Hydraulic crawler suitable for hilly operation

Abstract

The utility model relates to a hydraulic crawler suitable for hilly operation, which comprises a frame and a traveling mechanism, a traveling system comprises a left side crawler, a right side crawler, a tensioning wheel, a bearing wheel, a power wheel and a hydraulic power mechanism, and the tensioning wheel, the bearing wheel and the power wheel are arranged on the inner sides of the corresponding crawlers and are in transmission fit with the crawlers. Left supports and right supports which are arranged side by side left and right are fixed at the bottoms of the left and right sides of the frame, a plurality of weighing wheels are arranged at the bottoms of the corresponding supports at intervals in the front-back direction, a power wheel support is arranged at the top of the rear end of the frame, a power wheel is installed on the power wheel support, and the power wheel is higher than the supports. A driving seat is arranged at the rear end of the frame, the hydraulic power mechanism comprises a power part, and the power part is arranged on the frame on the front side of the driving seat. The utility model provides a hydraulic crawler suitable for hill operation, which can reduce the length of a tight side crawler and further reduce the abrasion of the crawler.

Description

Technical Field

[0001] The utility model relates to agricultural machinery and equipment, in particular to a hydraulic crawler vehicle suitable for hilly operations. Background Art

[0002] Agricultural tracked vehicles are power platforms that integrate traveling system, transmission system, operation and control system technologies. They can carry other functional agricultural machinery and implements to achieve efficient, stable and reliable traveling operations in the field.

[0003] Agricultural production in hilly areas faces challenges such as small fields, numerous ridges, deep mud, irregular plots, narrow tractor paths, and steep slopes. These challenges place higher demands on power platforms suitable for hilly operations. Existing power platforms suffer from complex chassis structures and bulky equipment. These platforms also suffer from poor maneuverability, insufficient terrain adaptability, severe farmland damage, and complex operation, making them incapable of effectively meeting the requirements of agricultural production in hilly areas. Furthermore, existing tracked agricultural machinery often suffers from long, tight-edge tracks that are prone to wear. Utility Model Content

[0004] The purpose of the utility model is to provide a hydraulic crawler vehicle suitable for hilly operations, which can reduce the length of the tight-edge crawler track and thus reduce crawler wear.

[0005] In order to solve the above technical problems, the technical solution of a hydraulic crawler vehicle suitable for hilly operations in the present utility model is as follows:

[0006] A hydraulic crawler vehicle suitable for hilly operations includes a frame and a traveling mechanism, the traveling system includes a left track, a right track, and a tensioning wheel, a load-bearing wheel and a power wheel arranged on the inner side of the corresponding track and cooperating with the track transmission, the hydraulic crawler vehicle also includes a hydraulic power mechanism for driving the power wheel, the left and right bottom sides of the frame are fixed with a left bracket and a right bracket arranged in parallel on the left and right sides, a plurality of weighing wheels are arranged at intervals along the front and rear directions at the bottom of the corresponding brackets, the front ends of the left bracket and the right bracket are provided with a tensioning wheel driving mechanism that can drive the corresponding tensioning wheel to move forward and backward, a power wheel bracket is provided on the top of the rear end of the frame, the power wheel is installed on the power wheel bracket, the height of the power wheel is higher than the height of the bracket, and a driving chair is provided at the rear end of the frame, the hydraulic power mechanism includes a power component, and the power component is provided on the frame in front of the driving chair.

[0007] Furthermore, the tensioning wheel driving mechanism includes a horizontally arranged action rod that can move forward and backward, and the tensioning wheel is arranged at the front end of the action rod.

[0008] Furthermore, a guide wheel bracket is provided at the rear end of the frame, and a guide wheel is rotatably mounted on the guide wheel bracket. The guide wheel is located on the inner side of the corresponding track and cooperates with the corresponding track transmission. The height of the guide wheel is higher than the height of the load-bearing wheel, and the height of the guide wheel is lower than the height of the tensioning wheel.

[0009] Furthermore, the power component is an engine, and the hydraulic power mechanism also includes an oil tank and a left hydraulic pump and a right hydraulic pump connected to the oil tank. The maximum displacement of the left hydraulic pump is greater than the maximum displacement of the right hydraulic pump, and the engine is connected to the left hydraulic pump and the right hydraulic pump by transmission.

[0010] Furthermore, the left hydraulic pump and the right hydraulic pump are double hydraulic pumps.

[0011] Furthermore, the hydraulic power mechanism also includes a left oil circuit connected to the left hydraulic pump and a right oil circuit connected to the right hydraulic pump, and the left oil circuit and the right oil circuit are arranged in parallel. The hydraulic power mechanism also includes a left hydraulic motor connected to the power wheel transmission connected to the left track and a right hydraulic motor connected to the power wheel transmission connected to the right track. The left hydraulic motor is connected to the left hydraulic motor control oil circuit, and the right hydraulic motor is connected to the right hydraulic motor control oil circuit. The hydraulic power mechanism also includes a left diverter and a right diverter valve. The oil inlet of the left diverter valve is connected to the left oil circuit, the oil inlet of the right diverter valve is connected to the right oil circuit, and the working oil port A of the left diverter valve is connected to the right diverter valve. The working oil port A is connected in parallel with the left hydraulic motor control oil circuit, the working oil port B of the left diverter and collector valve and the working oil port B of the right diverter and collector valve are connected in parallel with the right hydraulic motor control oil circuit, and a left two-position three-way reversing valve and a left overflow valve are arranged between the left hydraulic pump and the left diverter and collector valve on the left oil circuit; a right two-position three-way reversing valve and a right overflow valve are arranged between the right hydraulic pump and the right diverter and collector valve on the right oil circuit, a left speed regulating valve and a left three-position four-way solenoid reversing valve are arranged between the left diverter and collector valve and the left hydraulic motor on the left hydraulic motor control oil circuit; a right speed regulating valve and a right three-position four-way solenoid reversing valve are arranged between the right diverter and collector valve and the right hydraulic motor on the right hydraulic motor control oil circuit.

[0012] Furthermore, the left speed regulating valve and the right speed regulating valve are manual speed regulating valves.

[0013] Furthermore, a left angle sensor for detecting the opening of the left speed regulating valve is provided at the left speed regulating valve; and a right angle sensor for detecting the opening of the right speed regulating valve is provided at the right speed regulating valve.

[0014] The beneficial effects of the present invention are as follows: in the present invention, the left bracket and the right bracket adopt an interval parallel structure, the load-bearing wheels and the tensioning wheel on each side are arranged on the corresponding bracket, the power wheel, the driving seat and the power components of the hydraulic power mechanism are arranged on the upper side of the frame, and the entire frame structure is not particularly complicated and is very compact; the tensioning wheel is arranged at the front end of the frame, the power wheel is arranged at the rear end and the upper end of the bracket, and the track part on the lower side of the tensioning wheel and the power wheel is a tight-edge track, which can shorten the length of the tight-edge track and reduce wear, while allowing the transmission system to be arranged rearward, making it convenient for the driver to look after the rear equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an illustrative and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0016] Figure 1 This is a structural diagram of an embodiment of the hydraulic crawler vehicle of the present utility model;

[0017] Figure 2 yes Figure 1 Stereoscopic image of

[0018] Figure 3 yes Figure 1 Schematic diagram of the structure of the mid-frame;

[0019] Figure 4 This is a schematic diagram of the cooperation between the left crawler track, the right crawler track and the hydraulic power mechanism in the present utility model;

[0020] Figure 5 It is a structural diagram of the hydraulic power mechanism in the utility model;

[0021] Figure 6 This is a schematic diagram of the distribution of components in the hydraulic power mechanism on the vehicle frame in the present utility model;

[0022] Figure 7 This is a diagram of the operating system of the hydraulic crawler vehicle in the utility model;

[0023] Figure 8 This is a circuit diagram of the operating system of the hydraulic crawler vehicle in the utility model;

[0024] 1. Driver's seat; 2. Hydraulic power mechanism; 3. Electric control box; 4-1. Left track; 4-2. Right track; 5. Engine; 6. Frame; 7. Guide wheel; 8. Power wheel; 9. Load-bearing wheel; 10. Tensioner drive mechanism; 11. Left hydraulic motor; 12. Power wheel bracket; 13. Mounting lug; 14. Tail dovetail beam; 15. Main crossbeam; 16. Diagonal bracing beam; 17. Main longitudinal beam; 18. Hydraulic pump base; 19. Reversing valve body base; 20. Support beam; 21. Battery base; 22. Tensioner guide rail; 23. Front dovetail beam; 24. Left filter; 25. Left hydraulic pump; 26. Left two-position three-way reversing valve; 27. Left relief valve; 28. Left check valve; 29. ​​Left flow divider and collector valve ;30. Left speed control valve;32. Left three-position four-way solenoid reversing valve;33. Right three-position four-way solenoid reversing valve;34. Right hydraulic motor;35. Right speed control valve;36. Right diverter and collector valve;37. Right one-way valve;38. Right overflow valve;39. Right two-position three-way reversing valve;40. Right hydraulic pump;41. Right filter;42. Oil tank,43. Main oil circuit oil outlet diverter valve body;44. Hydraulic pump power input pulley;45. Main oil circuit return oil converging valve body;46. Cooler;47. Emergency stop button;48. Remote control;49. Joystick;50. Angle sensor;51. Stepper motor;52. Controller;53. Power supply;54-1. Left bracket;54-2. Right bracket;55. Tensioner. DETAILED DESCRIPTION

[0025] To facilitate understanding of the present invention, the present invention is described in more detail below with reference to the accompanying drawings and specific embodiments. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0026] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art in the field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0027] The utility model is a hydraulic crawler vehicle suitable for hilly operations. Figures 1 to 8 As shown:

[0028] The hydraulic crawler vehicle includes a frame, a traveling mechanism, a hydraulic power mechanism and a control mechanism.

[0029] The frame 6 as a whole is a square structure with its length extending in the front-to-back direction and its width extending in the left-to-right direction. A left bracket 54-1 and a right bracket 54-2 arranged in parallel on the left and right sides are fixed to the bottom of the left and right sides of the bracket. A front dovetail beam 23 is fixed to the front end of the frame, and a rear dovetail beam 14 is fixed to the rear end of the frame. A hanging ear 13 is provided at the rear end of the rear dovetail beam.

[0030] The frame includes main longitudinal beams 17 spaced apart on the left and right sides. Multiple main cross beams 15 are spaced apart in the front-to-back direction between the main longitudinal beams 17. Diagonal bracing beams 16 are installed between the left and right brackets and their corresponding main cross beams to reinforce the structure. The left and right brackets each include a bracket longitudinal beam connected to the underside of the corresponding main longitudinal beam via a support beam.

[0031] The frame is provided with a battery base 21, a reversing valve body base 19, a hydraulic pump base 18, a power wheel bracket 12, etc., wherein the power wheel bracket is located on the upper side of the rear end of the frame, and the front ends of the left bracket and the right bracket are provided with a tensioning device guide rail 22.

[0032] The walking mechanism includes a left track 4-1, a right track 4-2, and a tensioning wheel 55, a load-bearing wheel 9 and a power wheel 8 arranged on the inner side of the corresponding track and cooperating with the track transmission. The left power wheel 8 is driven by the left hydraulic motor 31, and the right power wheel is driven by the right hydraulic motor 34.

[0033] In this embodiment, there are six load-bearing wheels 9 that cooperate with each track. The six load-bearing wheels 9 are spaced apart in the front-to-back direction, and each weighing wheel 9 is rotatably assembled at the bottom of the corresponding bracket. The front ends of the left bracket and the right bracket are provided with a tensioning wheel driving mechanism that can drive the corresponding tensioning wheel to move forward and backward. The tensioning wheel driving mechanism includes a horizontally arranged action rod that can move forward and backward. The action rod is guided and moved on the corresponding tensioning device guide rail. The tensioning wheel is arranged at the front end of the action rod. In this embodiment, the action rod is provided with a thread. The tensioning wheel driving mechanism includes a tensioning wheel driving motor. The power output end of the tensioning wheel driving motor is connected to a nut that cooperates with the thread on the action rod. When the nut rotates in one direction, the action rod can move the tensioning wheel forward; when the nut rotates in the other direction, the action rod can move the tensioning wheel backward. The action rod and the nut constitute a screw-nut mechanism.

[0034] The power wheel 8 is mounted on the corresponding power wheel bracket 12, and the height of the power wheel 8 is higher than the bracket. A guide wheel bracket is provided at the rear end of the frame, on which a guide wheel 7 is rotatably mounted. The guide wheel 7 is located on the inner side of the corresponding crawler track and cooperates with the corresponding crawler track transmission. The height of the guide wheel is higher than the height of the load-bearing wheel, and the height of the guide wheel is lower than the height of the tensioning wheel.

[0035] A driver's chair 1 is disposed at the rear end of the vehicle frame. The hydraulic power mechanism includes a power component, which is disposed on the vehicle frame in front of the driver's chair. In this embodiment, the power component is an engine 5. The hydraulic power mechanism also includes a fuel tank 42 and a left hydraulic pump 25 and a right hydraulic pump 40 connected to the fuel tank 42. The maximum displacement of the left hydraulic pump 25 is greater than that of the right hydraulic pump 40. The engine is in transmission connection with the left and right hydraulic pumps, and the left and right hydraulic pumps are dual hydraulic pumps.

[0036] The hydraulic power mechanism also includes a left oil circuit connected to the left hydraulic pump and a right oil circuit connected to the right hydraulic pump. The left oil circuit and the right oil circuit are arranged in parallel. The hydraulic power mechanism also includes a left hydraulic motor 11 connected to the power wheel transmission connected to the left track and a right hydraulic motor 34 connected to the power wheel transmission connected to the right track. The left hydraulic motor is connected to the left hydraulic motor control oil circuit, and the right hydraulic motor is connected to the right hydraulic motor control oil circuit. The hydraulic power mechanism also includes a left diverter and collector valve 29 and a right diverter and collector valve 36. The oil inlet of the left diverter and collector valve is connected to the left oil circuit, and the oil inlet of the right diverter and collector valve is connected to the right oil circuit. The working oil port A of the left diverter and collector valve is connected in parallel with the working oil port A of the right diverter and collector valve. In the motor control oil circuit, the working oil port B of the left diverter and collector valve and the working oil port B of the right diverter and collector valve are connected in parallel to the right hydraulic motor control oil circuit. On the left oil circuit, a left two-position three-way reversing valve 26 and a left overflow valve 27 are arranged between the left hydraulic pump 25 and the left diverter and collector valve 29; on the right oil circuit, a right two-position three-way reversing valve 39 and a right overflow valve are arranged between the right hydraulic pump 40 and the right diverter and collector valve 36; on the left hydraulic motor control oil circuit, a left speed regulating valve 3 and a left three-position four-way solenoid reversing valve 32 are arranged between the left diverter and collector valve 29 and the left hydraulic motor 11; on the right hydraulic motor control oil circuit, a right speed regulating valve 35 and a right three-position four-way solenoid reversing valve 33 are arranged between the right diverter and collector valve 36 and the right hydraulic motor 34.

[0037] The left and right speed control valves are manual. The left and right two-position three-way directional control valves are normally closed solenoid-operated directional control valves. The left and right relief valves are direct-acting. A left angle sensor is installed on the left speed control valve to detect its opening, while a right angle sensor is installed on the right speed control valve to detect its opening.

[0038] In this embodiment, both the left and right tracks are rubber tracks, and the dovetail beam 23 is used to hang the counterweight. The main crossbeam 23 has an engine mounting hole, and the main crossbeam 15 has a seat mounting hole and a bottom plate fixing hole; the tail longitudinal beam 14 has a fuel tank, a cooling mounting hole, and a bottom plate fixing hole; the hydraulic pump base fixing frame 18 and the reversing valve body support are welded to the second and third main crossbeams 15, and the power wheel bracket is welded to the fifth main crossbeam 15, and its height is determined by the installation position of the power wheel. The tail crossbeam 14 is welded with a hanging ear 13 for hanging work tools.

[0039] When working, the engine rotates, and the double left hydraulic pump and right hydraulic pump are rotated through the belt. The hydraulic oil flows out of the oil tank to the left two-position three-way reversing valve and the right two-position three-way reversing valve to supply oil to the working system.

[0040] When the hydraulic system's operating pressure is lower than the set pressures of the left and right relief valves, the hydraulic system operates normally. Otherwise, the system is unloaded to protect it. The check valve prevents reverse oil flow from the operating system. The speed control circuit consists of a left two-position three-way directional valve 26 and a right two-position three-way directional valve 39, connected to the oil outlets of the left hydraulic pump 25 and the right hydraulic pump 40, respectively. The tracked vehicle can be switched between high, medium, and low gears and stopped in an emergency by operating the left two-position three-way directional valve 26 and the right two-position three-way solenoid reversing valve 39 simultaneously; the left two-position three-way directional valve 26 is energized and the right two-position three-way reversing valve 39 is de-energized; the left two-position three-way reversing valve 26 is de-energized and the right two-position three-way reversing valve 39 is energized; or both the left two-position three-way reversing valve 26 and the right two-position three-way reversing valve 39 are de-energized.

[0041] The direction control circuit is mainly composed of a left three-position four-way electromagnetic reversing valve 32, a right three-position four-way electromagnetic reversing valve 33 and a pressure-compensated variable flow left speed regulating valve 30 and a right speed regulating valve 35. When moving forward or backward, the left three-position four-way electromagnetic reversing valve 32 and the right three-position four-way electromagnetic reversing valve 33 are controlled to make the left and right motors rotate in the same direction, and the openings of the left speed regulating valve 7 and the right speed regulating valve 12 are adjusted synchronously to achieve stepless speed regulation; when turning ... left and right speed regulating valves are adjusted synchronously to achieve stepless speed regulation. The four-way electromagnetic reversing valve 33 makes the left and right motors rotate in the same direction. By adjusting the openings of the two pressure-compensated variable-flow left speed control valves 30 and the right speed control valves 35, the flow rates of the left and right motors are controlled, and then the speed difference is adjusted to achieve stepless adjustment of the turning radius. When turning on the spot, the left three-position four-way electromagnetic reversing valve 32 and the right three-position four-way electromagnetic reversing valve 33 are controlled to make the left and right motors rotate in opposite directions. The two pressure-compensated variable-flow left speed control valves 30 and the right speed control valves 35 are opened to the maximum to achieve turning on the spot.

[0042] Hydraulic crawler vehicle control system scheme Figure 7 As shown, the control system supports manual driving and remote control respectively, which can meet the needs of various scenarios. It is mainly composed of a main controller, auxiliary equipment, and actuators, and can flexibly realize functions such as control mode switching, emergency stop, and adaptive adjustment of driving speed. The circuit principle of the control system is shown in Figure 7 shown.

[0043] The controller 52 uses a CPU-ST30 series PLC, which has digital input and output interfaces. The digital input can be used to read the status of the joystick, and the digital output can be used to control the electromagnetic reversing valve and the speed control valve; the auxiliary equipment includes a power supply 53, a circuit breaker and an intermediate relay to ensure safe and stable operation of the system; the actuators include a joystick 49, a driving remote control 48, a signal receiver, a stepper motor 51, and an electric push rod to realize the driver's target signal input and the operating system control signal output.

[0044] The control mode switching function uses a knob on the driving panel to select between manual and remote control modes to meet the control needs of different scenarios. It also has an interlock function to ensure that when operating in one mode, another mode cannot be activated to prevent misoperation or confusion.

[0045] The aforementioned emergency stop function is implemented in both manual and remote control modes by providing emergency stop buttons on the driver's panel and remote control, respectively. These buttons are connected to the solenoid reversing valve in the hydraulic transmission system. When either button is pressed, the system immediately cuts off power to the solenoid valve, depressurizing and unloading the hydraulic system.

[0046] The adaptive speed adjustment function uses a pedal and an electric push rod to control the throttle in manual and remote control modes, respectively. Switching between three forward gears and one reverse gear is achieved by controlling the opening and closing of the left two-position three-way reversing valve 26 and the right two-position three-way reversing valve 39. Simultaneously, the speed of the left and right motors is controlled by adjusting the opening of the left and right speed regulating valves 30 and 35, respectively. The gear position and speed regulating valve opening are determined by the voltage signal from the Hall effect lever. An angle sensor 50 is installed to detect the actual speed regulating valve opening and compare it with the set opening. If there is a deviation, the system automatically adjusts the speed regulating valve opening to the preset value. This ensures the stability and accuracy of the power chassis at different operating speeds, improving the chassis's operational performance and safety.

[0047] Furthermore, the whole machine workflow is as follows:

[0048] Before operation begins, the driver first selects manual or remote control mode using the knob on the control panel. If manual mode is selected, the vehicle can then choose between differential steering and pivoting. If remote mode is selected, the vehicle can only pivot. The control system then initializes according to the selected mode, including the speed control valve opening and various operating parameters. The system then determines whether the emergency stop button 47 has been pressed. If so, the entire vehicle enters an emergency stop state, and the control program returns to self-test. If it is in the open state, the system continues to operate, and the driver inputs operating instructions to control the operating states of the various valves in the hydraulic transmission system, allowing the chassis to move according to the driver's instructions. Left and right speed sensors detect the left and right track speed signals, compare them with the manually entered target speed, and perform calculations in the controller 52 to control the vehicle's travel speed. Once the control process meets the requirements, the system checks whether a shutdown is required. If not, it returns to the main program and reruns from top to bottom. If shutdown occurs, the program ends. During operation, the main program primarily implements control functions by calling various functional subroutines.

[0049] Furthermore, in manual control mode, the operator controls the left two-position three-way reversing valve 26, the right two-position three-way reversing valve 39, the left three-position four-way solenoid reversing valve 32, the right three-position four-way solenoid reversing valve 33, and the two pressure-compensated variable-flow left speed regulating valves 30 and right speed regulating valves 35 through joysticks or buttons to achieve forward, reverse, left, and right turn driving operations of the vehicle. Simultaneously, the operator can control the throttle through pedals to accelerate and decelerate, and use the emergency stop button to immediately stop the vehicle in an emergency. In remote control mode, the operator controls the vehicle's driving direction, speed, and emergency stop functions through wireless communication using a remote control equipped with buttons, a joystick, or a touch screen. Simultaneously, the operator can control the throttle through an electric push rod to accelerate and decelerate, and use the emergency stop button to immediately stop the vehicle in an emergency.

[0050] This invention addresses the urgent need for mechanized development in hilly agricultural areas and designs a hydraulic crawler vehicle suitable for hilly operations. This vehicle utilizes a valve-controlled motor speed regulation scheme and a high-power dual hydraulic pump, resulting in a strong load capacity and stable and reliable transmission. It also features a low-pressure travel system with high strength, low ground pressure, a low center of gravity, minimal damage to cultivated land, and excellent climbing and climbing capabilities. Furthermore, it features a control system that can be flexibly switched between remote control and manual operation, offering a wide range of applications, flexible motion control, fast response, and high safety. This tracked vehicle can effectively support agricultural production operations in hilly areas.

[0051] In the above description of this specification, unless otherwise expressly specified or limited, terms such as "fixed," "mounted," "connected," or "connected" should be understood broadly. For example, the term "connected" can refer to a fixed connection, a removable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal connection between two components or the interaction between two components. Therefore, unless otherwise expressly defined in this specification, those skilled in the art can understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0052] According to the above description of this specification, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "lateral", "clockwise" or "counterclockwise", etc., which indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings of this specification, and are only for the purpose of facilitating the explanation of the scheme of the utility model and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operate in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms cannot be understood or interpreted as limitations on the scheme of the utility model.

[0053] In addition, the terms "left" or "right" used in this specification to refer to numbers or ordinal numbers are used for descriptive purposes only and should not be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature specified as "left" or "right" may explicitly or implicitly include at least one such feature. In the description of this specification, "plurality" means at least two, such as two, three, or more, unless otherwise specifically defined.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A hydraulic crawler vehicle suitable for hilly operations, comprising a frame and a traveling mechanism, wherein the traveling system comprises a left crawler track, a right crawler track, and a tensioning wheel, a load-bearing wheel, and a power wheel arranged on the inner side of each crawler track and cooperating with the crawler track transmission. The hydraulic crawler vehicle also comprises a hydraulic power mechanism for driving the power wheel, characterized in that: The left and right bottom sides of the frame are provided with a left bracket and a right bracket arranged in parallel on the left and right sides, and multiple weighing wheels are arranged at intervals at the bottom of the corresponding brackets along the front and rear directions. The front ends of the left and right brackets are provided with a tensioning wheel driving mechanism that can drive the corresponding tensioning wheel to move forward and backward. A power wheel bracket is provided at the top of the rear end of the frame, and the power wheel is installed on the power wheel bracket. The height of the power wheel is higher than the height of the bracket. A driving seat is provided at the rear end of the frame, and the hydraulic power mechanism includes a power component, which is provided on the frame in front of the driving seat.

2. The hydraulic crawler vehicle suitable for hilly operations according to claim 1, characterized in that: The tensioning wheel driving mechanism comprises a horizontally arranged action rod capable of moving forward and backward, and the tensioning wheel is arranged at the front end of the action rod.

3. The hydraulic crawler vehicle suitable for hilly operations according to claim 1, characterized in that: A guide wheel bracket is provided at the rear end of the frame, and a guide wheel is rotatably mounted on the guide wheel bracket. The guide wheel is located on the inner side of the corresponding track and cooperates with the corresponding track transmission. The height of the guide wheel is higher than the height of the load-bearing wheel, and the height of the guide wheel is lower than the height of the tensioning wheel.

4. The hydraulic crawler vehicle suitable for hilly operations according to any one of claims 1 to 3, characterized in that: The power component is an engine, and the hydraulic power mechanism also includes an oil tank and a left hydraulic pump and a right hydraulic pump connected to the oil tank. The maximum displacement of the left hydraulic pump is greater than the maximum displacement of the right hydraulic pump, and the engine is connected to the left hydraulic pump and the right hydraulic pump through transmission.

5. The hydraulic crawler vehicle suitable for hilly operations according to claim 4, characterized in that: The left hydraulic pump and the right hydraulic pump are duplex hydraulic pumps.

6. The hydraulic crawler vehicle suitable for hilly operations according to claim 4, characterized in that: The hydraulic power mechanism also includes a left oil circuit connected to the left hydraulic pump and a right oil circuit connected to the right hydraulic pump. The left oil circuit and the right oil circuit are arranged in parallel. The hydraulic power mechanism also includes a left hydraulic motor connected to the power wheel transmission connected to the left crawler and a right hydraulic motor connected to the power wheel transmission connected to the right crawler. The left hydraulic motor is connected to the left hydraulic motor control oil circuit, and the right hydraulic motor is connected to the right hydraulic motor control oil circuit. The hydraulic power mechanism also includes a left diverter and a right diverter valve. The oil inlet of the left diverter valve is connected to the left oil circuit, the oil inlet of the right diverter valve is connected to the right oil circuit, and the working oil port A of the left diverter valve is connected to the working oil port A of the right diverter valve. The working oil port A is connected in parallel to the left hydraulic motor control oil circuit, the working oil port B of the left diverter and collector valve and the working oil port B of the right diverter and collector valve are connected in parallel to the right hydraulic motor control oil circuit, and a left two-position three-way reversing valve and a left overflow valve are arranged between the left hydraulic pump and the left diverter and collector valve on the left oil circuit; a right two-position three-way reversing valve and a right overflow valve are arranged between the right hydraulic pump and the right diverter and collector valve on the right oil circuit, a left speed regulating valve and a left three-position four-way solenoid reversing valve are arranged between the left diverter and collector valve and the left hydraulic motor on the left hydraulic motor control oil circuit; a right speed regulating valve and a right three-position four-way solenoid reversing valve are arranged between the right diverter and collector valve and the right hydraulic motor on the right hydraulic motor control oil circuit.

7. The hydraulic crawler vehicle according to claim 6, characterized in that: The left speed regulating valve and the right speed regulating valve are manual speed regulating valves.

8. The hydraulic crawler vehicle according to claim 6, characterized in that: A left angle sensor for detecting the opening of the left speed regulating valve is provided at the left speed regulating valve; a right angle sensor for detecting the opening of the right speed regulating valve is provided at the right speed regulating valve.

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