3 This embodiment provides a wheel-track composite steering hydraulic control system, which can be used in an engineering vehicle with a wheel-track composite chassis to control the wheel steering or track steering in the engineering vehicle.

[0049] The wheel-track composite steering hydraulic control system provided in this embodiment includes an oil supply module 100, a tire steering module 200, a track steering module 300 and a control module 400. The oil supply module 100 is used to supply hydraulic oil to the tire steering module 200, and the control module 400 is electrically connected to the oil supply module 100, the tire steering module 200 and the track steering module 300, and is used to control the operation of the oil supply module 100, the tire steering module 200 and the track steering module 300.

[0050] In this embodiment, the oil supply module 100 includes an oil tank 110 and an oil pump 120 , and the inlet and outlet of the oil pump 120 are respectively connected to the oil tank 110 and the oil circuit of the tire steering module 200 to pump hydraulic oil to the tire steering module 200 .

[0051] Specifically, the tire steering module 200 includes a steering valve group and at least two wheel steering cylinders 220, and the steering valve group is respectively connected to the oil supply module 100 and the at least two wheel steering cylinders 220. The oil supply module 100 is used to supply hydraulic oil to each wheel steering cylinder 220 through the steering valve group. The steering valve group is used to be connected to the external steering wheel 500 by transmission, for example, by using a coupling, a cross universal joint or a gear structure to achieve transmission connection.

[0052] It should be noted that when the wheels of the engineering vehicle are turned, the wheels on both sides need to rotate synchronously to achieve the steering function. Therefore, in this embodiment, two wheel steering cylinders 220 can be set, and each wheel steering cylinder 220 controls the steering of the wheels on one side.

[0053] The crawler steering module 300 includes a closed pump 310, a crawler travel motor 320 and a first angle detection module 330. Two closed pumps 310 are provided, and each closed pump 310 is connected to the crawler travel motor 320 in an oil circuit. The first angle detection module 330 is used to detect the rotation angle of the steering wheel 500. The control module 400 is configured to control the two closed pumps 310 to work according to the rotation angle of the steering wheel 500.

[0054] It should be noted that when the tracks of the engineering vehicle are turning, the tracks on both sides of the vehicle need to move at the same time and there must be a certain speed difference. Each track is driven by a track travel motor 320. In this way, the track steering can be controlled by controlling the rotation speed of the two track travel motors 320.

[0055] Optionally, the first angle detection module 330 may be selected as an angle encoder.

[0056] In order to more clearly describe the technical solution of this embodiment, this embodiment also provides a control method of a wheel-track compound steering hydraulic control system, which is applied to the wheel-track compound steering hydraulic control system provided above. The control method includes:

[0057] The wheel steering is started, and hydraulic oil is delivered to the steering valve group through the oil supply module 100. The steering valve group supplies oil to the rod chamber of one wheel steering cylinder 220 according to the wheel steering signal, and supplies oil to the rodless chamber of the other wheel steering cylinder 220 at the same time.

[0058] The wheel steering signal is a mechanical signal or an electrical signal. The mechanical signal can come from the steering wheel 500, that is, the steering valve group is connected to the steering wheel 500, and the steering valve group can be controlled by turning the steering wheel 500. The electrical signal can come from an external control signal received by the control module 400.

[0059] Start the track steering, stop the oil supply module 100 from supplying hydraulic oil, turn the steering wheel 500, and control the two closed pumps 310 to output different flow rates based on the track steering signal or the steering angle of the steering wheel 500 fed back by the first angle detection module, so that the two track travel motors 320 form a steering speed difference.

[0060] This embodiment also provides an engineering vehicle, including a wheel-track composite chassis and a wheel-track composite steering hydraulic control system provided above.

[0061] Among them, the engineering vehicle can be selected as an electric tower material transport vehicle, an excavator, or a crane, etc.

[0062] Compared with the prior art, the wheel-track composite steering hydraulic control system provided in the present application supplies hydraulic oil to the steering valve group and at least two wheel steering cylinders 220 in the tire steering module 200 through the oil supply module 100. The wheel steering cylinder 220 controls the steering of the tire through piston movement. In this way, when performing wheel steering, the oil supply module 100 is kept working, and it is only necessary to drive the steering valve group to work by turning the steering wheel 500 to supply oil to the rod chamber of one of the wheel steering cylinders 220 and to supply oil to the rodless chamber of the other wheel steering cylinder 220, thereby realizing the steering control of the wheel; when performing track steering, the oil supply module 100 is controlled to stop supplying hydraulic oil, and the control module 400 controls the two closed pumps 310 to output different flow rates according to the track steering signal or the rotation angle of the steering wheel 500 fed back by the first angle detection module, so that the two crawler travel motors 320 form a steering speed difference, thereby realizing track steering.

[0063] The wheel-track composite steering hydraulic control system provided in this embodiment can realize free switching between manual wheel steering and manual track steering through a set of systems, which simplifies the system structure, makes operation more convenient, reduces components, simplifies installation, has fewer wearing parts in the later stage, and reduces maintenance costs.

[0064] Embodiment 2

[0065] See also Figure 1 , Figure 2 and Figure 3 This embodiment provides a wheel-track composite steering hydraulic control system, which can be used in an engineering vehicle with a wheel-track composite chassis to control the wheel steering or track steering in the engineering vehicle. This embodiment is an improvement made on the technical basis of the above embodiment 1. Compared with the above embodiment 1, the difference is:

[0066] In this embodiment, two wheel steering cylinders 220 are used as an example. There are multiple steering valve groups, including a manual steering valve group 210 and an electric steering valve group 230. The electric steering valve group 230 is connected to the two wheel steering cylinders 220 by oil circuits. The steering switching valve module 240 is connected to the manual steering valve group 210 and the electric steering valve group 230 by oil circuits.

[0067] The steering switching valve module 240 includes a manual wheel steering position, a cut-off position, and an electric wheel steering position. When the steering switching valve module 240 is switched to the manual wheel steering position, the oil supply module 100 supplies oil to the manual steering valve group 210; when the steering switching valve module 240 is switched to the electric wheel steering position, the oil supply module 100 supplies oil to the electric control steering valve group 230; when the steering switching valve module 240 is switched to the cut-off position, the hydraulic oil supplied by the oil supply module 100 cannot pass through the steering switching valve module 240, so that oil cannot be supplied. At this time, the wheel steering function in the wheel-track composite steering hydraulic control system is turned off.

[0068] In this embodiment, the control module 400 is also configured to control the steering switching valve module 240 to switch to the wheel electronic steering position according to the external wheel steering signal, and control the electronic steering valve group 230 to drive the two wheel steering cylinders 220 to operate through hydraulic oil. The operation mode of the two wheel steering cylinders 220 is that one wheel steering cylinder 220 extends and the other wheel steering cylinder 220 retracts synchronously, thereby controlling the steering of the engineering vehicle through the wheels.

[0069] Furthermore, the tire steering module 200 further includes a second angle detection module 250, which is used to detect the steering angle of the wheel. The control module 400 is also configured to control the electronically controlled steering valve group 230 to drive the two wheel steering cylinders 220 to operate through hydraulic oil according to the steering angle of the wheel.

[0070] It is understandable that the second angle detection module 250 can feed back the detected steering angle of the wheel to the control module 400 in real time, and the control module 400 then controls the electronically controlled steering valve group 230 to make adjustments and corrections to achieve precise control of the electronically controlled steering of the wheel. Of course, when the steering stops, the control module 400 can control the wheel to automatically return to the center according to the steering angle of the wheel fed back by the second angle detection module 250.

[0071] Optionally, the second angle detection module 250 may be an angle sensor. Of course, in some embodiments, the second angle detection module 250 may be a displacement sensor or a distance sensor for detecting the telescopic stroke of the wheel steering cylinder 220 .

[0072] The above-mentioned electric control steering valve group 230 includes an electric proportional speed regulating valve 231, a reversing valve 232 and a double lock balancing valve 233 which are connected in oil circuit in sequence. Among them, the electric proportional speed regulating valve 231 is connected in oil circuit to the steering switching valve module 240, and the control end of the electric proportional speed regulating valve 231 is electrically connected to the control module 400. The reversing valve 232 is electrically connected to the control module 400. The double lock balancing valve 233 is connected in oil circuit to the two wheel steering cylinders 220.

[0073] Specifically, in order to distinguish the description and ensure that the technical solution of this embodiment is clearer, in this embodiment, the two wheel steering cylinders 220 are defined as the first wheel steering cylinder 220 and the second wheel steering cylinder 220. Among them, the double lock balance valve 233 has two first oil outlets, one first oil outlet is connected to the rod chamber of the first wheel steering cylinder 220 and the rodless chamber of the second wheel steering cylinder 220, and the other first oil outlet is connected to the rodless chamber of the first wheel steering cylinder 220 and the rod chamber of the second wheel steering cylinder 220. The control module 400 is configured to control the switching of the reversing valve 232 to selectively supply oil to one of the first oil outlets of the double lock balance valve 233.

[0074] In this way, it can be understood that when one of the first oil outlets outputs hydraulic oil, the first wheel steering cylinder 220 extends and the second wheel steering cylinder 220 retracts, and when the other first oil outlet outputs hydraulic oil, the first wheel steering cylinder 220 retracts and the second wheel steering cylinder 220 extends.

[0075] The manual steering valve group 210 includes a hydraulic steering gear 211 for transmission connection with an external steering wheel 500, and the hydraulic steering gear 211 is respectively connected to the oil supply module 100 and the oil circuits of the two wheel steering cylinders 220. The hydraulic steering gear 211 has two second oil outlets, one second oil outlet is connected to the rod chamber of the first wheel steering cylinder 220 and the rodless chamber of the second wheel steering cylinder 220, and the other second oil outlet is connected to the rodless chamber of the first wheel steering cylinder 220 and the rod chamber of the second wheel steering cylinder 220. In this way, when one of the second oil outlets outputs hydraulic oil, the first wheel steering cylinder 220 extends, and the second wheel steering cylinder 220 retracts. When the other second oil outlet outputs hydraulic oil, the first wheel steering cylinder 220 retracts, and the second wheel steering cylinder 220 extends.

[0076] Furthermore, the oil inlet of the hydraulic steering gear 211 is provided with a first relief valve 212 to prevent the oil inlet pressure from being too high, thereby protecting the hydraulic steering gear 211. A second relief valve 213 is provided between the two second oil outlets of the hydraulic steering gear 211 and the corresponding wheel steering cylinders 220 to prevent the oil pressure entering the wheel steering cylinders 220 from being too high, thereby protecting the wheel steering cylinders 220.

[0077] See also Figure 2 In some embodiments, the control module 400 includes a controller 410 and a turn signal input module 420, the turn signal input module 420 is connected to the controller 410 for inputting a track turn signal. The controller 410 is configured to control the two closed pumps 310 to work according to the track turn signal.

[0078] Furthermore, the steering signal input module 420 can input a track steering signal and, in this embodiment, can also input a wheel rotation signal.

[0079] Optionally, the turn signal input module 420 can be a vehicle display screen or a button of a central control. The communication connection mode includes wired communication and wireless communication.

[0080] See also Figure 3 In other embodiments, the control module 400 includes a controller 410 and a wireless communication module, the wireless communication module is electrically connected to the controller 410, and the wireless communication module is wirelessly connected to the external mobile terminal 600 for receiving a track steering signal sent by the mobile terminal 600. The controller 410 is configured to control the two closed pumps 310 to work according to the track steering signal.

[0081] Furthermore, the mobile terminal 600 can send both a track steering signal and a wheel steering signal.

[0082] Optionally, the mobile terminal 600 may be a remote controller, a mobile phone, a tablet or a computer.

[0083] In order to more clearly describe the technical solution of this embodiment, this embodiment also provides a control method of a wheel-track compound steering hydraulic control system, which is applied to the wheel-track compound steering hydraulic control system provided above. The control method includes manual wheel steering, electronic wheel steering, manual track steering and electronic track steering.

[0084] Start manual wheel steering: First, the operator switches to the tire travel mode (forward or reverse) in the cab, and the steering switch valve module 240 switches to the manual wheel steering position ( Figure 1The left electromagnetic control terminal a1 shown in the figure is energized), and the hydraulic oil from the oil supply module 100 enters the manual steering valve group 210, and acts on the hydraulic steering gear 211. When the steering wheel 500 is moved, the hydraulic oil acts on the lever and rodless chambers of the two wheel steering cylinders 220 through the oil circuit, so that the first wheel steering cylinder 220 is extended and one end of the second wheel steering cylinder is retracted, thereby realizing the front axle steering of the engineering vehicle.

[0085] It should be noted that, since the hydraulic steering gear 211 is connected to the steering wheel 500 by transmission, the hydraulic steering gear 211 also changes with the change of the steering wheel 500 rotation angle, directly controlling the inflow direction and amount of hydraulic oil. The steering angle in manual wheel steering is related to the rotation angle of the steering wheel 500, and the steering wheel 500 has an automatic reset function. When there is no external force, the steering wheel 500 automatically returns to its position, allowing the front axle steering mechanism of the engineering vehicle to automatically reset. The first overflow valve 212 and the second overflow valve 213 in the manual steering valve group 210 play a protective role respectively.

[0086] Start the electronic wheel steering: After the operator switches the engineering vehicle to the wheel travel mode (forward or backward), the steering switching valve module 240 switches to the electronic wheel steering position ( Figure 1 The right electromagnetic control terminal b1 shown in the figure is energized), the hydraulic oil from the oil supply module 100 enters and acts on the electronically controlled steering valve group 230 (electric proportional speed control valve 231, reversing valve 232, double lock balance valve 233), and when the wheel steering signal is input through the mobile terminal 600 (remote control), the controller 410 performs reversing control on the power supply of the left electromagnetic control terminal a2 and the right electromagnetic control terminal b2 of the reversing valve 232 according to the wheel steering signal, so that the hydraulic oil acts on the lever and rodless chambers of the two wheel steering cylinders 220 through the oil circuit to achieve steering.

[0087] It should be noted that the controller 410 can convert the change in the delivered wheel steering signal into a change in current to act on the electric proportional speed regulating valve 231 to control the delivery speed of the hydraulic oil, thereby controlling the extension speed of the wheel steering cylinder 220 and controlling the angle and speed of the front axle steering. When the wheel steering signal is in the return to center position, the controller 410 will energize the electromagnet at the other end of the reversing valve 232 according to the angle feedback of the second angle detection module 250, so that the oil circuit is switched to control the wheel steering cylinder to extend in the opposite direction, thereby automatically returning the front axle steering mechanism.

[0088] Start the electronically controlled steering of the crawler track: the operator controls the steering switching valve module 240 to switch to the cut-off position (i.e., keep it in the middle position). At this time, the crawler track travel information and crawler track steering signal can be input through the mobile terminal 600. The specific implementation is as follows: when the crawler track moves forward, the controller 410 simultaneously gives the corresponding current I1 of the same magnitude to the electromagnetic control end b of the control valve 311 in the two closed pumps 310 to control the closed pumps 310 to output the same flow, thereby driving the corresponding crawler track travel motor 320 to rotate synchronously to achieve synchronous forward movement, and vice versa; when it is necessary to move forward and turn left, first control the crawler track to move forward, output current I1, and then the controller 410 converts the change in the crawler track steering signal into current I2, and the current I1-I2=ΔI1. If ΔI1>0, the value of the current ΔI1 is given to the electromagnetic control end b of the control valve 311 of the closed pump 310 located on the left side of the crawler track's forward direction. Since I1>ΔI1, the closed pump 310 located on the right side of the crawler track's forward direction outputs The flow rate is greater than the flow rate output by the closed pump 310 on the left, thus forming a speed difference and realizing a left turn; if ΔI1=0, the electromagnetic control terminals a and b of the control valve 311 of the closed pump 310 on the left shall not be energized, the control valve 311 does not operate, and the output flow rate of the closed pump 310 is 0, thus realizing a turn in situ; if ΔI1<0, the value of the current |ΔI1| is given to the electromagnetic control terminal a of the control valve 311 of the closed pump 310 on the left, at which time the hydraulic oil output by the closed pump 310 on the right drives the corresponding crawler travel motor 320 to move forward, and the hydraulic oil output by the closed pump 310 on the left drives the corresponding crawler travel motor 320 to move backward, thus realizing a U-turn in situ, reducing the turning radius, and greatly enhancing the road passability. On the contrary, when turning right, the value of ΔI1 can be given to the control valve 311 of the closed pump 310 on the right side of the crawler forward direction. To ensure safety, the track must be controlled to move forward or backward before steering can be controlled. At the same time, the maximum current I1max output when moving forward or backward is greater than the maximum current I2max output for left and right turns, to ensure that there is no danger of the vehicle tipping over due to a sudden U-turn on the spot due to misoperation when moving at high speed.

[0089] Start crawler manual steering: The operator controls the steering switching valve module 240 to switch to the cut-off position (i.e., keep it in the middle position). At this time, no hydraulic oil acts on the manual steering valve group 210, so when the steering wheel 500 is turned, the wheel steering cylinder 220 does not move. The second angle detection module 250 is configured around the steering wheel 500. The second angle detection module 250 detects the initial angle as 0 by default. When the steering wheel 500 turns left, the second angle detection module 250 records the rotation angle as a negative value. When the steering wheel 500 turns right, the second angle detection module 250 records the rotation angle as a positive value. The specific implementation is as follows: The controller 410 simultaneously gives the corresponding current I1 of the same magnitude to the electromagnetic control end b of the control valve 311 in the two closed pumps 310 to control the closed pumps 310 to output the same flow, thereby driving the corresponding crawler travel motor 320 to rotate synchronously to achieve synchronous forward movement, and vice versa. When the steering wheel 500 turns left, the second angle detection module 250 records the rotation angle as a negative value. At this time, the controller 410 converts the angle change value of the second angle detection module 250 into a current I2, and the current I1-I2=ΔI1. If ΔI1>0, the value of the current ΔI1 is given to the electromagnetic control end b of the control valve 311 of the closed pump 310 located on the left side of the track forward direction. Since I1>ΔI1, the flow output of the closed pump 310 located on the right side of the track forward direction is greater than the flow output of the closed pump 310 located on the left side, thus forming a speed difference and realizing a left turn; similarly, when ΔI1=0 and ΔI1<0, the action implementation method is similar to the track electronic steering. When the steering wheel 500 turns right, the angle encoder records the rotation angle as a positive value. Conversely, when turning right, the value of ΔI1 is given to the control valve 311 of the closed pump 310 located on the right side of the track forward direction. Other setting conditions are also consistent with the track electronic steering and will not be repeated here.

[0090] In this embodiment, the steering switching valve module 240 and the reversing valve 232 can both be selected as three-position four-way valves.

[0091] It should be noted that in the present application, unless otherwise specified, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like used to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0092] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0093] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0094] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0095] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A wheel-track composite steering hydraulic control system, characterized in that: include: Oil supply module (100); A tire steering module (200), comprising a steering valve group and at least two wheel steering cylinders (220), wherein the steering valve group is respectively connected to the oil supply module (100) and the at least two wheel steering cylinders (220), wherein the oil supply module (100) is used to supply hydraulic oil to each wheel steering cylinder (220) through the steering valve group; A crawler steering module (300) comprises a closed pump (310), a crawler travel motor (320) and a first angle detection module (330), wherein the closed pump (310) is connected to the crawler travel motor (320), and the first angle detection module (330) is used to detect the rotation angle of the steering wheel (500); and The control module (400) is configured to control the closed pump (310) to operate according to a track steering signal or a rotation angle of the steering wheel (500).

2. The wheel-track compound steering hydraulic control system according to claim 1, characterized in that: The steering valve group is provided in plurality, and the plurality of steering valve groups include a manual steering valve group (210) and an electric-controlled steering valve group (230), and the manual steering valve group (210) and the electric-controlled steering valve group (230) are both connected to at least two of the wheel steering cylinders (220); The tire steering module (200) further comprises a steering switching valve module (240), wherein the steering switching valve module (240) is respectively connected to the manual steering valve group (210) and the electric control steering valve group (230), wherein the steering switching valve module (240) comprises a manual wheel steering position, a cut-off position and an electric control wheel steering position, and when the steering switching valve module (240) is switched to the manual wheel steering position, the oil supply module (100) supplies oil to the manual steering valve group (210), and when the steering switching valve module (240) is switched to the electric control wheel steering position, the oil supply module (100) supplies oil to the electric control steering valve group (230); The control module (400) is further configured to control the steering switching valve module (240) to switch to the wheel electric steering position according to an externally input wheel steering signal, and to control the electric steering valve group (230) to drive at least two of the wheel steering cylinders (220) to operate through hydraulic oil.

3. The wheel-track compound steering hydraulic control system according to claim 2, characterized in that: The tire steering module (200) further comprises a second angle detection module (250), wherein the second angle detection module (250) is used to detect the steering angle of the wheel; The control module (400) is further configured to control the electronically controlled steering valve group (230) to drive at least two of the wheel steering cylinders (220) to operate via hydraulic oil according to the steering angle of the wheel.

4. The wheel-track compound steering hydraulic control system according to claim 2, characterized in that: The electrically controlled steering valve group (230) comprises an electrically proportional speed regulating valve (231), a reversing valve (232) and a double-locking balancing valve (233) which are connected in sequence; The electric proportional speed regulating valve (231) is connected to the steering switching valve module (240), and the control end of the electric proportional speed regulating valve (231) is electrically connected to the control module (400); The reversing valve (232) is electrically connected to the control module (400); The double-lock balance valve (233) is connected to the two wheel steering cylinders (220); Wherein, the double lock balancing valve (233) has two first oil outlets, one of the first oil outlets is connected to the rod chamber of the first wheel steering cylinder (220) and the rodless chamber of the second wheel steering cylinder (220), and the other first oil outlet is connected to the rodless chamber of the first wheel steering cylinder (220) and the rod chamber of the second wheel steering cylinder (220), and the control module (400) is configured to control the switching of the reversing valve (232) to selectively supply oil to one of the first oil outlets of the double lock balancing valve (233).

5. The wheel-track compound steering hydraulic control system according to claim 1, characterized in that: The manual steering valve group (210) comprises a hydraulic steering gear (211) for transmission connection with an external steering wheel (500), and the hydraulic steering gear (211) is respectively connected to the oil supply module (100) and the two wheel steering cylinders (220); Wherein, the hydraulic steering gear (211) has two second oil outlets, one of which is connected to the rod chamber of the first wheel steering cylinder (220) and to the rodless chamber of the second wheel steering cylinder (220), and the other of which is connected to the rodless chamber of the first wheel steering cylinder (220) and to the rod chamber of the second wheel steering cylinder (220).

6. The wheel-track compound steering hydraulic control system according to claim 5, characterized in that: The oil inlet of the hydraulic steering gear (211) is provided with a first overflow valve (212), and the two second oil outlets of the hydraulic steering gear (211) and the corresponding wheel steering cylinders (220) are each provided with a second overflow valve (213).

7. The wheel-track compound steering hydraulic control system according to any one of claims 1 to 6, characterized in that: The control module (400) comprises a controller (410) and a steering signal input module (420), wherein the steering signal input module (420) is communicatively connected to the controller (410), and the steering signal input module (420) is used to input a track steering signal; The controller (410) is configured to control the operation of the two closed pumps (310) according to the track steering signal.

8. The wheel-track composite steering hydraulic control system according to any one of claims 1 to 6, characterized in that: The control module (400) comprises a controller (410) and a wireless communication module, wherein the wireless communication module is electrically connected to the controller (410), and the wireless communication module is wirelessly connected to an external mobile terminal (600) for receiving a track steering signal sent by the mobile terminal (600); The controller (410) is configured to control the operation of the two closed pumps (310) according to the track steering signal.

9. A control method for a wheel-track composite steering hydraulic control system, characterized in that: Applied to the wheel-track composite steering hydraulic control system according to any one of claims 1 to 8, the control method comprises: Starting wheel steering, delivering hydraulic oil to the steering valve group through the oil supply module (100), the steering valve group supplies oil to the rod chamber of one of the wheel steering cylinders (220) and supplies oil to the rodless chamber of the other wheel steering cylinder (220) according to the wheel steering signal, wherein the wheel steering signal is a mechanical signal or an electrical signal; When the track steering is started, the oil supply module (100) stops supplying hydraulic oil, and according to the track steering signal or the rotation angle of the steering wheel (500) fed back by the first angle detection module, the two closed pumps (310) are controlled to output different flow rates, so that the two track travel motors (320) form a steering speed difference.

10. An engineering vehicle, characterized in that: It comprises a wheel-track composite chassis and a wheel-track composite steering hydraulic control system according to any one of claims 1-8.

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