Track tension adjustment system, method, apparatus, and medium

Abstract

The embodiment of the application provides a track tension adjusting system, method, equipment and medium, and belongs to the field of track tensioning. The system comprises a double-cylinder rod oil cylinder, a first cylinder rod and a second cylinder rod being coaxially arranged; the first cylinder rod is a hollow structure, and a movable piston is arranged in the first cylinder rod, so that the first cylinder rod is divided into a first hydraulic cavity and a gas cavity; the gas cavity is filled with compressible gas; the head of the first cylinder rod is provided with an interface connected with a track guide wheel and a pre-tightening force setting oil port communicating with the first hydraulic cavity; the second cylinder rod is provided with a second hydraulic cavity, the head of the second cylinder rod is provided with an interface for connecting a trolley frame, and a tension adjusting oil port for adjusting the tension degree of the track is arranged; and a hydraulic control system at least comprises an oil supply source and a control valve group. The system has compact structure, and the initial pressure of the gas cylinder can be set according to requirements, and the gas pressure in the cylinder can be adjusted only by adjusting the system pressure in the first lever cavity, and the second lever can realize automatic tensioning of the track, and there is no need to add yellow grease.

Description

Technical Field

[0001] This invention relates to the field of track tensioning technology, and more specifically to a track tensioning adjustment system, method, device, and medium. Background Technology

[0002] Tracked construction machinery (such as excavators, bulldozers, pavers, etc.) requires its tracks to maintain appropriate tension during operation to prevent derailment, reduce wear, and improve driving stability. Track tensioning devices are typically installed between the idler wheel and the trolley frame to adjust track tension and cushion impacts during travel.

[0003] Currently, there are three main types of track tensioning devices: First, spring-type tensioning mechanisms, which provide preload through spring compression. Their disadvantages include the tension depending on spring stiffness, making adjustment difficult. Different spring specifications need to be replaced to change the tension, and the springs occupy a large space and are prone to fatigue failure after long-term use. Second, grease tensioning devices, which tension the track by manually injecting grease to push a piston. The pressure is uncontrollable, injecting grease is laborious, and it cannot automatically buffer impacts, easily leading to track overload and breakage. Third, ordinary hydraulic tensioning cylinders, while allowing hydraulic adjustment, are mostly single-cylinder structures lacking elastic buffering elements. When the track crosses an obstacle, the hydraulic oil is locked, unable to provide compression stroke, and the impact load is directly transmitted to the track track, easily causing track breakage accidents.

[0004] In addition, existing tensioning devices generally suffer from the problem of tension force and buffering function being coupled and unable to be adjusted independently, and the adjustment process requires special tools or disassembly of parts, making maintenance inconvenient. Summary of the Invention

[0005] The purpose of this invention is to provide a track tension adjustment system, method, device, and medium. By adopting a double-cylinder rod structure and integrating a gas chamber and a hydraulic chamber within the first cylinder rod, a compact structure and high space utilization are achieved. The hydraulic control system independently adjusts the preload and tension, allowing for stepless adjustment of the tension without disassembling the spring. Furthermore, the compressibility of gas provides elastic stroke, absorbing impacts, preventing track overload breakage, and improving walking comfort and maintenance convenience.

[0006] To achieve the above objectives, embodiments of the present invention provide a track tension adjustment system, comprising: A dual-rod hydraulic cylinder includes a first rod and a second rod arranged coaxially; wherein the first rod is a hollow structure with a movable piston inside, dividing the interior of the first rod into a first hydraulic chamber and a gas chamber; The gas chamber is filled with compressible gas and is equipped with an inflation valve for injecting the compressible gas. The head of the first cylinder rod is provided with an interface for connecting to the track guide wheel, and a preload setting oil port for connecting to the first hydraulic chamber; The second cylinder rod is provided with a second hydraulic chamber, and its head is provided with an interface for connecting the trolley frame, and a tension adjustment port for adjusting the tension of the track. The hydraulic control system includes at least an oil supply source and a control valve group. The control valve group is connected to the preload setting port and the tension adjustment port via hydraulic pipelines to control the inflow and outflow of hydraulic oil, so as to realize the setting, adjustment and release of track tension.

[0007] Optionally, the gas filling the gas chamber is nitrogen.

[0008] Optionally, the tail end of the first cylinder rod is connected to the first piston by a thread and is provided with an anti-loosening bolt.

[0009] Optionally, the head of the second cylinder rod is fixedly mounted on the track trolley frame, and the head of the first cylinder rod is connected to the guide wheel to form a relative motion structure.

[0010] Optionally, the hydraulic control system includes: Hydraulic pump; At least one directional valve is used to control the flow direction of hydraulic oil; At least one relief valve is used to control the oil injection pressure at the preload setting port; A pilot-operated check valve is installed in the oil line of the preload setting port for pressure holding or pressure relief control.

[0011] Optionally, the hydraulic control system further includes a pressure reducing valve and a second directional valve, wherein the pressure reducing valve and the second directional valve cooperate to control the opening of the pilot-operated check valve to achieve pressure relief of the first hydraulic chamber.

[0012] Optionally, the track tension adjustment system also includes a controller and a pressure sensor, used to automatically adjust the gas chamber pressure or hydraulic oil pressure according to the real-time stress state of the track to achieve adaptive tension control.

[0013] Secondly, the present invention also provides a track tension adjustment method applied to a track tension adjustment system, comprising: Hydraulic oil is injected into the first hydraulic chamber through the preload setting port, which pushes the piston to compress the gas chamber and establish the initial preload. The magnitude of the initial preload is set by adjusting the control pressure of the relief valve, without the need to disassemble or replace the spring. When the track crosses an obstacle, the gas in the gas chamber is further compressed to provide elastic stroke and prevent the track from breaking due to rigid stress. Hydraulic oil is injected into the second hydraulic chamber through the tension adjustment port to adjust the overall tension of the track. When it is necessary to reduce the tension or perform maintenance, the hydraulic oil in the first hydraulic chamber is released through the hydraulic control system, causing the gas chamber to expand and releasing the preload.

[0014] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the track tension adjustment method described above.

[0015] Fourthly, the present invention also provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the track tension adjustment method described above.

[0016] The above technical solutions achieve multiple technical benefits, including compact structure, adjustable tension, elastic buffering, comfortable walking, convenient maintenance, and adaptive operation, overcoming the shortcomings of traditional spring tensioning, grease tensioning, and ordinary hydraulic tensioning cylinders.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a track tension adjustment system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the working principle of a hydraulic control system provided in an embodiment of the present invention; Figure 3 This is a flowchart illustrating the implementation of a track tension adjustment method provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures 1. First cylinder rod; 2. Second cylinder rod; 3. Movable piston; 30. Gas chamber; 4. Preload setting port; 5. Tension adjustment port; 6. First piston; 7. Anti-loosening bolt; 8. Sealing assembly; 9. Second piston; 10. Hydraulic pump; 11. First relief valve; 12. Second relief valve; 13. First directional valve; 14. First throttle orifice; 15. Pilot-operated check valve; 16. Third relief valve; 17. Second directional valve; 18. First check valve; 19. Second check valve; 20. Accumulator; 21. Third directional valve; 22. Second throttle orifice; 23. Hydraulic gauge; 24. Fourth relief valve; 25. Pressure reducing valve. Detailed Implementation

[0020] To better understand the technical solution of this application, the relevant terms are explained below: Tensioning device: Installed inside the track trolley, used to tension the tracks and buffer external impacts on the whole machine during movement.

[0021] Tracks: Steel or rubber chains fitted onto wheels to reduce the pressure of the vehicle on the ground and increase the vehicle's traction.

[0022] Idler wheel: mainly used to guide the correct rotation of the track, prevent the track from running off track or derailing, and also provide some support.

[0023] Hydraulic cylinder: A hydraulic actuator that converts hydraulic energy into mechanical energy and performs linear reciprocating motion.

[0024] Various embodiments of this disclosure will be described more fully in the following detailed description. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0025] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions or operations and do not limit the addition of one or more functions or operations. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, or combination of the foregoing and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, or combinations of the foregoing, or the possibility of adding one or more features, numbers, steps, operations, or combinations of the foregoing.

[0026] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0027] 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, and 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.

[0028] See Figure 1 The diagram shown is a structural schematic of a track tension adjustment system in a specific embodiment, including: A double-rod hydraulic cylinder includes a first rod 1 and a second rod 2 arranged coaxially; wherein the first rod 1 is a hollow structure with a movable piston 3 inside, which divides the interior of the first rod 1 into a first hydraulic chamber and a gas chamber 30. The gas chamber 30 is filled with compressible gas and is equipped with an inflation valve for injecting compressible gas. The head of the first cylinder rod 1 is provided with an interface for connecting to the track guide wheel, and a preload setting oil port 4 that connects to the first hydraulic chamber; The second cylinder rod 2 is provided with a second hydraulic chamber, and its head is provided with an interface for connecting the trolley frame, and a tension adjustment port 5 for adjusting the tension of the track. The hydraulic control system includes at least an oil supply source and a control valve group. The control valve group is connected to the preload setting port 4 and the tension adjustment port 5 via hydraulic pipelines to control the inflow and outflow of hydraulic oil, so as to realize the setting, adjustment and release of track tension.

[0029] The system employs a coaxial arrangement of left and right dual cylinder rods, integrating the gas spring (nitrogen chamber) with hydraulic adjustment functions into one unit, replacing the traditional separate structure of spring and cylinder, thus reducing axial and radial installation dimensions. The hollow structure of the first cylinder rod simultaneously accommodates the piston, hydraulic oil, and nitrogen, eliminating the need for external spring assemblies and making the track tensioning device more compact, facilitating its arrangement within the limited space of the track trolley.

[0030] Preferably, the gas filling the gas chamber is nitrogen (i.e., a nitrogen chamber).

[0031] Specifically, the tail of the first cylinder rod 1 is connected to the first piston 6 by a thread and is provided with an anti-loosening bolt 7.

[0032] The first cylinder rod 1 and / or the second cylinder rod 2 are provided with a sealing assembly 8 to achieve sealing and isolation between the cavities.

[0033] Each cavity is isolated by a sealing component, preventing hydraulic oil and nitrogen from mixing. Nitrogen is chemically stable and does not easily react with sealing materials, maintaining stable pressure over long-term use and reducing the risk of leakage.

[0034] The head of the second cylinder rod 2 is threadedly connected to the second piston 9. The head of the second cylinder rod 2 is fixedly mounted on the track trolley frame, and the head of the first cylinder rod 1 is connected to the guide wheel, forming a relative motion structure.

[0035] In one specific embodiment, the hydraulic control system includes: Hydraulic pump; At least one directional valve is used to control the flow direction of hydraulic oil; At least one relief valve is used to control the oil injection pressure at the preload setting port; A pilot-operated check valve is installed in the oil line of the preload setting port for pressure holding or pressure relief control.

[0036] Preferably, the hydraulic control system further includes a pressure reducing valve and a second directional valve, wherein the pressure reducing valve and the second directional valve cooperate to control the opening of the pilot-operated check valve to achieve pressure relief of the first hydraulic chamber.

[0037] In one specific implementation, see Figure 2 As shown, the hydraulic control system workflow includes: track tension setting and oil supply process: the hydraulic pump 10 starts, draws oil from the oil tank and outputs pressurized oil to provide the power foundation for the system; the second relief valve 12 sets the upper limit of the injection pressure, and the hydraulic oil flows through the hydraulic pump 10 → the first relief valve 11 (system main pressure stabilization) → the first directional valve 13 (initial directional switching), and the second relief valve 12 precisely controls the injection pressure to the predetermined tension threshold; the oil flows through the first directional valve 13 → the first throttle orifice 14 (adjusting the flow rate and controlling the tensioning speed) → the pilot-operated check valve 15 → oil port A to inject into the hollow structure of the left cylinder, while the right cylinder rod oil port synchronously replenishes oil, pushing the piston / cylinder rod to move and achieve track tensioning; the accumulator, in conjunction with the third relief valve 16 / pressure gauge, stabilizes the pressure in real time and buffers pressure fluctuations, and the pressure gauge displays the system pressure in real time to ensure stable tension.

[0038] The pilot-operated check valve, in conjunction with the hydraulic control system, enables automatic pressure maintenance in the first hydraulic chamber, eliminating the need for frequent manual oil replenishment. During pressure relief, the pilot control valve opens the check valve, allowing for remote and safe release of preload without manually loosening oil line connections, thus reducing maintenance difficulty and operational risks.

[0039] Left Cylinder Chamber Pressure Relief Process (Tension Release / Maintenance): Reversing Switch: Move the first reversing valve 13 to the left position to change the oil flow direction. Open the second reversing valve 17. After the hydraulic oil is depressurized by the pressure reducing valve 25, it pushes the pilot-operated check valve 15 to unlock (breaking its one-way lock-up state). Pressure Relief Activation: The oil in the high-pressure chamber of the left cylinder flows through the unlocked pilot-operated check valve 15 → second reversing valve 17 → first reversing valve 13 → return oil line, and finally flows back to the oil tank, completing the pressure relief of the high-pressure chamber of the left cylinder and realizing the release of track tension.

[0040] Standard locking and oil replenishment process: In non-working / pressure-holding state, the first and second directional valves reset, the pilot-operated check valve 15 remains locked in one direction, and works in conjunction with the first check valve 18 or the second check valve 19 and the accumulator 20 to lock the oil circuit, maintaining the cylinder chamber pressure and preventing the track from loosening. If the track is loose and requires fine-tuning, repeat the tension setting process, precisely replenishing oil through the throttle orifice until the pressure gauge reaches the predetermined tension pressure.

[0041] Track tensioning (right cylinder oil injection and propulsion) process: Hydraulic pump 10 starts, drawing oil from the tank and outputting pressurized oil. The first relief valve 11 acts as the main relief valve of the system, setting the highest safe pressure of the entire hydraulic system to ensure stable pump outlet pressure. The third directional valve 21 is switched to the right position (working position). The pressurized oil output by the pump is conducted through the third directional valve 21, pushing open the second check valve 19 in the forward direction (the check valve only allows oil to flow from the third directional valve 21 to the cylinder side, and blocks it in the reverse direction), entering the main oil circuit of the right cylinder. The pressurized oil flows through the second throttle orifice 22, limiting the flow rate, reducing oil impact, and preventing damage to the track structure from rapid cylinder movement; simultaneously, the oil enters the accumulator 20, which stores energy, absorbing system pressure fluctuations and stabilizing the cylinder propulsion pressure. The pressurized oil enters the rodless chamber (oil port at the head of the right cylinder rod) of the right cylinder, pushing the right cylinder rod out and actuating the track tensioning mechanism to complete the track tension adjustment. The oil pressure acts synchronously on the hydraulic gauge 23, displaying the working pressure of the right-side cylinder in real time, allowing the operator to visually confirm the tension. The fourth relief valve 24 sets the maximum safe pressure for this branch; when the pressure exceeds the set value, it automatically overflows to relieve pressure, protecting the cylinder, accumulator, and other components from high-pressure damage. After tensioning is complete, the third directional valve 21 resets to the neutral position (stop position), and the first check valve 18 and the second check valve 19 lock the oil circuit in both directions. The accumulator 20 continuously releases pressure to maintain the cylinder chamber pressure, preventing the track from loosening and achieving stable tensioning over a long period.

[0042] Track slack (right cylinder depressurization and retraction) procedure: Operate the third directional valve 21 to switch to the left position. High-pressure oil on the cylinder side passes through the second check valve 19 (forward conduction) and the third directional valve 21, connecting to the return oil line. Under the action of the track reaction force / spring force, the right cylinder pushes the oil back to the oil tank through the return oil line, the right cylinder rod retracts, the track tension is released, and the slack adjustment is completed. The hydraulic gauge 23 simultaneously displays the pressure drop until the cylinder is fully retracted and the pressure returns to zero, completing the depressurization. When the system experiences instantaneous pressure fluctuations (such as when the track is impacted), the accumulator 20 quickly releases the stored pressure oil to replenish the cylinder chamber pressure, preventing a sudden drop in tension; at the same time, it absorbs the impact pressure, protecting the hydraulic components.

[0043] The first check valve 18 prevents high-pressure oil from flowing back to the pump end from the cylinder / accumulator side, avoiding accidental loss of tension. The second check valve 19 only allows oil to return from the cylinder side, preventing pressure from the return line from entering the cylinder side and ensuring pressure relief safety. During tensioning / depressurization, the throttle orifice 22 always limits the oil flow rate to prevent the cylinder from moving too quickly, achieving smooth adjustment of track tension and preventing impact damage to the track, idler wheels, and other structural components.

[0044] The right-side hydraulic cylinder is responsible for actively adjusting the track tension, while the left-side hydraulic cylinder is responsible for nitrogen pre-tensioning and setting the tension force. The two work together: first, the basic pre-tension force is set through the pilot-operated one-way valve 15 and the second overflow valve 12 of the left-side hydraulic cylinder; then, the track tension is precisely fine-tuned through the oil injection / pressure relief of the right-side hydraulic cylinder. Components such as the accumulator 20 and the fourth overflow valve 24 provide pressure stabilization and safety protection for the left and right hydraulic cylinders, and the pressure gauge can monitor the pressure status of the entire tensioning system.

[0045] By injecting oil into the first hydraulic chamber and controlling the pressure of the relief valve through the hydraulic control system, the preload can be precisely set, and the pressure value can be adjusted arbitrarily according to the working conditions. This overcomes the defect of traditional spring tensioning devices that require spring replacement to change the tension. The second hydraulic chamber is injected with oil independently, which allows for fine adjustment of the overall track tension to meet the compensation needs after track wear, and the operation is convenient.

[0046] In addition, the track tension adjustment system also includes a controller and a pressure sensor, which are used to automatically adjust the gas chamber pressure or hydraulic oil pressure according to the real-time stress state of the track to achieve adaptive tension control.

[0047] In this embodiment, by adopting a double-cylinder rod structure and integrating a gas chamber and a hydraulic chamber within the first cylinder rod, a compact structure and high space utilization are achieved. The preload and tension are independently adjusted using a hydraulic control system, allowing for stepless changes in tension without disassembling the spring. Furthermore, the compressibility of gas provides elastic stroke, effectively absorbing impacts and preventing track breakage due to overload, significantly improving walking comfort and ease of maintenance.

[0048] like Figure 3As shown, the following are embodiments of the track tension adjustment method provided in this disclosure. These methods belong to the same inventive concept as the track tension adjustment systems described in the above embodiments. Details not fully described in the embodiments of the track tension adjustment method can be found in the embodiments of the track tension adjustment system described above. Specifically, the following execution steps are included: Step 100: Inject hydraulic oil into the first hydraulic chamber through the preload setting port to push the piston to compress the gas chamber and establish the initial preload.

[0049] The initial preload is set by adjusting the control pressure of the overflow valve, without the need to disassemble or replace the spring; when the track crosses an obstacle, the gas in the gas chamber is further compressed to provide elastic travel and prevent the track from breaking due to rigid force.

[0050] The gas chamber within the first cylinder rod is compressible. When the tracked machinery crosses an obstacle or experiences an impact, the guide wheel pushes the first cylinder rod, further compressing the gas chamber and providing elastic stroke to absorb impact energy. Compared to a pure hydraulic tensioning cylinder (without a gas chamber), this solution avoids the problem of track breakage due to a sudden surge in force caused by rigid hydraulic locking, significantly improving the reliability and lifespan of the track system.

[0051] Step 101: Inject hydraulic oil into the second hydraulic chamber through the tension adjustment port to adjust the overall tension of the track.

[0052] The relationship between the injected hydraulic oil and the tension is as follows: The head of the right cylinder rod is fixed on the trolley frame. The hydraulic oil in the right cylinder rod cavity pushes the cylinder rod (or cylinder body) to produce axial displacement, changing the relative distance between the guide wheel and the trolley frame, thereby changing the pretension of the track.

[0053] For example, the injected oil volume V = piston area A × piston displacement ΔL. The displacement ΔL is directly converted into the tension elongation of the track, and then the tension force increment ΔF = k × ΔL is generated according to the track stiffness, where k is the equivalent axial stiffness of the track.

[0054] Synergy with the preload of the left chamber: Left chamber (nitrogen + hydraulic oil): Provides dynamic elastic stroke to absorb impact and prevent overload breakage. Its preload is set by the second relief valve 12 and can be adjusted independently. Right chamber (pure hydraulic oil): Provides fine adjustment of the static tension position to adapt to different working conditions or retensioning after track wear. The left chamber determines the soft characteristics (gas spring), and the right chamber determines the hard position (track length compensation). For example: When the track becomes loose, injecting oil into the right chamber moves the guide wheel forward to restore tension; at the same time, the nitrogen pressure in the left chamber remains unchanged, continuing to provide the cushioning function.

[0055] Step 102: When it is necessary to reduce the tension or perform maintenance, the hydraulic oil in the first hydraulic chamber is released through the hydraulic control system, causing the gas chamber to expand and releasing the preload.

[0056] In one specific embodiment, when it is necessary to reduce track tension or perform maintenance, the hydraulic oil pressure in the first hydraulic chamber is reduced from the current value. Controllably reduce to the target value This also avoids mechanical shocks or excessive expansion of the nitrogen chamber caused by sudden pressure changes.

[0057] A pressure sensor PT1 is installed at port A of the first hydraulic chamber or preload setting oil port to measure the pressure in real time. The displacement sensor measures the piston position or guide wheel displacement to indirectly determine the tension. The controller receives the sensor signal and outputs control commands to the second directional valve (pilot control valve) and the first directional valve (main oil circuit directional valve).

[0058] The pressure relief control process is as follows: If it is for maintenance purposes, then set... (Fully release); to reduce the tension to a specific working value, set the value (e.g., input from the control panel or from a host computer command). Check current pressure. Is it higher than ,like If so, pressure relief will not be performed. (Set the maximum single-step pressure difference), and it will be executed automatically in multiple steps to avoid excessive pressure difference in a single step.

[0059] Pressure relief preparation: Switch the first directional valve to the left position (return oil position), so that the return oil path of the first hydraulic chamber is connected to the oil tank through the throttle orifice and the first directional valve. At this time, the pilot-operated check valve is still in the closed state (reverse cut-off), and the oil cannot flow out.

[0060] The controller employs a proportional-integral-derivative (PI-DE) control strategy with feedforward. It regulates the pressure relief rate by gradually opening the pilot control oil pressure of a pilot-operated check valve, thereby controlling its opening size. The proportional control is based on the current deviation... Linear control adjusts the pilot valve opening; the greater the deviation, the larger the opening and the faster the pressure relief. Integral control eliminates steady-state residual pressure, ensuring the final pressure is accurately reached. Differential control is based on the rate of pressure change. Reduce the opening degree in advance to prevent pressure overshoot or drastic fluctuations. Feedforward control involves setting a base opening degree all at once based on the initial pressure difference at the beginning of the pressure relief phase, thus shortening the response time.

[0061] Calculate the control signal for the pilot valve using the following formula:

[0062] In the formula, This indicates the current pressure deviation; a positive value indicates that pressure needs to be released. These are the proportional, integral, and differential coefficients, respectively. This indicates a feedforward term.

[0063] In one specific implementation, to avoid mechanical shock or violent expansion of the nitrogen chamber due to excessively rapid depressurization, the following intelligent limiting rule is incorporated: setting the maximum allowable pressure drop rate. If the actual descent rate exceeds this value, the controller will automatically reduce it. This brings the rate back to a safe range.

[0064] Segmented pressure range control: When (High-pressure section): A slower pressure relief rate is used to prevent impact. When (Medium-pressure section): Normal speed is used. When Further slow down the rate to prevent excessive expansion of the nitrogen chamber from damaging the seals.

[0065] when If the pressure remains stable for more than 2 seconds, the pressure relief is considered complete. The controller resets the second directional valve (closing the pilot oil circuit), and the pilot-operated check valve is fully closed. The first directional valve is switched back to the neutral position, cutting off the return oil circuit. The system issues a pressure relief completion signal.

[0066] When used for maintenance, the nitrogen chamber pressure must be completely released. The control process is as follows: First, the pressure in the first hydraulic chamber is released to near zero. Then, the exhaust valve is opened manually or automatically through the nitrogen charging valve on the left cylinder head to slowly release nitrogen. The displacement sensor must be used to monitor the piston position to prevent rapid ejection. The controller can also control the exhaust solenoid valve, using proportional adjustment to keep the exhaust rate below a safe value.

[0067] The tension adjustment method uses a dual-cylinder system instead of a spring + cylinder, resulting in a compact structure. The hydraulic cylinder replaces the traditional spring structure, allowing for control of the preload by adjusting the overflow pressure; changing the tension does not require spring disassembly. The hydraulic cylinder also replaces the traditional spring structure, resulting in a compact design and requiring less space for the same load. Utilizing gas damping, the tension is linear, providing excellent walking comfort. Compared to ordinary hydraulic tension cylinders, this solves the problem of track breakage due to insufficient elastic stroke when the tracked machinery crosses obstacles.

[0068] Figure 4 This is a schematic diagram of the hardware structure of an electronic device that implements various embodiments of the present invention.

[0069] The track tension adjustment method provided in this application embodiment can be applied to electronic devices. Those skilled in the art will understand that the electronic device structure involved in the embodiments of this invention does not constitute a limitation on the electronic device. An electronic device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. In the embodiments of this invention, the electronic device includes, but is not limited to, laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of this application described and / or claimed herein.

[0070] Electronic devices may include processors, external memory interfaces, internal memory, universal serial bus (USB) interfaces, charging management modules, power management modules, batteries, wireless communication modules, audio modules, speakers, microphones, sensor modules, buttons, cameras, displays, and SIM card interfaces, etc.

[0071] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device. In other embodiments of this application, the electronic device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0072] A processor may include one or more processing units, such as: a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0073] The processor can serve as the nerve center and command center of an electronic device. The controller can generate operation control signals based on the instruction opcode and timing signals to control the fetching and execution of instructions.

[0074] The processor may also include memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can store instructions or data that the processor has just used or that are used repeatedly. If the processor needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, reduces processor latency, and thus improves system efficiency.

[0075] An external storage interface (ESI) can be used to connect external memory cards, such as microSD cards, to expand the storage capacity of electronic devices. The external memory card communicates with the processor through the ESI to perform data storage functions, such as saving music and video files on the external memory card.

[0076] Internal memory can be used to store computer executable program code, which includes instructions. The processor executes various functional applications and data processing of electronic devices by running the instructions stored in internal memory. Internal memory can include a program storage area and a data storage area. Internal memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.

[0077] Wireless communication functionality in electronic devices can be achieved through antennas, wireless communication modules, modem processors, and baseband processors.

[0078] Wireless communication modules can provide solutions for wireless communication applications in electronic devices, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared (IR) technologies.

[0079] Electronic devices can implement audio functions through audio modules, speakers, receivers, microphones, headphone jacks, and application processors.

[0080] Electronic devices can achieve shooting functions through ISPs, cameras, video codecs, GPUs, displays, and application processors.

[0081] Electronic devices can achieve display functions through GPUs, displays, and application processors.

[0082] A GPU is a microprocessor for image processing, connected to the display screen and application processor. GPUs are used to perform mathematical and geometric calculations for graphics rendering. A processor may include one or more GPUs, which execute program instructions to generate or modify display information.

[0083] A display screen is used to display images, videos, etc. A display screen includes a display panel.

[0084] The storage medium provided in this application stores a program product capable of implementing a track tension adjustment method.

[0085] The track tension adjustment method includes: injecting hydraulic oil into the first hydraulic chamber through the preload setting port to push the piston to compress the gas chamber and establish an initial preload, wherein the magnitude of the initial preload is set by adjusting the control pressure of the relief valve without disassembling or replacing the spring; when the track crosses an obstacle, the gas in the gas chamber is further compressed to provide elastic stroke and prevent the track from breaking due to rigid stress; injecting hydraulic oil into the second hydraulic chamber through the tension adjustment port to adjust the overall track tension; when it is necessary to reduce the tension or perform maintenance, the hydraulic oil in the first hydraulic chamber is released through the hydraulic control system, causing the gas chamber to expand and releasing the preload.

[0086] In some possible implementations, the subject matter of this disclosure, track tension adjustment method and system, can be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0087] The storage medium disclosed herein may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0088] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A track tension adjustment system, characterized in that, include: A dual-rod hydraulic cylinder includes a first rod and a second rod arranged coaxially; wherein the first rod is a hollow structure with a movable piston inside, dividing the interior of the first rod into a first hydraulic chamber and a gas chamber; The gas chamber is filled with compressible gas and is equipped with an inflation valve for injecting the compressible gas. The head of the first cylinder rod is provided with an interface for connecting to the track guide wheel, and a preload setting oil port for connecting to the first hydraulic chamber; The second cylinder rod is provided with a second hydraulic chamber, and its head is provided with an interface for connecting the trolley frame, and a tension adjustment port for adjusting the tension of the track. The hydraulic control system includes at least an oil supply source and a control valve group. The control valve group is connected to the preload setting port and the tension adjustment port via hydraulic pipelines to control the inflow and outflow of hydraulic oil, so as to realize the setting, adjustment and release of track tension.

2. The track tension adjustment system according to claim 1, characterized in that, The gas chamber is filled with nitrogen.

3. The track tension adjustment system according to claim 1, characterized in that, The tail end of the first cylinder rod is connected to the first piston by a thread and is provided with an anti-loosening bolt.

4. The track tension adjustment system according to claim 1, characterized in that, The head of the second cylinder rod is fixedly mounted on the track trolley frame, and the head of the first cylinder rod is connected to the guide wheel to form a relative motion structure.

5. The track tension adjustment system according to claim 1, characterized in that, The hydraulic control system includes: Hydraulic pump; At least one directional valve is used to control the flow direction of hydraulic oil; At least one relief valve is used to control the oil injection pressure at the preload setting port; A pilot-operated check valve is installed in the oil line of the preload setting port for pressure holding or pressure relief control.

6. The track tension adjustment system according to claim 5, characterized in that, The hydraulic control system further includes a pressure reducing valve and a second directional valve, wherein the pressure reducing valve and the second directional valve cooperate to control the opening of the pilot-operated check valve to achieve pressure relief of the first hydraulic chamber.

7. The track tension adjustment system according to claim 1, characterized in that, The track tension adjustment system also includes a controller and a pressure sensor, which are used to automatically adjust the gas chamber pressure or hydraulic oil pressure according to the real-time stress state of the track to achieve adaptive tension control.

8. A method for adjusting track tension in a track tension adjustment system according to any one of claims 1-7, characterized in that, include: Hydraulic oil is injected into the first hydraulic chamber through the preload setting port, which pushes the piston to compress the gas chamber and establish the initial preload. The magnitude of the initial preload is set by adjusting the control pressure of the relief valve, without the need to disassemble or replace the spring. When the track crosses an obstacle, the gas in the gas chamber is further compressed to provide elastic stroke and prevent the track from breaking due to rigid stress. Hydraulic oil is injected into the second hydraulic chamber through the tension adjustment port to adjust the overall tension of the track. When it is necessary to reduce the tension or perform maintenance, the hydraulic oil in the first hydraulic chamber is released through the hydraulic control system, causing the gas chamber to expand and releasing the preload.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the track tension adjustment method as described in claim 8.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the track tension adjustment method as described in claim 8.

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