Multi-wheel drive anti-skid system, its control method, and multi-wheel walking mechanism

Abstract

This invention relates to the field of vehicle technology, and discloses a multi-wheel drive anti-skid system, its control method, and a multi-wheel walking mechanism. The multi-wheel drive anti-skid system includes a power pump, at least two parallel drive lines, a reversing valve assembly, and a controller. Each drive line is connected to the power pump, and each drive line is equipped with a motor for driving wheel movement. The reversing valve assembly includes at least two reversing valves, each connected to a corresponding motor, and each reversing valve has a first operating state and a second operating state. When the reversing valve is in the first operating state, the corresponding motor is in a floating state, and the corresponding wheel switches to a driven mode. When the reversing valve is in the second operating state, the corresponding motor is in an operating state, and the corresponding wheel switches to a driven mode. The controller is electrically connected to each reversing valve to adjust its operating state. This invention addresses the problem of slippage in multi-wheel walking mechanisms, which can lead to a loss of movement.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to a multi-wheel drive anti-skid system and its control method, and a multi-wheel walking mechanism. Background Technology

[0002] Multi-wheeled locomotives are common mobile platforms that move by the contact and rotation of wheels with the ground. Due to their relatively simple structure, high efficiency, and ease of control, multi-wheeled locomotives are widely used in numerous fields. From household appliances to logistics and material handling in industrial production, and even exploratory operations in special environments, multi-wheeled locomotives play an indispensable role.

[0003] Multi-wheel travel mechanisms can be used for equipment such as cranes, mobile cranes, stacker cranes, and flatbed trucks. Multi-wheel travel mechanisms typically use motors within a hydraulic system to drive the wheels, thus enabling movement.

[0004] However, when walking on uneven surfaces, the multi-wheel walking mechanism is prone to slipping, making it unable to move. Summary of the Invention

[0005] This invention provides a multi-wheel drive anti-slip system, its control method, and a multi-wheel walking mechanism to solve the problem that multi-wheel walking mechanisms are prone to slippage, leading to the inability to walk.

[0006] In a first aspect, the present invention provides a multi-wheel drive anti-skid system, comprising: A power pump, which is used to output power; At least two parallel drive lines are provided, each drive line is connected to the power pump, and a motor is installed on each drive line, the motor being used to drive the wheel movement. A reversing valve assembly, comprising at least two reversing valves, wherein each reversing valve is connected to a corresponding motor and has a first operating state and a second operating state. When the reversing valve is in the first working state, the corresponding motor is in a floating state, and the corresponding wheel switches to a driven mode; when the reversing valve is in the second working state, the corresponding motor is in a working state, and the corresponding wheel switches to a driven mode. A controller is electrically connected to each of the directional valves to adjust the operating state of each of the directional valves.

[0007] Beneficial effects: When the multi-wheel walking mechanism travels on a flat road, each directional valve in the directional valve group is in the second working state. Since each directional valve is connected to the corresponding motor, the directional valve in the second working state enables the motor to obtain power through the power pump and drive pipeline, and drive each wheel to rotate, so that each wheel is in the drive mode. The wheels in the drive mode drive the multi-wheel walking mechanism to travel normally.

[0008] When a multi-wheeled walking mechanism travels on uneven surfaces, the adhesion between one wheel and the ground may decrease, or the wheel may even become suspended in the air, causing it to slip. In this situation, the directional control valve connected to that wheel is switched to its first operating state, while the directional control valves connected to the other wheels remain in their second operating state. After the directional control valve connected to that wheel switches to its first operating state, it connects the oil inlet and outlet of the motor connected to that wheel, putting the motor in a floating state. The floating motor cannot drive the wheel to rotate, causing the wheel connected to that motor to switch to driven mode, while the wheels connected to the directional control valves in the second operating state are all in driven mode. At this point, the wheel with abnormal ground contact is in driven mode, while the other wheels are in driven mode, ensuring normal travel of the multi-wheeled walking mechanism, preventing wheel slippage, and guaranteeing normal travel on uneven surfaces.

[0009] When a wheel in driven mode leaves the uneven road surface under the drive of the other wheels, the reversing valve corresponding to that wheel is switched to the second working state. This allows the motor connected to the reversing valve to obtain power through the power pump and drive pipeline, and drive each wheel to rotate. This causes each wheel to switch back to drive mode, thereby reducing the system's working pressure and preventing the system from working in a high-pressure environment for a long time.

[0010] This invention adjusts the operating state of the reversing valve to bring the motor connected to the wheel with a slipping tendency to a floating state, thereby turning that wheel into a driven wheel. The hydraulic oil supplied by the power pump is only supplied to the motor connected to the drive wheel, while the motor connected to the driven wheel does not receive hydraulic oil, thus avoiding the phenomenon of multi-wheel walking mechanism slipping and unable to move.

[0011] In one optional implementation, a detection component is further included, comprising at least two detection devices for acquiring the state information of the corresponding wheel, each of which is electrically connected to the controller.

[0012] Beneficial effects: By setting up a detection component with detection equipment in the multi-wheel drive anti-skid system, the status information of each wheel can be obtained in real time, and it can be determined in time whether a certain wheel has a tendency to slip. Then, the working mode of the reversing valve and motor can be adjusted in time, thereby improving the automation level of the multi-wheel drive anti-skid system.

[0013] In one optional embodiment, the detection device includes a speed sensor connected to a corresponding wheel signal to obtain the speed of the corresponding wheel.

[0014] Beneficial effects: By connecting a speed sensor to the wheel signal, the wheel speed information can be obtained, and the wheel speed information can be used to determine whether the wheel has a tendency to slip. For example, when the difference between the speed of a certain wheel and the average speed of the other wheels is too large, it can be determined that the wheel has a tendency to slip, while the other wheels with the same or similar speeds travel smoothly without a tendency to slip.

[0015] In one alternative implementation, the speed sensor is mounted on the corresponding wheel.

[0016] Beneficial effects: Installing the speed sensor on the wheel is easy, and the speed sensor can directly detect the wheel speed without the need for data conversion, reducing the amount of data processing.

[0017] In one optional embodiment, it further includes at least two reducers, each of which is respectively disposed between the corresponding motor and the corresponding wheel; The speed sensor, the corresponding motor, and the corresponding reducer are integrated together, and the speed sensor is used to obtain the speed of the corresponding motor.

[0018] Beneficial effects: Typically, the motor in a multi-wheel drive system is connected to the wheels via a reducer, creating a proportional or conversion relationship between the motor's speed and the wheel's speed. Furthermore, when a wheel tends to slip, the load on the motor driving that wheel decreases sharply, increasing the supply of hydraulic oil from the power pump and thus raising the motor's speed. This allows the motor's speed to reflect the wheel's condition.

[0019] When the motor speed is abnormal, for example, when the difference between the speed of the motor and the average speed of the other motors is too large, it can be determined that the wheel driven by the motor is prone to slipping, while the other wheels travel smoothly without slipping.

[0020] By integrating the speed sensor, motor, and reducer, the speed sensor is prevented from being exposed to the external environment, reducing the risks associated with its use and extending its lifespan. Furthermore, integrating the speed sensor, motor, and reducer also improves the overall integration of multi-wheel drive anti-slip systems.

[0021] In one optional embodiment, the detection device includes a flow sensor installed on the oil inlet line of the corresponding motor, and the flow sensor is used to acquire the input flow of the corresponding motor.

[0022] Beneficial effects: When the wheels of a multi-wheeled walking mechanism are on uneven surfaces, they tend to slip. This drastically reduces the load on the motor driving that wheel, increasing the supply of hydraulic oil from the power pump and thus increasing the motor's input flow rate. Conversely, the motors driving wheels on flat surfaces experience reduced flow rates. Therefore, obtaining the motor's input flow rate through a flow sensor can reflect the wheel's condition. For example, if the difference between the input flow rate of a particular motor and the average input flow rate of the other motors is significant, it can be concluded that the wheel corresponding to that motor has a slipping tendency, while the wheels corresponding to the other motors move smoothly without slipping.

[0023] In one optional embodiment, the detection device includes a torque sensor mounted on the output shaft of the corresponding reducer to obtain the output torque of the corresponding reducer; Alternatively, the torque sensor may be mounted on the corresponding output shaft of the motor to obtain the output torque of the motor.

[0024] Beneficial effect: By mounting a torque sensor on the output shaft of the reducer, the output of the reducer can be obtained, thereby determining whether the wheels have a tendency to slip. For example, when the difference between the torque of a certain wheel and the average torque of the other wheels is large, it can be determined that the wheel has a tendency to slip, while the other wheels do not.

[0025] By installing a torque sensor on the output shaft of the motor, the output torque of the motor can be detected. When the difference between the output torque of the motor and the average output torque of the other motors is large, it can be determined that the wheel has a tendency to slip, while the other wheels travel smoothly without slipping.

[0026] By detecting the output torque of a motor or reducer using a torque sensor, a torque signal can be detected, thereby determining whether there is a tendency for the wheels to slip.

[0027] In one alternative implementation, each of the reversing valves is installed on its corresponding drive line.

[0028] Beneficial effect: By installing the reversing valve on the corresponding drive pipeline, it is easy to connect the reversing valve to the corresponding motor.

[0029] In one optional embodiment, each of the reversing valves is integrated into the reversing valve group, and the oil inlet and oil return ends of the reversing valve group are both connected to the power pump, and the working pipeline of each of the reversing valves is respectively connected to the corresponding drive pipeline.

[0030] Beneficial effects: By integrating each directional valve into the directional valve group, and connecting the working pipeline of each directional valve to the corresponding drive pipeline, it is not necessary to install each directional valve on its corresponding drive pipeline separately. This facilitates the arrangement of wiring harnesses, which can be used for electrical connection between the directional valves and the controller, and improves the integration level of the multi-wheel drive anti-skid system.

[0031] In a second aspect, the present invention also provides a multi-wheel walking mechanism, including at least two wheels and a multi-wheel drive anti-slip system as described above; Each motor of the multi-wheel drive anti-skid system is connected to the corresponding wheel.

[0032] Beneficial effects: Since the multi-wheel walking mechanism includes a multi-wheel drive anti-slip system, it has at least all the beneficial effects of the multi-wheel drive anti-slip system mentioned above, which will not be elaborated here.

[0033] Thirdly, the present invention also provides a control method for a multi-wheel drive anti-skid system, applied to any of the above-mentioned multi-wheel drive anti-skid systems, the control method for the multi-wheel drive anti-skid system comprising: Obtain the status information of each wheel and determine whether each wheel has a slipping tendency; Switch the motor connected to the wheel that is slipping to the first working state. After the wheels resume smooth rotation, the directional valve corresponding to the wheel is switched from the first working state to the second working state. Beneficial effect: When the multi-wheel walking mechanism is in motion, the status information of each wheel is acquired, and it is determined whether each wheel has a tendency to slip. For example, the wheel status can be determined manually through visual observation or by detecting the wheel status using detection equipment.

[0034] The directional valve connected to the wheel that is not rotating smoothly and has a slipping tendency is switched to its first operating state, while the directional valves connected to the other wheels remain in their second operating state. After the directional valve connected to that wheel switches to its first operating state, it controls the oil inlet and outlet of the motor connected to that wheel to be connected, causing the motor to be in a floating state. The motor in the floating state cannot drive the wheel to rotate, causing the wheel connected to that motor to switch to driven mode, while the wheels connected to the directional valves that remain in the second operating state are all in driven mode. At this time, the wheel with abnormal contact with the ground in the multi-wheel walking mechanism is in driven mode, while the other wheels are in driven mode, enabling the multi-wheel walking mechanism to travel normally and preventing wheel slippage, thus ensuring that the multi-wheel walking mechanism can travel normally on uneven surfaces.

[0035] When a wheel in driven mode leaves the uneven road surface under the drive of the other multi-wheel walking mechanism, the reversing valve corresponding to that wheel is switched to the second working state. This allows the motor connected to the reversing valve to obtain power through the power pump and drive pipeline, and drive each wheel to rotate. This causes each wheel to switch back to the drive mode, thereby reducing the system's working pressure and preventing the system from working in a high-pressure environment for a long time.

[0036] In one optional implementation, obtaining the state information of each wheel includes the following steps: The wheel's status information is obtained through various detection devices in the detection assembly; If the status information exceeds a set threshold, the corresponding wheel does not rotate smoothly; If the status information does not exceed the set threshold, the corresponding wheel rotates smoothly.

[0037] Beneficial effects: By setting up a detection component with detection equipment in the multi-wheel drive anti-skid system, the status information of each wheel can be obtained in real time, and it can be determined in time whether a wheel is slipping. Then, the working mode of the reversing valve and motor can be adjusted in time, thereby improving the automation level of the multi-wheel drive anti-skid system. Attached Figure Description

[0038] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of a multi-wheel drive anti-skid system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a reversing valve provided in an embodiment of the present invention; Figure 3 This is a flowchart illustrating a control method for a multi-wheel drive anti-skid system provided in an embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures: 10. Power pump; 20. Drive piping; 30. Motor; 40. Reversing valve assembly; 41. Reversing valve; a. First input port; b. Second input port; c. First output port; d. Second output port; 50. Detection components; 51. Testing equipment. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] A technical problem exists in related technologies: multi-wheeled walking mechanisms are prone to slippage, leading to a loss of movement. This problem arises because, on uneven ground, the adhesion between one wheel and the ground may decrease, or the wheel may even become suspended in the air. This causes a sharp decrease in the load on the motor driving that wheel, resulting in an increase in the flow of hydraulic oil supplied to that motor. Conversely, the flow of hydraulic oil to other motors decreases or even disappears, preventing them from rotating. Consequently, the multi-wheeled walking mechanism slips and becomes unable to move.

[0043] To address the aforementioned technical problems, this invention adjusts the operating state of the reversing valve to move the motor connected to the wheel that is prone to slippage to a floating state, thereby turning that wheel into a driven wheel. The hydraulic oil supplied by the power pump is only supplied to the motor connected to the drive wheel; the motor connected to the driven wheel does not receive hydraulic oil, thus preventing the multi-wheel travel mechanism from slipping and becoming unable to move.

[0044] The following is combined with Figures 1 to 3 The following describes embodiments of the present invention.

[0045] According to embodiments of the present invention, in one aspect, the present invention provides a multi-wheel drive anti-skid system. The multi-wheel drive anti-skid system is applied to a multi-wheeled walking mechanism. The multi-wheeled walking mechanism can be a vehicle driven by multiple wheels, including but not limited to mobile cranes, hoists, stacker cranes, etc.

[0046] refer to Figure 1 The multi-wheel drive anti-skid system includes a power pump 10, at least two parallel drive lines 20, a motor 30, a reversing valve assembly 40, and a controller. The power pump 10 is used to output power and is the primary power source for the multi-wheel drive anti-skid system. For example, the power pump 10 can be a hydraulic pump, which outputs powered hydraulic oil.

[0047] refer to Figure 1 The drive line 20 is used to transmit power to the motor 30. The inlet end and the return end of each drive line 20 are connected to the power pump 10. Each drive line 20 is equipped with a motor 30, so that the hydraulic oil of the power pump 10 can pass through.

[0048] The number of drive lines 20 can be two, three, four, or more, and the number of drive lines 20 matches the number of wheels. (Reference) Figure 1 Each drive line 20 is connected in parallel with each other. The inlet and return ends of each drive line 20 are connected to the power pump 10. Each drive line 20 is equipped with a motor 30.

[0049] by Figure 1 Taking the example shown, there are three drive lines 20. The inlet end of the first drive line 20 is connected to the oil outlet of the power pump 10, and a motor 30 is installed on the first drive line 20. The return end of the first drive line 20 is connected to the oil return port of the power pump 10. The inlet end of the second drive line 20 is connected to the oil outlet of the power pump 10, and another motor 30 is installed on the second drive line 20. The return end of the second drive line 20 is connected to the oil return port of the power pump 10. The inlet end of the third drive line 20 is connected to the oil outlet of the power pump 10, another motor 30 is installed on the third drive line 20, and the return end of the third drive line 20 is connected to the oil return port of the power pump 10. The three drive lines 20 are connected in parallel, and each of the three drive lines 20 is connected to a motor 30.

[0050] Motor 30 is the power structure that drives the wheels in the multi-wheel walking mechanism. Typically, the output end of motor 30 is connected to a reducer, and the reducer is connected to the wheel. The power output from power pump 10 is transmitted to each motor 30 through parallel drive pipes 20. The output of motor 30 is converted by the reducer and then output to the wheel, thereby driving the wheel to rotate.

[0051] The directional valve assembly 40 is a structure for switching states in a multi-wheel drive anti-skid system. The directional valve assembly 40 includes multiple directional valves 41. These directional valves 41 can be integrated together to form the directional valve assembly 40, and each directional valve 41 can also be connected to its respective drive line 20. The number of directional valves 41 can be two, three, four, or more, matching the number of wheels, motors 30, and drive lines 20.

[0052] refer to Figure 1 and Figure 2 The directional control valve 41 has a first operating state and a second operating state. The valve has two input ports and two output ports. For ease of description, the two input ports are defined as first input port a and second input port b, respectively, and the two output ports are defined as first output port c and second output port d, respectively. When the directional control valve 41 is in the second operating state, first input port a and first output port c are connected, and second input port b and second output port d are connected. The hydraulic oil in the drive pipeline 20 drives the motor 30 to rotate normally through the directional control valve 41, thereby driving the wheels as drive wheels to move the multi-wheel walking mechanism.

[0053] refer to Figure 1 and Figure 2 When the reversing valve 41 is in the first working state, the first input port a and the second input port are blocked, and the first output port c and the second output port d are connected, so that the oil inlet and oil outlet of the motor 30 are connected, the motor 30 is in a floating state, the motor 30 is not hydraulically constrained, and can be driven to rotate by external force, and the wheel driven by the motor 30 changes from a driving wheel to a driven wheel.

[0054] The controller is used to adjust the operating state of each directional valve 41. The controller is electrically or signal-connected to each directional valve 41. The controller can be an on-board computer or electronic controller in a multi-wheel walking mechanism.

[0055] When the multi-wheel walking mechanism travels on a flat road, each of the reversing valves 41 in the reversing valve group 40 is in the second working state. Since each reversing valve 41 is connected to the corresponding motor 30, the reversing valve 41 in the second working state enables the motor 30 to obtain power through the power pump 10 and the drive pipeline 20, and drive each wheel to rotate, so that each wheel is in the drive mode. The wheels in the drive mode drive the multi-wheel walking mechanism to travel normally.

[0056] When the multi-wheeled walking mechanism travels on uneven surfaces, the adhesion between one wheel and the ground decreases, or even the wheel becomes suspended in the air, causing it to slip. In this situation, the directional valve 41 connected to that wheel is switched to its first operating state, while the directional valves 41 connected to the other wheels remain in their second operating state. After the directional valve 41 is switched to its first operating state, it controls the oil inlet and outlet of the motor connected to that wheel to be connected, causing the motor 30 to be in a floating state. The floating motor 30 cannot drive the wheel to rotate, causing the wheel connected to that motor 30 to switch to a driven mode, while the wheels connected to the directional valves 41 in the second operating state are all in driving mode. At this time, the wheel with abnormal ground contact in the multi-wheeled walking mechanism is in driven mode, while the other wheels are in driving mode, enabling the multi-wheeled walking mechanism to travel normally and preventing wheel slippage, thus ensuring that the multi-wheeled walking mechanism can travel normally on uneven surfaces.

[0057] When a wheel in driven mode leaves the uneven road surface under the drive of the other wheels, the reversing valve 41 corresponding to that wheel is switched to the second working state, so that the motor 30 connected to the reversing valve 41 can obtain power through the power pump 10 and the drive pipeline 20, and drive each wheel to rotate, so that each wheel switches back to the drive mode, thereby reducing the system working pressure and avoiding the system from working in a high-pressure environment for a long time.

[0058] This invention adjusts the working state of the reversing valve 41 to set the motor 30 connected to the wheel on an uneven road surface to a floating state, thereby turning the wheel into a driven wheel. The hydraulic oil provided by the power pump 10 is only supplied to the motor 30 connected to the drive wheel, while the motor 30 connected to the driven wheel does not receive hydraulic oil, thus avoiding the phenomenon of slippage and inability to move in a multi-wheel walking mechanism.

[0059] In one embodiment, reference Figure 1 The multi-wheel anti-skid system also includes a detection component 50, which is used to determine whether any wheel is showing signs of slipping. The detection component 50 includes at least two detection devices 51, which are used to acquire wheel status information, such as wheel speed or torque. The detection devices 51 may include speed sensors or torque sensors.

[0060] The detection component 50 can acquire the status information of each wheel in real time, promptly determine whether a certain wheel has a slipping tendency, and then adjust the working mode of the corresponding reversing valve 41 and motor 30 in a timely manner, thereby improving the automation level of the multi-wheel drive anti-slip system.

[0061] In one embodiment, the detection device 51 includes a speed sensor connected to a corresponding wheel signal to obtain the speed of the corresponding wheel. The speed sensor can detect the wheel speed signal and convert it into an electrical signal. After receiving the electrical signal, the controller can identify whether there is a tendency for the wheel to slip.

[0062] By connecting a speed sensor to the wheel signal, the rotational speed information of the wheel can be obtained. This information can be used to determine whether the wheel is slipping. When the difference between the rotational speed of a certain wheel and the average rotational speed of the other wheels is too large, for example, if the difference is greater than 20% of the average rotational speed of the other wheels, it can be determined that the wheel is slipping. The other wheels with the same or similar rotational speeds will move smoothly without slipping.

[0063] In one embodiment, the speed sensor is mounted on the corresponding wheel. For example, the speed sensor can be attached to the wheel and rotate with it.

[0064] Installing the speed sensor on the wheel is easy, and the speed sensor can directly detect the wheel speed without the need for data conversion, thus reducing the amount of data processing.

[0065] In one embodiment, at least two reducers are further included, each reducer being disposed between the corresponding motor 30 and the corresponding wheel. The reducer is connected to the wheel, and the power output from the power pump 10 is transmitted to each motor 30 via each parallel drive pipeline 20. The output of the motor 30 is converted by the reducer and then output to the wheel, thereby driving the wheel to rotate.

[0066] refer to Figure 1 The speed sensor, the corresponding motor 30, and the corresponding reducer are integrated together. The speed sensor is used to obtain the speed of the corresponding motor.

[0067] Motor 30 is connected to the wheel via a reducer, establishing a proportional or conversion relationship between the motor 30's rotational speed and the wheel's rotational speed. Furthermore, when the wheel tends to slip, the load on the motor driving that wheel decreases sharply, and the supply of hydraulic oil from the power pump 10 increases, causing the motor 30's rotational speed to rise. The rotational speed of motor 30 reflects the wheel's condition.

[0068] When the speed of motor 30 is abnormal, for example, when the difference between the speed of motor 30 and the average speed of the other motors 30 is too large, for example, when the difference is greater than 20% of the average speed of the other wheels 30, it can be determined that the wheel driven by motor 30 is in a slipping tendency, while the other wheels travel smoothly without slipping.

[0069] By integrating the speed sensor, motor 30, and reducer, the speed sensor is prevented from being exposed to the external environment, reducing the risk of damage during use and extending its lifespan. Furthermore, integrating the speed sensor, motor 30, and reducer also improves the overall integration of the multi-wheel drive anti-slip system.

[0070] In one embodiment, the detection device 51 includes a flow sensor installed on the oil inlet line of the corresponding motor 30. The flow sensor is used to acquire the input flow of the corresponding motor 30. The flow sensor can detect the flow in the oil inlet line of the motor 30 and convert the flow into an electrical signal. After receiving the electrical signal, the controller can determine whether there is a tendency for the wheels to slip.

[0071] When the wheels of the multi-wheel walking mechanism are on uneven surfaces, they tend to slip. The load on the motor 30 driving that wheel decreases sharply, and the supply of hydraulic oil from the power pump 10 to that motor 30 increases, resulting in a higher input flow rate for the motor 30. Conversely, the motor flow rate corresponding to wheels on flat surfaces decreases. Therefore, the input flow rate of the motor 30 obtained through the flow sensor can reflect the wheel status. When the difference between the input flow rate of a certain motor 30 and the average input flow rate of the other motors 30 is large—for example, greater than 20% of the average input flow rate of the other motors 30—it can be determined that the wheel corresponding to that motor 30 has a slipping tendency, while the wheels corresponding to the other motors 30 travel smoothly without slipping.

[0072] In one embodiment, the detection device includes a torque sensor capable of detecting torque and converting it into an electrical signal. The controller receives this electrical signal and can determine whether a wheel is showing a tendency to slip. The torque sensor is mounted on the output shaft of the corresponding reducer to obtain the output torque of that reducer, thereby determining whether the wheel is showing a tendency to slip. When the difference between the output torque of a certain reducer and the average output torque of the other reducers is large, for example, greater than 20% of the average output torque of the other reducers, it can be determined that the wheel corresponding to that reducer is showing a tendency to slip, while the other wheels are moving smoothly without any slippage.

[0073] Alternatively, a torque sensor can be mounted on the output shaft of motor 30 to obtain the output torque of motor 30.

[0074] A torque sensor is installed on the output shaft of motor 30 to obtain the output torque of motor 30. When the output torque of a certain motor 30 differs significantly from the average output torque of the other motors, for example, when the difference is greater than 20% of the average output torque of the other motors, it can be determined that the wheel corresponding to that motor 30 has a tendency to slip, while the other wheels travel smoothly without slipping.

[0075] In one embodiment, reference Figure 1 Each directional valve 41 is installed on its corresponding drive line 20. Alternatively, each drive line 20 is connected to a directional valve 41, and each directional valve 41 is installed in the oil inlet line of a corresponding motor 30.

[0076] Install the reversing valve 41 on the corresponding drive line 20 to facilitate the connection of the reversing valve 41 with the corresponding motor 30.

[0077] In one embodiment, each directional valve 41 is integrated within a directional valve assembly 40. The oil inlet and return ends of the directional valve assembly 40 are both connected to the power pump 10, and the working pipes of each directional valve 41 are respectively connected to the corresponding drive pipes 20.

[0078] By integrating each directional valve 41 into the directional valve group 40, and connecting the working pipeline of each directional valve 41 to the corresponding drive pipeline 20, it is not necessary to install each directional valve 41 on the corresponding drive pipeline 20 separately. This facilitates the arrangement of the wiring harness, which can be used for the directional valve 41 to electrically connect with the controller, and improves the integration level of the multi-wheel drive anti-skid system.

[0079] According to an embodiment of the present invention, in another aspect, a multi-wheeled traveling mechanism is also provided, which includes, but is not limited to, cranes, traveling cranes, stacker cranes, etc. The multi-wheeled traveling mechanism includes at least two wheels and a multi-wheel drive anti-slip system as described above.

[0080] Since the multi-wheel walking mechanism includes a multi-wheel drive anti-slip system, it has at least all the beneficial effects of the multi-wheel drive anti-slip system mentioned above, which will not be elaborated here.

[0081] According to an embodiment of the present invention, in another aspect, a control method for a multi-wheel drive anti-skid system is also provided, applicable to any of the multi-wheel drive anti-skid systems described above. (Reference) Figure 1 and Figure 3 The control methods for multi-wheel drive anti-skid systems include: The system acquires the status information of each wheel and determines whether each wheel is rotating smoothly. When the multi-wheeled walking mechanism is in motion, it acquires the status information of each wheel and determines whether each wheel is rotating smoothly. For example, this can be done manually by visual observation or by using detection equipment to check the wheel status and determine if there is any tendency for the wheels to slip. The directional valve 41 corresponding to the wheel that tends to slip is switched to the first working state, while the directional valve 41 connected to the other wheels remains in the second working state.

[0082] When the directional valve 41 switches to the first operating state, it controls the corresponding wheel to switch to driven mode via the corresponding motor 30, so that the wheel rotates smoothly. After the directional valve 41 connected to the wheel switches to the first operating state, the directional valve 41 controls the oil inlet and outlet of the motor 30 connected to that wheel to be connected, so that the motor 30 is in a floating state. The motor 30 in the floating state cannot drive the wheel to rotate, so that the wheel connected to the motor 30 switches to driven mode, while the wheels corresponding to the directional valve 41 in the second operating state are all in driven mode. At this time, the wheel with abnormal contact with the ground in the multi-wheel walking mechanism is in driven mode, and the other wheels are in driven mode, so as to realize the normal driving of the multi-wheel walking mechanism, avoid wheel slippage, and ensure that the multi-wheel walking mechanism can travel normally on uneven roads.

[0083] Switch the directional valve 41, which is in the first working state, to the second working state.

[0084] The directional valve 41, switched to the second operating state, controls the corresponding wheel to switch to driven mode via the corresponding motor 30. When a wheel in driven mode leaves the uneven road surface driven by the other multi-wheel walking mechanism, the directional valve 41 corresponding to that wheel switches to the second operating state, so that the motor 30 connected to the directional valve 41 can obtain power through the power pump and drive pipeline, and drive each wheel to rotate, so that each wheel switches back to the drive mode, thereby reducing the system working pressure and avoiding the system from working in a high-pressure environment for a long time.

[0085] In one embodiment, obtaining the state information of each wheel includes the following steps: The wheel's state information is acquired through various detection devices 51 within the detection assembly 50. These detection devices 51 are used to acquire wheel state information, which can include wheel speed or torque, etc. The detection devices 51 include speed sensors or torque sensors, etc.

[0086] If the status information exceeds a set threshold, the corresponding wheel has a tendency to slip.

[0087] If the status information does not exceed the set threshold, the corresponding wheel will move smoothly without slipping.

[0088] The threshold can be set to 20%. If the status information is wheel speed, when the difference between the speed of a certain wheel and the average speed of the other wheels is greater than 20% of the average speed of the other wheels, it can be determined that the wheel has a tendency to slip. If the status information is wheel torque, when the difference between the torque of a certain wheel and the average torque of the other wheels is greater than 20% of the average torque of the other wheels, it can be determined that the wheel is moving smoothly without a tendency to slip.

[0089] By setting up a detection component with detection equipment in the multi-wheel drive anti-skid system, the status information of each wheel can be obtained in real time, and it can be determined in time whether a certain wheel has a slipping tendency. Then, the working mode of the reversing valve 41 and the motor 30 can be adjusted in time, thereby improving the automation level of the multi-wheel drive anti-skid system.

[0090] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A multi-wheel drive anti-skid system, characterized in that, include: A power pump (10) is used to output power; At least two parallel drive lines (20), each drive line (20) is connected to the power pump (10), and each drive line (20) is equipped with a motor (30) for driving the wheel movement; A reversing valve assembly (40) includes at least two reversing valves (41), each reversing valve (41) being connected to a corresponding motor (30), and each reversing valve (41) having a first working state and a second working state. When the reversing valve (41) is in the first working state, the corresponding motor (30) is in a floating state, and the corresponding wheel is switched to a driven mode; when the reversing valve (41) is in the second working state, the corresponding motor (30) is in a working state, and the corresponding wheel is switched to a driven mode. A controller is electrically connected to each of the reversing valves (41) to adjust the working state of each of the reversing valves (41).

2. The multi-wheel drive anti-skid system according to claim 1, characterized in that, It also includes a detection component (50), which includes at least two detection devices (51). The detection devices (51) are used to acquire the status information of the corresponding wheel, and each of the detection devices (51) is electrically connected to the controller.

3. The multi-wheel drive anti-skid system according to claim 2, characterized in that, The detection device (51) includes a speed sensor, which is connected to the corresponding wheel signal to obtain the speed of the corresponding wheel.

4. The multi-wheel drive anti-skid system according to claim 3, characterized in that, The speed sensor is mounted on the corresponding wheel.

5. The multi-wheel drive anti-skid system according to claim 3, characterized in that, It also includes at least two reducers, each of which is disposed between the corresponding motor (30) and the corresponding wheel; The speed sensor, the corresponding motor (30), and the corresponding reducer are integrated together, and the speed sensor is used to obtain the speed of the corresponding motor (30).

6. The multi-wheel drive anti-skid system according to claim 2, characterized in that, The detection device (51) includes a flow sensor, which is installed on the oil inlet pipe of the corresponding motor (30) and is used to obtain the input flow of the corresponding motor (30).

7. The multi-wheel drive anti-skid system according to claim 5, characterized in that, The detection device (51) includes a torque sensor, which is installed on the output shaft of the corresponding reducer to obtain the output torque of the corresponding reducer; Alternatively, the torque sensor may be mounted on the output shaft of the corresponding motor (30) to obtain the output torque of the motor (30).

8. The multi-wheel drive anti-skid system according to any one of claims 1-7, characterized in that, Each of the reversing valves (41) is installed on the corresponding drive line (20).

9. The multi-wheel drive anti-skid system according to any one of claims 1-7, characterized in that, Each of the reversing valves (41) is integrated in the reversing valve group (40). The oil inlet and oil return ends of the reversing valve group (40) are connected to the power pump (10). The working pipelines of each of the reversing valves (41) are respectively connected to the corresponding drive pipelines (20).

10. A multi-wheeled walking mechanism, characterized in that, Includes at least two wheels and a multi-wheel drive anti-skid system as described in any one of claims 1-9; Each motor (30) of the multi-wheel drive anti-skid system is connected to the corresponding wheel.

11. A control method for a multi-wheel drive anti-skid system, characterized in that, The control method for the multi-wheel drive anti-skid system, applied to any one of claims 1-9, includes: Obtain the status information of each wheel and determine whether each wheel has a tendency to slip; Switch the directional valve (41) corresponding to the wheel that has a slipping tendency to the first working state; After the wheel resumes smooth rotation, the reversing valve (41) corresponding to the wheel is switched from the first working state to the second working state.

12. The control method for the multi-wheel drive anti-skid system according to claim 11, characterized in that, The process of obtaining the status information of each wheel includes the following steps: The wheel status information is obtained through each detection device (51) in the detection assembly (50); If the status information exceeds a set threshold, the corresponding wheel does not rotate smoothly; If the status information does not exceed the set threshold, the corresponding wheel rotates smoothly.

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