Automatically assembled crawler

Abstract

The utility model discloses an automatic assembly crawler which comprises a vehicle body, two sets of walking crawlers installed at the bottom of the vehicle body in parallel, two driving motors and two transmissions, the two driving motors and the two transmissions are both installed on the vehicle body, the transmissions form a two-gear speed reducing mechanism based on a planetary gear train, the power output efficiency of the driving motors is improved, and the service life of the crawler is prolonged. The continuous acceleration performance is enhanced, a wider high-efficiency platform is provided, various complex working conditions of vehicle acceleration, climbing and high-speed driving can be fully met, the endurance mileage is effectively increased, and the transmission is compact in structure, stable, reliable and low in production cost. The utility model further discloses an energy-saving gear shifting method of the transmission of the tracked vehicle, by additionally arranging the first energy storage device and the second energy storage device, the energy consumption is further reduced, the overall endurance mileage is increased, and the maintenance period of a hydraulic control system is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic trolley technical field, concretely relates to a kind of automatic assembly tracked vehicle. BACKGROUND

[0002] With the rapid progress of automation technology, more and more factories begin to use automatic trolley to participate in the transfer process of automatic assembly. In order to improve the obstacle-crossing ability, some automatic trolleys choose to use tracks for their walking mechanisms.

[0003] Please refer to the Chinese utility model patent with publication number CN203142727U, the two sets of walking tracks of the existing tracked automatic trolley are each independently directly driven by a drive motor. However, since no gearbox is provided, the high-efficiency platform of the motor is relatively narrow, and low-speed torque and high-speed energy efficiency cannot be considered simultaneously. Either the low-speed torque is not ideal to ensure high-speed energy efficiency, resulting in poor climbing performance, or the high-speed energy efficiency is poor to ensure sufficient low-speed torque, resulting in high energy consumption at high speed.

[0004] It is urgent to solve the above problems. UTILITY MODEL CONTENTS

[0005] Therefore, the utility model provides an automatic assembly tracked vehicle.

[0006] The technical scheme is as follows:

[0007] The first aspect of the present application relates to an automatic assembly tracked vehicle, characterized by comprising a vehicle body, two sets of walking tracks installed in parallel on the bottom of the vehicle body, and two drive motors and two gearboxes installed on the vehicle body. The top of the vehicle body is provided with at least one mechanical arm, and the end of each mechanical arm is provided with a tooling.

[0008] The gearbox comprises a box body, an input shaft and an output shaft coaxially arranged in the box body, the end of the input shaft away from the output shaft is coaxially rotatable with the motor shaft of the corresponding drive motor, the end of the input shaft close to the output shaft has a sun gear synchronously rotating therewith, the end of the output shaft away from the input shaft is synchronously rotatable with the driving track wheel of the corresponding walking track, and the end of the output shaft close to the input shaft has a planet carrier synchronously rotating therewith. At least three planet gears are rotatably installed on the planet carrier around the sun gear in the circumferential direction, each planet gear is meshed with the sun gear, the box body is connected to the inner ring gear meshed with each planet gear through a first multi-plate clutch, the input shaft is connected to the planet carrier through a second multi-plate clutch, the box body is provided with a first hydraulic cavity and a second hydraulic cavity, the first hydraulic cavity is provided with a first hydraulic cylinder for controlling the engagement or disengagement of the first multi-plate clutch, and the second hydraulic cavity is provided with a second hydraulic cylinder for controlling the engagement or disengagement of the second multi-plate clutch.

[0009] The above-mentioned automated assembly crawler vehicle uses a transmission that constitutes a two-speed reduction mechanism based on a planetary gear system. It not only improves the power output efficiency of the drive motor and enhances the continuous acceleration performance, but also has a broader high-efficiency platform. It can fully meet the various complex working conditions of vehicle acceleration, climbing and high-speed driving, effectively increasing the cruising range. In addition, the transmission has a compact structure, is stable and reliable, and has low production costs.

[0010] In some embodiments, the vehicle body includes a vehicle frame and a vehicle shell covering and mounted outside the vehicle frame, and both sides of the vehicle frame have track wheel mounting frames respectively adapted to the corresponding walking tracks, and the rear ends of the track wheel mounting frames are each installed with a tensioning wheel adjustment bracket extending backward, the active track wheel of the walking track is installed at the front end of the corresponding track wheel mounting frame, the tensioning track wheel of the walking track is installed at the rear end of the corresponding tensioning wheel adjustment bracket, and can be adjusted forward and backward under the control of the tensioning wheel adjustment bracket, and each walking track wheel of the walking track is installed on the corresponding track wheel mounting frame and is located between the corresponding active track wheel and the tensioning track wheel.

[0011] In some embodiments, the tooling includes a tooling mounting base installed at the end of the corresponding robotic arm and a fixed hook and a movable hook installed parallel to each other on the tooling mounting base, the tooling mounting base has a fixed mounting sleeve fixedly connected thereto and a movable mounting sleeve that can approach or move away from the fixed mounting sleeve, the movable mounting sleeve can be locked or unlocked by a first locking member, the fixed hook is fixedly mounted on the fixed mounting sleeve, and the movable hook is fixedly mounted on the movable mounting sleeve.

[0012] In some embodiments, the tooling includes a fixed splint installed at the end of the corresponding robotic arm and a movable splint movably installed on the fixed splint, the movable splint can be locked or unlocked by a second locking member, the outer edge of the fixed splint on one side away from the movable splint is bent to form a first clamping portion, the outer edge of the movable splint on one side away from the fixed splint is bent to form a second clamping portion arranged opposite to the first clamping portion, two limit clips located on both sides of the moving direction of the movable splint can be movably installed on the fixed splint, and the limit clips can be locked or unlocked by a third locking member.

[0013] In some embodiments, the transmission further comprises a hydraulic control system, a first accumulator connected to the first hydraulic chamber, and a second accumulator connected to the second hydraulic chamber;

[0014] The first energy accumulator comprises a first energy accumulator shell mounted on the box body, a first electromagnetic valve mounted on the first energy accumulator shell, a first energy storage cavity, a first hydraulic oil flow channel communicating with the first hydraulic cavity and the hydraulic control system, and a first energy storage flow channel connecting the first energy storage cavity and the first hydraulic oil flow channel, the first electromagnetic valve being capable of blocking or conducting the first energy storage flow channel, the first energy storage cavity being provided with a first piston capable of approaching or moving away from the first energy storage flow channel, a first energy storage spring for driving the first piston to approach the first energy storage flow channel, a first position sensor for detecting whether the first piston reaches the energy storage completion position, and a first pressure sensor for detecting whether the first piston reaches the energy storage starting position, and the hydraulic control system being capable of driving the first piston to compress the first energy storage spring through hydraulic pressure;

[0015] The second energy accumulator comprises a second energy accumulator shell mounted on the box body, a second electromagnetic valve mounted on the second energy accumulator shell, a second energy storage cavity, a second hydraulic oil flow channel communicating with the second hydraulic cavity and the hydraulic control system, and a second energy storage flow channel connecting the second energy storage cavity and the second hydraulic oil flow channel, the second electromagnetic valve being capable of blocking or conducting the second energy storage flow channel, the second energy storage cavity being provided with a second piston capable of approaching or moving away from the second energy storage flow channel, a second energy storage spring for driving the second piston to approach the second energy storage flow channel, a second position sensor for detecting whether the second piston reaches the energy storage completion position, and a second pressure sensor for detecting whether the second piston reaches the energy storage starting position, and the hydraulic control system being capable of driving the second piston to compress the second energy storage spring through hydraulic pressure.

[0016] In some embodiments, a first oil return port for returning hydraulic oil to the hydraulic control system is formed on the first energy accumulator shell, the first oil return port being located at one end of the first energy storage spring away from the first piston;

[0017] A second oil return port for returning hydraulic oil to the hydraulic control system is formed on the second energy accumulator shell, the second oil return port being located at one end of the second energy storage spring away from the second piston;

[0018] The first oil return port and the second oil return port are both communicated with an oil inlet port formed on the box body through pipelines.

[0019] In some embodiments, the first multi-plate clutch includes a first outer plate mounting seat surrounding an outer ring gear, a plurality of first inner friction plates axially movably mounted on an outer circumferential surface of the inner ring gear, and a plurality of first outer friction plates axially movably mounted on an inner circumferential surface of the first outer plate mounting seat, the first outer plate mounting seat being fixedly mounted in a housing, the housing having a fixed clamping surface, the first inner friction plates and the first outer friction plates being alternately arranged between the fixed clamping surface and a first clamping piston of a first hydraulic cylinder, and a first return spring being arranged between the first clamping piston and the housing for driving the first clamping piston away from the fixed clamping surface;

[0020] The second multi-plate clutch includes a second outer plate mounting seat fixedly mounted on the planetary carrier, a plurality of second inner friction plates axially movably mounted on the outer circumference of the input shaft, and a plurality of second outer friction plates axially movably mounted on the inner circumference of the second outer plate mounting seat. A fixed clamping seat is synchronously rotated on the input shaft, and each second inner friction plate and each second outer friction plate are alternately arranged between the fixed clamping seat and the second clamping piston of the second hydraulic cylinder. A second return spring is arranged between the second clamping piston and the input shaft for driving the second clamping piston away from the fixed clamping seat.

[0021] In some embodiments, a first conducting hole adapted to the first energy storage flow channel is formed on the piston rod of the first solenoid valve. When the first conducting hole is located in the first energy storage flow channel by the extension and contraction of the piston rod of the first solenoid valve, the first energy storage flow channel is in a conducting state. When the first conducting hole is offset from the first energy storage flow channel by the extension and contraction of the piston rod of the first solenoid valve, the first energy storage flow channel is in a disconnected state.

[0022] A second conducting hole adapted to the second energy storage flow channel is provided on the piston rod of the second solenoid valve. When the second conducting hole is located in the second energy storage flow channel through the extension and contraction of the piston rod of the second solenoid valve, the second energy storage flow channel is in a conducting state. When the second conducting hole is staggered with the second energy storage flow channel through the extension and contraction of the piston rod of the second solenoid valve, the second energy storage flow channel is in a disconnected state.

[0023] In some embodiments, the hydraulic control system includes a first, two-position, three-way valve, a second, two-position, three-way valve, a three-position, four-way valve, and a gear pump, wherein the first, two-position, three-way valve and the second, two-position, three-way valve each have a through position and a reflux position, and the three-position, four-way valve has a forward conducting position, a cutoff position, and a phase-changing conducting position. The housing is provided with an oil outlet for delivering hydraulic oil to the gear pump, and a driving gear of the gear pump is synchronously rotatably mounted on the input shaft.

[0024] Furthermore, when the input shaft rotates forward, the gear pump that pumps hydraulic oil in the forward direction can, under the coordinated control of the first solenoid valve, the second solenoid valve, the first two-position three-way valve, the second two-position three-way valve, and the three-position four-way valve:

[0025] applying hydraulic pressure to the first hydraulic cylinder and the first accumulator;

[0026] or,

[0027] applying hydraulic pressure to the second hydraulic cylinder and the second accumulator;

[0028] When the input shaft is reversed, the gear pump that pumps hydraulic oil in reverse can apply hydraulic pressure to the first hydraulic cylinder and the first accumulator under the coordinated control of the first solenoid valve, the second solenoid valve, the first two-position three-way valve, the second two-position three-way valve and the three-position four-way valve. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural diagram of a tracked vehicle from one perspective;

[0030] Figure 2 This is a structural diagram of the tracked vehicle from another perspective;

[0031] Figure 3 A schematic diagram of the coordination relationship between one type of robotic arm and one type of tooling;

[0032] Figure 4 This is a schematic diagram of the coordination relationship between another type of robotic arm and another type of tooling;

[0033] Figure 5 is a schematic diagram of the structure of the transmission;

[0034] Figure 6 It is a structural diagram of the gear pump;

[0035] Figure 7 This is a schematic diagram of the hydraulic control system in working state when in low-speed forward gear;

[0036] Figure 8 This is a schematic diagram of the hydraulic control system in a shutdown state when in low-speed forward gear;

[0037] Figure 9 This is a schematic diagram of the hydraulic control system in working condition when in high-speed forward gear;

[0038] Figure 10 This is a schematic diagram of the hydraulic control system in a shutdown state when in high-speed forward gear;

[0039] Figure 11 This is a schematic diagram of the hydraulic control system in working state when in reverse gear;

[0040] Figure 12 This is a schematic diagram showing the hydraulic control system in shutdown state when in reverse gear. DETAILED DESCRIPTION

[0041] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0042] Example 1:

[0043] like Figure 1 and Figure 2 As shown, an automated assembly crawler vehicle mainly comprises a vehicle body 23 and two sets of crawler tracks 24 mounted parallel to each other on the bottom of the vehicle body 23. The vehicle body 23 is also equipped with two drive motors 25 and two transmissions. The two drive motors 25 drive the crawler tracks 24 through corresponding transmissions. Furthermore, at least one set of robotic arms 26 is mounted on top of the vehicle body 23. Specifically, the vehicle body 23 can be equipped with one or more sets of robotic arms 26, each of which is equipped with a tooling 27 at its end, thereby achieving automated transport.

[0044] See Figure 2 The vehicle body 23 includes a vehicle frame 23a and a vehicle shell 23b mounted on the vehicle frame 23a. Both sides of the vehicle frame 23a are provided with track wheel mounting brackets 23a1, each adapted to correspond to a corresponding set of running tracks 24. The two sets of running tracks 24 are mounted on the corresponding track wheel mounting brackets 23a1. Specifically, the rear ends of the track wheel mounting brackets 23a1 are each mounted with a rearward-extending tensioning wheel adjustment bracket 23a2. The active track wheel 24a of the running track 24 is mounted to the front end of the corresponding track wheel mounting bracket 23a1, and the tensioning track wheel 24b of the running track 24 is mounted to the rear end of the corresponding tensioning wheel adjustment bracket 23a2. The position of the tensioning track wheel 24b can be adjusted forward and backward under the control of the tensioning wheel adjustment bracket 23a2. Specifically, by adjusting the tensioning wheel adjustment bracket 23a2, the position of the tensioning track wheel 24b can be moved forward and backward, thereby loosening or tightening the running track 24. In addition, each traveling track wheel 24c of the traveling track 24 is mounted on the corresponding track wheel mounting frame 23a1 and is located between the corresponding driving track wheel 24a and the tensioning track wheel 24b, which is simple and reliable.

[0045] Furthermore, the tensioning wheel adjustment bracket 23a2 is a set of manual adjustment push rods based on a screw-nut motion pair. By rotating the screw of the tensioning wheel adjustment bracket 23a2, the tensioning track wheel 24b can be driven to move forward and backward, which is simple and reliable.

[0046] The robotic arm 26 and the tooling 27 can be implemented in a variety of ways. This embodiment includes the following two examples:

[0047] Implementation Method 1 of Robotic Arm 26 and Tooling 27: Please refer to Figure 1 and Figure 3The tooling 27 includes a tooling mounting base 27a mounted at the end of the corresponding robotic arm 26, and a fixed hook 27b and a movable hook 27c mounted parallel to the tooling mounting base 27a. The tooling mounting base 27a has a fixed mounting sleeve 27a1 fixedly connected thereto, and a movable mounting sleeve 27a2 that can move toward or away from the fixed mounting sleeve 27a1. The movable mounting sleeve 27a2 can be locked or unlocked by a first locking member 27a3. The fixed hook 27b is fixedly mounted on the fixed mounting sleeve 27a1, and the movable hook 27c is fixedly mounted on the movable mounting sleeve 27a2. In this embodiment, the fixed mounting sleeve 27a1 is provided with two first slits. The first locking member 27a3 is a first locking bolt that matches the corresponding first slits. When all the first locking bolts are loosened, the position of the movable mounting sleeve 27a2 can be adjusted. When all the first locking bolts are tightened, the position of the movable mounting sleeve 27a2 can be locked. At the same time, the robot arm 26 of this embodiment has the freedom of lifting and lowering and multiple rotations.

[0048] Implementation Method 2 of Robotic Arm 26 and Tooling 27: Please refer to Figure 1 and Figure 4 The tooling 27 includes a fixed clamping plate 27d installed at the end of the corresponding robotic arm 26 and a movable clamping plate 27e that can be movably installed on the fixed clamping plate 27d. The movable clamping plate 27e can be locked or unlocked by a second locking member 27f. The outer edge of the fixed clamping plate 27d on one side away from the movable clamping plate 27e is bent to form a first clamping portion 27d1. The outer edge of the movable clamping plate 27e on one side away from the fixed clamping plate 27d is bent to form a second clamping portion 27e1 arranged opposite to the first clamping portion 27d1. Two limit clips 27g located on both sides of the moving direction of the movable clamping plate 27e are movably installed on the fixed clamping plate 27d. The limit clips 27g can be locked or unlocked by a third locking member 27h. In this embodiment, the fixed plate 27d is provided with two second slits. The second locking members 27f are second locking bolts that mate with the corresponding second slits. Loosening all the second locking bolts allows adjustment of the position of the movable plate 27e. Tightening all the second locking bolts locks the movable plate 27e. The fixed plate 27d is also provided with two third slits, extending perpendicularly to the direction of the two second slits. The third locking members 27h are third locking bolts that mate with the corresponding third slits. Loosening all the third locking bolts allows adjustment of the position of the two limit clips 27g. Tightening all the third locking bolts locks the position of the two limit clips 27g. Furthermore, the robotic arm 26 of this embodiment has multiple degrees of rotational freedom.

[0049] See Figure 5 and Figure 6The transmission includes a housing 1 and an input shaft 2 and an output shaft 3 coaxially arranged in the housing 1, wherein the input shaft 2 is used for power input, the motor shaft of the drive motor 25 is connected to the input shaft 2, and the two rotate synchronously, and the output shaft 3 is used for power output, and the active track wheel 24a of the walking track 24 is synchronously rotated and mounted on the output shaft 3.

[0050] Specifically, the end of the input shaft 2 away from the output shaft 3 rotates coaxially with the motor shaft of the corresponding drive motor 25, and the end of the input shaft 2 close to the output shaft 3 has a sun gear 2a that rotates synchronously with the sun gear 2a, and the end of the output shaft 3 away from the input shaft 2 rotates synchronously with the active track wheel 24a of the corresponding walking track 24. The end of the output shaft 3 close to the input shaft 2 has a planetary carrier 4 that rotates synchronously with the sun gear 2a, and at least three planetary gears 5 circumferentially distributed around the sun gear 2a are rotatably mounted on the planetary carrier 4, and each planetary gear 5 is engaged with the sun gear 2a. The housing 1 is clutched and connected to an inner ring gear 7 that is simultaneously engaged with each planetary gear 5 through a first multi-plate clutch 6, and the input shaft 2 is clutched and connected to the planetary carrier 4 through a second multi-plate clutch 8. A first hydraulic chamber 11 and a second hydraulic chamber 12 are provided in the housing 1, and a first hydraulic cylinder 13 for controlling the engagement or disconnection of the first multi-plate clutch 6 is provided in the first hydraulic chamber 11, and a second hydraulic cylinder 14 for controlling the engagement or disconnection of the second multi-plate clutch 8 is provided in the second hydraulic chamber 12. Therefore, a two-speed reduction mechanism based on a planetary gear train is formed.

[0051] When the motor shaft of the drive motor 25 drives the input shaft 2 to rotate forward, the first hydraulic cylinder 13 controls the first multi-plate clutch 6 to be in the engaged state, and the second hydraulic cylinder 14 controls the second multi-plate clutch 8 to be in the disengaged state, it is in the low-speed forward gear, the internal gear 7 is locked, and when the input shaft 2 rotates, each planetary gear 5 rotates while also revolving along the sun gear 2a. The revolution of each planetary gear 5 drives the planetary carrier 4 to rotate at the same speed, and the planetary carrier 4 drives the output shaft 3 to rotate synchronously with it. Since the revolution speed of each planetary gear 5 is less than the rotation speed of the input shaft 2, a reduction transmission is achieved.

[0052] When the motor shaft of the drive motor 25 drives the input shaft 2 to rotate forward, the first hydraulic cylinder 13 controls the first multi-plate clutch 6 to be in a disconnected state, and the second hydraulic cylinder 14 controls the second multi-plate clutch 8 to be in an engaged state, it is in a high-speed forward gear and the ring gear 7 is not locked. When the input shaft 2 rotates, the second multi-plate clutch 8 drives the planetary carrier 4 to rotate synchronously with it, and the planetary carrier 4 drives the output shaft 3 to rotate synchronously with it. Therefore, the rotation speed of the input shaft 2 and the output shaft 3 is the same, realizing high-speed direct drive.

[0053] When in reverse gear, the motor shaft of the drive motor 25 drives the input shaft 2 to reverse, the first hydraulic cylinder 13 controls the first multi-plate clutch 6 to be in the engaged state, and the second hydraulic cylinder 14 controls the second multi-plate clutch 8 to be in the disengaged state. Except that the rotation directions of the components are opposite, the transmission path is exactly the same as the low-speed forward gear.

[0054] The first multi-plate clutch 6 includes a first outer plate mounting seat 6a surrounding the outer periphery of the inner ring gear 7, multiple first inner friction plates 6b axially movably mounted on the outer periphery of the inner ring gear 7, and multiple first outer friction plates 6c axially movably mounted on the inner periphery of the first outer plate mounting seat 6a. The first outer plate mounting seat 6a is fixedly mounted in the housing 1, which has a fixed clamping surface 1c. The first inner friction plates 6b and first outer friction plates 6c are alternately positioned between the fixed clamping surface 1c and a first clamping piston 13a of a first hydraulic cylinder 13. A first return spring 13b is positioned between the first clamping piston 13a and the housing 1 to urge the first clamping piston 13a away from the fixed clamping surface 1c. When the hydraulic control system applies hydraulic pressure to the first clamping piston 13a of the first hydraulic cylinder 13, the first inner friction plates 6b and first outer friction plates 6c are clamped between the fixed clamping surface 1c and the first clamping piston 13a, thereby locking the inner ring gear 7 and preventing it from rotating. When the hydraulic control system does not apply hydraulic pressure to the first clamping piston 13a of the first hydraulic cylinder 13, the first clamping piston 13a releases the first inner friction plates 6b and the first outer friction plates 6c, thereby unlocking the inner ring gear 7 and allowing the inner ring gear 7 to rotate relative to the housing 1.

[0055] The second multi-plate clutch 8 comprises a second outer plate mounting seat 8a fixedly mounted on the planetary carrier 4, a plurality of second inner friction plates 8b axially movably mounted on the outer circumference of the input shaft 2, and a plurality of second outer friction plates 8c axially movably mounted on the inner circumference of the second outer plate mounting seat 8a. A fixed clamping seat 19 is mounted on the input shaft 2 for synchronous rotation. The second inner friction plates 8b and the second outer friction plates 8c are alternately positioned between the fixed clamping seat 19 and the second clamping piston 14a of the second hydraulic cylinder 14. A second return spring 14b is positioned between the second clamping piston 14a and the input shaft 2 to urge the second clamping piston 14a away from the fixed clamping seat 19. When the hydraulic control system applies hydraulic pressure to the second clamping piston 14a of the second hydraulic cylinder 14, the second inner friction plates 8b and the second outer friction plates 8c are clamped between the fixed clamping seat 19 and the second clamping piston 14a, thereby locking the planetary carrier 4 and enabling synchronous rotation of the planetary carrier 4 and the input shaft 2. When the hydraulic control system does not apply hydraulic pressure to the second clamping piston 14a of the second hydraulic cylinder 14, the second clamping piston 14a releases the second inner friction plates 8b and the second outer friction plates 8c, thereby unlocking the planetary carrier 4 and allowing the planetary carrier 4 to rotate relative to the input shaft 2.

[0056] Further, the inner edge of the first inner friction plate 6b is in spline engagement with the outer peripheral surface of the inner ring 7, and the outer edge of the first outer friction plate 6c is in spline engagement with the inner peripheral surface of the first outer plate mounting seat 6a; similarly, the inner edge of the second inner friction plate 8b is in spline engagement with the outer peripheral surface of the input shaft 2, and the outer edge of the second outer friction plate 8c is in spline engagement with the inner peripheral surface of the second outer plate mounting seat 8a. The above structure not only enables the first inner friction plate 6b, the first outer friction plate 6c, the second inner friction plate 8b and the second outer friction plate 8c to rotate synchronously with the counterpart, but also enables them to move axially along the counterpart, and is easy to assemble and stable and reliable.

[0057] Please refer to Figures 5-12 The energy-saving multi-plate clutch type two-gear transmission further comprises a hydraulic control system, a first energy accumulator 9 connected with the first hydraulic cavity 11, and a second energy accumulator 10 connected with the second hydraulic cavity 12, the first energy accumulator 9 is used for energy storage when the low-speed forward gear and the reverse gear are selected, and the second energy accumulator 10 is used for energy storage when the high-speed forward gear is selected.

[0058] When the energy-saving multi-plate clutch type two-gear transmission is in the low-speed forward gear and the reverse gear, the second hydraulic cavity 12 has no pressure, so the second multi-plate clutch 8 is in the disengaged state. The hydraulic control system first pressurizes the first hydraulic cavity 11, so that the first multi-plate clutch 6 is in the engaged state through the first hydraulic cylinder 13, and at the same time, the first energy accumulator 9 synchronously stores energy. And after the first energy accumulator 9 completes energy storage, the hydraulic control system disconnects the communication between the first hydraulic cavity 11 and the hydraulic control system, at this time, the first hydraulic cavity 11 is kept at high pressure by the hydraulic pressure stored in the first energy accumulator 9, so that the first multi-plate clutch 6 is kept in the engaged state through the first hydraulic cylinder 13.

[0059] When the energy-saving multi-plate clutch type two-gear transmission is in the high-speed forward gear, the first hydraulic cavity 11 has no pressure, so the first multi-plate clutch 6 is in the disengaged state. The hydraulic control system first pressurizes the second hydraulic cavity 12, so that the second multi-plate clutch 8 is in the engaged state through the second hydraulic cylinder 14, and at the same time, the second energy accumulator 10 synchronously stores energy. And after the second energy accumulator 10 completes energy storage, the hydraulic control system disconnects the communication between the second hydraulic cavity 12 and the hydraulic control system, at this time, the second hydraulic cavity 12 is kept at high pressure by the hydraulic pressure stored in the second energy accumulator 10, so that the second multi-plate clutch 8 is kept in the engaged state through the second hydraulic cylinder 14.

[0060] As can be seen from the above, the hydraulic control system is in a shutdown state regardless of whether the first accumulator 9 or the second accumulator 10 is outputting hydraulic pressure. This not only effectively reduces energy consumption and improves the overall cruising range, but also provides the hydraulic control system with more downtime, thereby reducing fatigue of the hydraulic control system and significantly reducing the frequency of failures in the hydraulic control system, thereby extending the maintenance cycle and reducing usage and maintenance costs.

[0061] See Figure 5 The first accumulator 9 includes a first accumulator shell 9a installed on the box body 1 and a first solenoid valve 9e installed on the first accumulator shell 9a. The first accumulator shell 9a has a first energy storage chamber 9b, a first hydraulic oil flow channel 9c connecting the first hydraulic chamber 11 and the hydraulic control system, and a first energy storage flow channel 9d connecting the first energy storage chamber 9b and the first hydraulic oil flow channel 9c. The first solenoid valve 9e can block or conduct the first energy storage flow channel 9d. The first energy storage chamber 9b is provided with a first piston 9f that can approach or move away from the first energy storage flow channel 9d, a first energy storage spring 9g for driving the first piston 9f to approach the first energy storage flow channel 9d, a first position sensor 9h for detecting whether the first piston 9f has reached the energy storage completion position, and a first pressure sensor 9i for detecting whether the first piston 9f has reached the energy storage start position. The hydraulic control system can drive the first piston 9f to compress the first energy storage spring 9g through hydraulic pressure.

[0062] Therefore, in low-speed forward and reverse gears, the hydraulic control system first applies hydraulic pressure to the first hydraulic chamber 11 through the first hydraulic oil flow channel 9c. High-pressure hydraulic oil also enters the first energy storage chamber 9b through the first energy storage flow channel 9d, pushing the first piston 9f away from the first pressure sensor 9i to compress the first energy storage spring 9g, converting the hydraulic pressure into the elastic potential energy of the first energy storage spring 9g. When the first position sensor 9h detects the first piston 9f, energy storage in the first accumulator 9 is complete. At this point, the hydraulic control system shuts down and no longer applies hydraulic pressure to the first hydraulic chamber 11 through the first hydraulic oil flow channel 9c. The hydraulic pressure in the first hydraulic chamber 11 is instead provided by the elastic potential energy of the first energy storage spring 9g. During this process, the hydraulic oil in the first energy storage chamber 9b gradually decreases until the first pressure sensor 9i detects the first piston 9f. The hydraulic control system then restarts, and the first accumulator 9 begins to store energy again, repeating this cycle.

[0063] The second accumulator 10 includes a second accumulator housing 10a installed on the box body 1 and a second solenoid valve 10e installed on the second accumulator housing 10a. The second accumulator housing 10a has a second energy storage chamber 10b, a second hydraulic oil flow channel 10c connecting the second hydraulic chamber 12 and the hydraulic control system, and a second energy storage flow channel 10d connecting the second energy storage chamber 10b and the second hydraulic oil flow channel 10c. The second solenoid valve 10e can block or conduct the second energy storage flow channel 10d. The second energy storage chamber 10b is provided with a second piston 10f that can approach or move away from the second energy storage flow channel 10d, a second energy storage spring 10g for driving the second piston 10f to approach the second energy storage flow channel 10d, a second position sensor 10h for detecting whether the second piston 10f has reached the energy storage completion position, and a second pressure sensor 10i for detecting whether the second piston 10f has reached the energy storage start position. The hydraulic control system can drive the second piston 10f to compress the second energy storage spring 10g through hydraulic pressure.

[0064] Therefore, in high-speed forward gear, the hydraulic control system first applies hydraulic pressure to the second hydraulic chamber 12 via the second hydraulic oil flow channel 10c. High-pressure hydraulic oil also enters the second energy storage chamber 10b via the second energy storage flow channel 10d, pushing the second piston 10f away from the second pressure sensor 10i, compressing the second energy storage spring 10g, converting the hydraulic pressure into the elastic potential energy of the second energy storage spring 10g. When the second position sensor 10h detects the second piston 10f, energy storage in the second accumulator 10 is complete. At this point, the hydraulic control system shuts down, no longer applying hydraulic pressure to the second hydraulic chamber 12 via the second hydraulic oil flow channel 10c. The hydraulic pressure in the second hydraulic chamber 12 is instead provided by the elastic potential energy of the second energy storage spring 10g. During this process, the hydraulic oil in the second energy storage chamber 10b gradually decreases until the second pressure sensor 10i detects the second piston 10f. The hydraulic control system then restarts, and the second accumulator 10 begins to store energy again, repeating this cycle.

[0065] Furthermore, the first accumulator housing 9a is provided with a first oil return port 9j for returning the hydraulic oil to the hydraulic control system. The first oil return port 9j is located at the end of the first energy storage spring 9g away from the first piston 9f. The hydraulic oil that seeps through the first piston 9f is returned to the box body 1 through the first oil return port 9j. Specifically, the internal space of the box body 1 serves as an oil storage tank for the hydraulic oil of the hydraulic control system. Therefore, the box body 1 is provided with an oil inlet 1b and an oil outlet 1a connected to the oil storage tank, and the first oil return port 9j is connected to the oil inlet 1b through a pipeline.

[0066] Similarly, the second accumulator housing 10a is provided with a second oil return port 10j for returning the hydraulic oil to the hydraulic control system. The second oil return port 10j is located at the end of the second energy storage spring 10g away from the second piston 10f. The hydraulic oil that seeps through the second piston 10f is returned to the tank 1 through the second oil return port 10j, that is, the second oil return port 10j is connected to the oil inlet 1b through a pipeline.

[0067] See Figure 5 A first conducting hole 9e1 is provided on the piston rod of the first solenoid valve 9e, which is compatible with the first energy storage flow channel 9d. When the first solenoid valve 9e extends and contracts the piston rod so that the first conducting hole 9e1 is located in the first energy storage flow channel 9d, the first energy storage flow channel 9d is in a conducting state. When the first solenoid valve 9e extends and contracts the piston rod so that the first conducting hole 9e1 is offset from the first energy storage flow channel 9d, the first energy storage flow channel 9d is in a disconnected state. The on-off control of the first energy storage flow channel 9d by the first solenoid valve 9e is simple and reliable.

[0068] Similarly, a second conducting hole 10e1 is provided on the piston rod of the second solenoid valve 10e, which is compatible with the second energy storage channel 10d. When the second solenoid valve 10e causes the second conducting hole 10e1 to be located in the second energy storage channel 10d through the extension and contraction of the piston rod, the second energy storage channel 10d is in a conducting state. When the second solenoid valve 10e causes the second conducting hole 10e1 to be offset from the second energy storage channel 10d through the extension and contraction of the piston rod, the second energy storage channel 10d is in a disconnected state. The on-off control of the second energy storage channel 10d by the second solenoid valve 10e is simple and reliable.

[0069] See Figures 5-12 The hydraulic control system includes a first, second, third, and fourth-way valve 16, a second, second, third, and fourth-way valve 17, a third, fourth-way valve 18, and a gear pump 15. Both the first, second, third, and fourth-way valves 16 and 17 have a through position a and a return position b. The third, fourth-way valve 18 has a forward conducting position c, a cutoff position d, and a reverse conducting position e. Hydraulic oil output from an oil outlet 1a on the housing 1 flows to the gear pump 15. The gear pump 15 comprises a driving gear 15a, which is synchronously mounted on the input shaft 2, and a driven gear 15b meshing with the driving gear 15a. Oil grooves are provided on the circumferential outer edges of the driving gear 15a and the driven gear 15b. An oil suction port 15c and an oil pump port 15d are respectively provided on either side of the meshing position between the driving gear 15a and the driven gear 15b. When the driving gear 15a rotates forward, hydraulic oil is drawn into the oil grooves of the driving gear 15a and the driven gear 15b through the oil suction port 15c and then pumped out through the oil pump port 15d. When the driving gear 15a rotates reversely, the hydraulic oil is sucked into the oil grooves of the driving gear 15a and the driven gear 15b through the oil pump port 15d, and then pumped out from the oil suction port 15c.

[0070] Specifically, when the input shaft 2 rotates forward, the gear pump 15 pumping hydraulic oil forward can apply hydraulic pressure to the first hydraulic cylinder 13 and the first accumulator 9 if in the low-speed forward gear, or to the second hydraulic cylinder 14 and the second accumulator 10 if in the high-speed forward gear, under the coordinated control of the first electromagnetic valve 9e, the second electromagnetic valve 10e, the first two-position three-way valve 16, the second two-position three-way valve 17 and the three-position four-way valve 18.

[0071] When the input shaft 2 rotates reversely, the gear pump 15 pumping hydraulic oil reversely can apply hydraulic pressure to the first hydraulic cylinder 13 and the first accumulator 9 under the coordinated control of the first electromagnetic valve 9e, the second electromagnetic valve 10e, the first two-position three-way valve 16, the second two-position three-way valve 17 and the three-position four-way valve 18.

[0072] Further, the hydraulic control system further comprises a filter 22 and a pressure relief valve 21, the hydraulic oil output from the oil outlet 1a is filtered by the filter 22 and then enters the gear pump 15, the hydraulic oil pumped by the gear pump 15 is output at a constant pressure after the pressure is adjusted by the pressure relief valve 21, thereby ensuring the stability and reliability of the operation of the first hydraulic cylinder 13, the first accumulator 9, the second hydraulic cylinder 14 and the second accumulator 10.

[0073] Embodiment 2:

[0074] Please refer to Figures 5-12 An energy-saving gear shifting method of the transmission of embodiment 1 is performed according to the following steps:

[0075] S1, detecting the rotating direction of the input shaft 2: if the input shaft 2 rotates forward, entering step S2; if the input shaft 2 rotates reversely, entering step S5.

[0076] S2, detecting whether the rotating speed of the input shaft 2 is higher than a set value: no, entering step S3; yes, entering step S3.

[0077] S3, entering the low-speed forward gear (please refer to Figure 7 and Figure 8 ), and performing the following steps:

[0078] S31, the first electromagnetic valve 9e makes the first accumulator flow channel 9d conductive, the first two-position three-way valve 16 and the second two-position three-way valve 17 are both in the straight-through position a, and the three-position four-way valve 18 is in the forward conductive position c; at this time, the second electromagnetic valve 10e blocks the second accumulator flow channel 10d, which can save the hydraulic energy in the second accumulator 10 to further improve the energy-saving effect.

[0079] S32. The hydraulic oil output from the oil outlet 1a is pumped into the first hydraulic oil flow channel 9c through the gear pump 15 of the forward pumping oil. A part of the hydraulic oil in the first hydraulic oil flow channel 9c flows into the first hydraulic chamber 11, so that the first clamping piston 13a of the first hydraulic cylinder 13 presses each first inner friction plate 6b and each first outer friction plate 6c, thereby keeping the inner gear ring 7 stationary. At this time, the second clamping piston 14a of the second hydraulic cylinder 14 releases each second inner friction plate 8b and each second outer friction plate 8c. At the same time, another part of the hydraulic oil in the first hydraulic oil flow channel 9c flows into the first energy storage chamber 9b through the first energy storage flow channel 9d, and pushes the first piston 9f to compress the first energy storage spring 9g until the first position sensor 9h detects the first piston 9f. The energy storage of the first accumulator 9 is completed, and the next step is entered.

[0080] S33, the three-position four-way valve 18 is switched to the cut-off position d. At the same time, the gear pump 15 is shut down. The elastic potential energy of the first energy storage spring 9g provides the first clamping piston 13a of the first hydraulic cylinder 13 with the hydraulic pressure to press the first inner friction plates 6b and the first outer friction plates 6c until the first pressure sensor 9i detects the first piston 9f. The hydraulic energy in the first accumulator 9 is released, the three-position four-way valve 18 is switched to the forward conduction position c, and returns to step S32.

[0081] Step S3 is repeated in this way until a gear shift is required.

[0082] S4, enter high speed forward gear (see Figure 9 and Figure 10 ) and follow these steps:

[0083] In step S41, the second solenoid valve 10e opens the second energy storage flow channel 10d, the first two-position three-way valve 16 and the second two-position three-way valve 17 are both in the straight-through position a, and the three-position four-way valve 18 is in the disguised conduction position e. At this time, the first solenoid valve 9e blocks the first energy storage flow channel 9d, thereby preserving the hydraulic energy in the first accumulator 9 and further improving the energy-saving effect.

[0084] S42. The hydraulic oil output from the oil outlet 1a is pumped into the second hydraulic oil flow channel 10c through the gear pump 15 of the forward pumping oil. A part of the hydraulic oil in the second hydraulic oil flow channel 10c flows into the second hydraulic chamber 12, so that the second clamping piston 14a of the second hydraulic cylinder 14 presses each second inner friction plate 8b and each second outer friction plate 8c, thereby making the planetary carrier 4 rotate synchronously with the input shaft 2. At this time, the first clamping piston 13a releases each first inner friction plate 6b and each first outer friction plate 6c. At the same time, another part of the hydraulic oil in the second hydraulic oil flow channel 10c flows into the second energy storage chamber 10b through the second energy storage flow channel 10d, and pushes the second piston 10f to compress the second energy storage spring 10g until the second position sensor 10h detects the second piston 10f. The second accumulator 10 completes energy storage and enters the next step.

[0085] S43, the three-position four-way valve 18 is switched to the cut-off position d. At the same time, the gear pump 15 is shut down. The elastic potential energy of the second energy storage spring 10g provides the second clamping piston 14a of the second hydraulic cylinder 14 with the liquid pressure to press each second inner friction plate 8b and each second outer friction plate 8c until the second pressure sensor 10i detects the second piston 10f. The hydraulic energy in the second accumulator 10 is released, the three-position four-way valve 18 is switched to the disguised conduction position e, and the process returns to step S42.

[0086] Step S4 is repeated in this way until a gear shift is required.

[0087] S5, enter reverse gear (see Figure 11 and Figure 12 ) and follow these steps:

[0088] S51: The first solenoid valve 9e opens the first energy storage flow channel 9d, the first two-position three-way valve 16 and the second two-position three-way valve 17 are both in the return position b, and the three-position four-way valve 18 is in the forward conduction position c. At this time, the second solenoid valve 10e blocks the second energy storage flow channel 10d, which can preserve the hydraulic energy in the second accumulator 10, thereby further improving the energy-saving effect.

[0089] S52. The hydraulic oil output from the oil outlet 1a is pumped into the first hydraulic oil flow channel 9c through the reverse pumping gear pump 15. A part of the hydraulic oil in the first hydraulic oil flow channel 9c flows into the first hydraulic chamber 11, causing the first clamping piston 13a of the first hydraulic cylinder 13 to press each first inner friction plate 6b and each first outer friction plate 6c, thereby keeping the inner gear ring 7 stationary. At this time, the second clamping piston 14a of the second hydraulic cylinder 14 releases each second inner friction plate 8b and each second outer friction plate 8c. At the same time, another part of the hydraulic oil in the first hydraulic oil flow channel 9c flows into the first energy storage chamber 9b through the first energy storage flow channel 9d, and pushes the first piston 9f to compress the first energy storage spring 9g until the first position sensor 9h detects the first piston 9f. The energy storage of the first accumulator 9 is completed, and the next step is entered.

[0090] S53, the three-position four-way valve 18 is switched to the cut-off position d. At the same time, the gear pump 15 is shut down. The elastic potential energy of the first energy storage spring 9g provides the first clamping piston 13a of the first hydraulic cylinder 13 with the liquid pressure to press each first inner friction plate 6b and each first outer friction plate 6c until the first pressure sensor 9i detects the first piston 9f. The hydraulic energy in the first accumulator 9 is released, the three-position four-way valve 18 is switched to the forward conduction position c, and returns to step S52.

[0091] Step S5 is repeated in this way until a gear shift is required.

[0092] Finally, it should be noted that the above description is only a preferred embodiment of the present invention. Under the guidance of the present invention, ordinary technicians in this field can make various similar expressions without violating the purpose and claims of the present invention. Such changes fall within the scope of protection of the present invention.

Claims

1. An automated assembly crawler vehicle, characterized in that: The vehicle comprises a vehicle body, two sets of crawler tracks mounted parallel to each other at the bottom of the vehicle body, two drive motors and two transmissions mounted on the vehicle body, at least one set of robotic arms mounted on the top of the vehicle body, and a tooling mounted at the end of each robotic arm; The transmission includes a case body and an input shaft and an output shaft coaxially arranged in the case body, wherein one end of the input shaft away from the output shaft rotates coaxially with the motor shaft of the corresponding drive motor, and the end of the input shaft close to the output shaft has a sun gear that rotates synchronously with the sun gear, and the end of the output shaft away from the input shaft rotates synchronously with the active track wheel of the corresponding walking track, and the end of the output shaft close to the input shaft has a planetary carrier that rotates synchronously with the sun gear. At least three planetary gears distributed circumferentially around the sun gear are rotatably mounted on the planetary carrier, and each planetary gear is meshed with the sun gear. The case body is clutched with an internal gear ring that is simultaneously meshed with each planetary gear through a first multi-plate clutch, and the input shaft is clutched with the planetary carrier through a second multi-plate clutch. A first hydraulic chamber and a second hydraulic chamber are provided in the case body, and a first hydraulic cylinder for controlling the engagement or disconnection of the first multi-plate clutch is provided in the first hydraulic chamber, and a second hydraulic cylinder for controlling the engagement or disconnection of the second multi-plate clutch is provided in the second hydraulic chamber.

2. The automated assembly crawler vehicle according to claim 1, characterized in that: The vehicle body includes a vehicle frame and a vehicle shell covering and installed outside the vehicle frame. Both sides of the frame are provided with track wheel mounting frames respectively adapted to the corresponding walking tracks. The rear ends of the track wheel mounting frames are each installed with a tensioning wheel adjusting bracket extending backward. The active track wheel of the walking track is installed at the front end of the corresponding track wheel mounting frame. The tensioning track wheel of the walking track is installed at the rear end of the corresponding tensioning wheel adjusting bracket and can be adjusted forward and backward under the control of the tensioning wheel adjusting bracket. Each walking track wheel of the walking track is installed on the corresponding track wheel mounting frame and is located between the corresponding active track wheel and the tensioning track wheel.

3. The automated assembly crawler vehicle according to claim 1, characterized in that: The tooling includes a tooling mounting seat installed at the end of the corresponding robotic arm, and a fixed hook and a movable hook installed parallel to each other on the tooling mounting seat. The tooling mounting seat has a fixed mounting sleeve fixedly connected to it and a movable mounting sleeve that can approach or move away from the fixed mounting sleeve. The movable mounting sleeve can be locked or unlocked by a first locking piece. The fixed hook is fixedly mounted on the fixed mounting sleeve, and the movable hook is fixedly mounted on the movable mounting sleeve.

4. The automated assembly crawler vehicle according to claim 1, characterized in that: The tooling includes a fixed splint installed at the end of the corresponding robotic arm and a movable splint movably installed on the fixed splint, and the movable splint can be locked or unlocked by a second locking piece, and the outer edge of the fixed splint on one side away from the movable splint is bent to form a first clamping portion, and the outer edge of the movable splint on one side away from the fixed splint is bent to form a second clamping portion arranged opposite to the first clamping portion, and two limit clips located on both sides of the moving direction of the movable splint can be movably installed on the fixed splint, and the limit clips can be locked or unlocked by a third locking piece.

5. The automated assembly crawler vehicle according to claim 1, characterized in that: The transmission further includes a hydraulic control system, a first accumulator connected to the first hydraulic chamber, and a second accumulator connected to the second hydraulic chamber; The first accumulator includes a first accumulator housing mounted on a housing and a first solenoid valve mounted on the first accumulator housing. The first accumulator housing has a first energy storage chamber, a first hydraulic oil flow channel connecting the first hydraulic chamber and the hydraulic control system, and a first energy storage flow channel connecting the first energy storage chamber and the first hydraulic oil flow channel. The first solenoid valve is capable of blocking or conducting the first energy storage flow channel. The first energy storage chamber is provided with a first piston capable of approaching or moving away from the first energy storage flow channel, a first energy storage spring for driving the first piston to approach the first energy storage flow channel, a first position sensor for detecting whether the first piston has reached an energy storage completion position, and a first pressure sensor for detecting whether the first piston has reached an energy storage start position. The hydraulic control system is capable of driving the first piston to compress the first energy storage spring through hydraulic pressure. The second accumulator includes a second accumulator housing mounted on the box body and a second solenoid valve mounted on the second accumulator housing. The second accumulator housing has a second energy storage chamber, a second hydraulic oil flow channel connecting the second hydraulic chamber and the hydraulic control system, and a second energy storage flow channel connecting the second energy storage chamber and the second hydraulic oil flow channel. The second solenoid valve can block or conduct the second energy storage flow channel. The second energy storage chamber is provided with a second piston that can approach or move away from the second energy storage flow channel, a second energy storage spring for driving the second piston to approach the second energy storage flow channel, a second position sensor for detecting whether the second piston has reached the energy storage completion position, and a second pressure sensor for detecting whether the second piston has reached the energy storage start position. The hydraulic control system can drive the second piston to compress the second energy storage spring through hydraulic pressure.

6. The automated assembly crawler vehicle according to claim 5, characterized in that: The first accumulator housing is provided with a first oil return port for returning the hydraulic oil to the hydraulic control system, and the first oil return port is located at an end of the first energy storage spring away from the first piston; The second accumulator housing is provided with a second oil return port for returning the hydraulic oil to the hydraulic control system, and the second oil return port is located at an end of the second energy storage spring away from the second piston; The first oil return port and the second oil return port are both connected to the oil inlet opened on the box body through pipelines.

7. The automated assembly crawler vehicle according to claim 5, characterized in that: The first multi-plate clutch includes a first outer plate mounting seat surrounding an inner gear ring, a plurality of first inner friction plates axially movably mounted on an outer circumferential surface of the inner gear ring, and a plurality of first outer friction plates axially movably mounted on an inner circumferential surface of the first outer plate mounting seat, the first outer plate mounting seat being fixedly mounted in a housing, the housing having a fixed clamping surface, the first inner friction plates and the first outer friction plates being alternately arranged between the fixed clamping surface and a first clamping piston of a first hydraulic cylinder, and a first return spring being arranged between the first clamping piston and the housing for driving the first clamping piston away from the fixed clamping surface; The second multi-plate clutch includes a second outer plate mounting seat fixedly mounted on the planetary carrier, a plurality of second inner friction plates axially movably mounted on the outer circumference of the input shaft, and a plurality of second outer friction plates axially movably mounted on the inner circumference of the second outer plate mounting seat. A fixed clamping seat is synchronously rotated on the input shaft, and each second inner friction plate and each second outer friction plate are alternately arranged between the fixed clamping seat and the second clamping piston of the second hydraulic cylinder. A second return spring is arranged between the second clamping piston and the input shaft for driving the second clamping piston away from the fixed clamping seat.

8. The automated assembly crawler vehicle according to claim 5, characterized in that: A first conducting hole adapted to the first energy storage flow channel is formed on the piston rod of the first solenoid valve. When the first conducting hole is located in the first energy storage flow channel by the extension and contraction of the piston rod of the first solenoid valve, the first energy storage flow channel is in a conducting state. When the first conducting hole is offset from the first energy storage flow channel by the extension and contraction of the piston rod of the first solenoid valve, the first energy storage flow channel is in a disconnected state. A second conducting hole adapted to the second energy storage flow channel is provided on the piston rod of the second solenoid valve. When the second conducting hole is located in the second energy storage flow channel through the extension and contraction of the piston rod of the second solenoid valve, the second energy storage flow channel is in a conducting state. When the second conducting hole is staggered with the second energy storage flow channel through the extension and contraction of the piston rod of the second solenoid valve, the second energy storage flow channel is in a disconnected state.

9. The automated assembly crawler vehicle according to any one of claims 5 to 8, characterized in that: The hydraulic control system includes a first two-position three-way valve, a second two-position three-way valve, a three-position four-way valve, and a gear pump. The first two-position three-way valve and the second two-position three-way valve each have a through position and a reflux position. The three-position four-way valve has a forward conducting position, a cut-off position, and a phase-changing conducting position. The housing is provided with an oil outlet for delivering hydraulic oil to the gear pump. The driving gear of the gear pump is synchronously rotated and sleeved on the input shaft. Furthermore, when the input shaft rotates forward, the gear pump that pumps hydraulic oil in the forward direction can, under the coordinated control of the first solenoid valve, the second solenoid valve, the first two-position three-way valve, the second two-position three-way valve, and the three-position four-way valve: applying hydraulic pressure to the first hydraulic cylinder and the first accumulator; or, applying hydraulic pressure to the second hydraulic cylinder and the second accumulator; When the input shaft is reversed, the gear pump that pumps hydraulic oil in reverse can apply hydraulic pressure to the first hydraulic cylinder and the first accumulator under the coordinated control of the first solenoid valve, the second solenoid valve, the first two-position three-way valve, the second two-position three-way valve and the three-position four-way valve.

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