CN108860104A - The automatic anti-slip system of implement porter walking and its control method - Google Patents
The automatic anti-slip system of implement porter walking and its control method Download PDFInfo
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- CN108860104A CN108860104A CN201810728740.5A CN201810728740A CN108860104A CN 108860104 A CN108860104 A CN 108860104A CN 201810728740 A CN201810728740 A CN 201810728740A CN 108860104 A CN108860104 A CN 108860104A
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- flow divider
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- 235000020004 porter Nutrition 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000003921 oil Substances 0.000 claims abstract description 108
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 53
- 239000000523 sample Substances 0.000 claims abstract description 20
- 230000004907 flux Effects 0.000 claims abstract description 7
- 238000011010 flushing procedure Methods 0.000 claims description 25
- 239000012530 fluid Substances 0.000 claims description 12
- 238000011017 operating method Methods 0.000 claims description 6
- 239000002828 fuel tank Substances 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010705 motor oil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 102000012498 secondary active transmembrane transporter activity proteins Human genes 0.000 description 1
- 108040003878 secondary active transmembrane transporter activity proteins Proteins 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The invention discloses a kind of automatic anti-slip systems of implement porter walking, including hydraulic motor, speed probe and vehicle-mounted electronic control unit ECU, it further include hydraulic oil pump and hydraulic oil container, hydraulic oil pump be connected with connect with vehicle-mounted electronic control unit ECU it is fixed than part flow arrangement, it is fixed than part flow arrangement be equipped with it is fixed than divergent oil inlet channel, determine score effluent oil channel and determine score slime flux oil channel；Also disclose the control method of the system, pass through the cooperation of speed probe and vehicle-mounted electronic control unit ECU, judge whether traveling wheel has skidded phenomenon, when having skidded phenomenon, by controlling the fixed working condition than part flow arrangement, realize each hydraulic oil distribution ratio for determining score effluent oil channel, to play anti-slip function, it is intervened without being manually operated, reliable operation safety, and control method, control program are simply easily achieved, it can be according to the shunt ratio of the different discharge capacity flexible choice flow divider of front end hydraulic motor, rear end hydraulic motor.
Description
Technical field
The present invention relates to a kind of automatic anti-slip systems of implement porter walking, further relate to the tool of the automatic anti-slip system
Body controlling means.
Background technique
Traditional implement porter running gear does not have anti-slip function, and this implement porter ability of getting rid of poverty is poor,
Once underpan traveling system has skidded situation and is difficult to get rid of poverty, also there are a small number of traditional implement porters to have manual anti-slip function
Can, i.e., it needs to be manually operated into anti-slip mode, such case operation ease when operator observes chassis wheel-slip
It is low, timeliness is low, also influence Work machine operation effectiveness, reduce working efficiency；There are also some implement porter anti-slip function
It can control tactful complexity, control program is complicated, and anti-slip effect is bad.Therefore it with the development of implement porter technology,
The demand for asking running gear to have automatic anti-slip function is more more and more urgent.
Summary of the invention
Technical problem to be solved by the invention is to provide it is a kind of be easily achieved, the walking of reliable and stable implement porter from
Dynamic anti-slip system.
In order to solve the above technical problems, the technical scheme is that：The automatic anti-slip system of implement porter walking, packet
The hydraulic motor being correspondingly arranged with each traveling wheel is included, is respectively used to detect the speed probe of each hydraulic motor rotary speed, institute
State speed probe to be connected separately to vehicle-mounted electronic control unit ECU, further include hydraulic oil pump, the hydraulic oil pump into
Hydraulic fluid port is connected to hydraulic oil container, and it is fixed than part flow arrangement that the hydraulic oil pump is connected with, and fixed be equipped with than part flow arrangement passes through
Oil pipe is connect fixed than divergent oil inlet channel with the first actuator port of the hydraulic oil pump, and fixed be equipped with than part flow arrangement is led to
It crosses oil pipe and determines score effluent oil channel with what each hydraulic motor was correspondingly connected with, fixed be equipped with than part flow arrangement passes through oil pipe
What is connect with the hydraulic oil container determines score slime flux oil channel, described fixed to be additionally coupled to the vehicle electronics control than part flow arrangement
The oil revolving end of unit ECU, each hydraulic motor are respectively connected to the second actuator port of the hydraulic oil pump.
It is described as a preferred technical solution, to determine to include fixed than part flow arrangement than shunting valve body, it is described to determine than shunting valve body
Interior to be equipped with flow divider, it is described fixed than divergent oil inlet channel that the oil inlet passage of the flow divider is connected to, the flow divider be equipped with
Each oil discharge passage for determining the corresponding connection setting in score effluent oil channel, the flow divider are connected to the vehicle electronics control
Unit ECU, each oil discharge passage of the flow divider and what is be correspondingly connected with described determine also to respectively correspond between score slime flux oil channel
There is overflow valve, the oil spilling end of each overflow valve is respectively connected to the hydraulic oil container.
The flow divider includes valve body as a preferred technical solution, and free flow divider is movably installed in the valve body
Core, the free flow divider valve core be equipped with for the fixed free flow divider valve core oil inlet passage being connected to than divergent oil inlet channel
With for each free flow divider valve core oil discharge passage determining score effluent oil channel and being connected to, the free flow divider valve core fixes
It is fixed than flow divider valve core to be connected with, described to determine to be equipped with than flow divider valve core for determining to determine ratio than what divergent oil inlet channel was connected to described
Flow divider valve core oil inlet passage and for it is each it is described determine that score effluent oil channel is connected to it is fixed than flow divider valve core oil discharge passage, it is described
Fixed to be connected with shunting executive component than flow divider valve core, the shunting executive component is connected to the vehicle-mounted electronic control unit ECU.
The shunting executive component is set as electromagnet, the electrified wire of the electromagnet as a preferred technical solution,
On be in series with control switch, the control switch is connected to the vehicle-mounted electronic control unit ECU.
The traveling wheel is set as four as a preferred technical solution, and correspondingly the hydraulic motor, the revolving speed pass
Sensor described determines score effluent oil channel, the free flow divider valve core oil discharge passage and described fixed than flow divider valve core oil discharge passage
It is respectively set to four.
It further include flushing valve as improvement to above-mentioned technical proposal, the flushing valve is set there are two flushing work hydraulic fluid port
With a flushing oil spilling mouth, wherein a flushing work hydraulic fluid port is connected to first actuator port, another flushing work
It is connected to second actuator port as hydraulic fluid port, the flushing oil spilling mouth is connected to flushing fuel tank.
It walks the control method of automatic anti-slip system, includes the following steps the invention further relates to above-mentioned implement porter,
Step 1: be preset in the vehicle-mounted electronic control unit ECU hydraulic motor rotary speed threshold value and
The fixed shunt ratio than part flow arrangement；
Step 2: starting implement porter, each speed probe difference each hydraulic motor of real-time detection turns
Speed, and the rotary speed data measured is sent to the vehicle-mounted electronic control unit ECU；
Step 3: the vehicle-mounted electronic control unit ECU to the measurement data of each speed probe received into
Row analysis obtains the tachometer value of current each hydraulic motor；
Step 4: the vehicle-mounted electronic control unit ECU is by each pressure night motor rotary speed value currently measured and in advance
The rotary speed threshold value of setting is compared respectively,
The tachometer value of each hydraulic motor is all not more than preset rotary speed threshold value, then the vehicle electronics control is single
First ECU determines that each hydraulic motor is in normal operating condition, then operating procedure five；
Wherein the tachometer value of a hydraulic motor is greater than preset rotary speed threshold value, the vehicle-mounted electronic control unit
ECU is judged to having the hydraulic motor to enter slipping state, then operating procedure six；
Step 5: the vehicle-mounted electronic control unit ECU sends a signal to described fixed than part flow arrangement, controls and described determines ratio
Part flow arrangement described determines score effluent oil channel respectively to the hydraulic motor being correspondingly connected with according to free SHUNT state, from each
It is fed from the hydraulic oil by shunting, then gos to step seven；
Step 6: the vehicle-mounted electronic control unit sends a signal to described fixed than part flow arrangement, controls and described determines score
Flow device according to previously selected shunt ratio, described to determine score effluent oil channel described hydraulic to what is be correspondingly connected with respectively from each
The fixed hydraulic oil than shunting of motor conveying, then gos to step two；
Step 7: implement porter is walked, automatic anti-slip control flow terminates.
Each hydraulic motor shunt ratio of the implement porter front end is consistent as a preferred technical solution, institute
Each hydraulic motor shunt ratio for stating implement porter rear end is consistent.
As improvement to above-mentioned technical proposal, liquid described in the front end set in the vehicle-mounted electronic control unit ECU
The shunt ratio of hydraulic motor described in pressure motor and rear end is 15:33~33:33.
By adopting the above-described technical solution, the beneficial effects of the invention are as follows：Pass through speed probe and vehicle electronics control
The cooperation of unit ECU processed, judges whether traveling wheel has skidded phenomenon, fixed than shunting by controlling when having skidded phenomenon
The working condition of device realizes each hydraulic oil distribution ratio for determining score effluent oil channel, so that anti-slip function is played, with biography
System implement porter running gear is compared, and it is not necessary that intervention is manually operated, system has the function of automatic anti-slip according to walking situation,
Reliable operation safety, and control method, control program are simply easily achieved, it can be according to front end hydraulic motor, rear end hydraulic motor
The shunt ratio of different discharge capacity flexible choice flow dividers.
Detailed description of the invention
The following drawings are only intended to schematically illustrate and explain the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is the structural schematic diagram that the embodiment of the present invention determines SHUNT state freer than part flow arrangement；
Fig. 2 is the fixed structural schematic diagram than part flow arrangement shunt ratio state of the embodiment of the present invention；
Fig. 3 is the flow chart of control method of the embodiment of the present invention；
In figure：1- vehicle-mounted electronic control unit ECU；2- speed probe；3- rear axle hydraulic motor；The hydraulic horse of bridge before 4-
It reaches；5- overflow valve；6- is fixed than shunting valve body；7- flow divider；71- valve body；The free flow divider valve core of 72-；73- compares flow divider valve core surely；
8- flushing valve；9- hydraulic oil pump；10- hydraulic oil container；11- rinses fuel tank.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is further explained.In the following detailed description, only pass through explanation
Mode describes certain exemplary embodiments of the invention.Undoubtedly, those skilled in the art will recognize,
In the case where without departing from the spirit and scope of the present invention, described embodiment can be repaired with a variety of different modes
Just.Therefore, attached drawing and description are regarded as illustrative in nature, and are not intended to limit the scope of the claims.
As depicted in figs. 1 and 2, the automatic anti-slip system of implement porter walking, including what is be correspondingly arranged with each traveling wheel
Hydraulic motor is respectively used to detect the speed probe 2 of each hydraulic motor rotary speed, and the speed probe 2 distinguishes signal
It is connected to vehicle-mounted electronic control unit ECU1, the speed probe 2 is used for the revolving speed of each hydraulic motor of real-time monitoring, and
Tach signal is sent in the vehicle-mounted electronic control unit ECU1, is handled by the vehicle-mounted electronic control unit ECU1
And correspondence analysis.
It further include hydraulic oil pump 9, the oil inlet of the hydraulic oil pump 9 is connected to hydraulic oil container 10, and the hydraulic oil pump 9 connects
It is fixed than part flow arrangement, the fixed first actuator port A being equipped with than part flow arrangement through oil pipe and the hydraulic oil pump 9 to be connected to
Connection is determined than divergent oil inlet channel P, and fixed be equipped with than part flow arrangement is correspondingly connected with by oil pipe and each hydraulic motor
Determine score effluent oil channel, it is described fixed to be equipped with fixed ratio shunting connect by oil pipe with the hydraulic oil container 10 than part flow arrangement
Oil spilling channel T1, it is described to determine to be additionally coupled to the vehicle-mounted electronic control unit ECU1 than part flow arrangement, each hydraulic motor
Oil revolving end is respectively connected to the second actuator port B of the hydraulic oil pump 9.Hydraulic oil is entered to by the first actuator port A
It is described fixed than divergent oil inlet channel P, determined score effluent oil corridor diversion by described and be delivered to each hydraulic motor, most afterwards through institute
It states the second actuator port B and is back to the hydraulic oil container 10, described fixed when there is overflow phenomena than part flow arrangement, oil overflow passes through
It is described to determine score slime flux oil channel T1 and flow back into the hydraulic oil container 10.
Specifically, described to determine to include fixed than part flow arrangement than shunting valve body 6, it is described to determine to be equipped with shunting in valve body 6 than shunting
Valve 7, it is described fixed than divergent oil inlet channel P that the oil inlet passage of the flow divider 7 is connected to, the flow divider 7 be equipped with it is each described
Determine the oil discharge passage of the corresponding connection setting in score effluent oil channel, the flow divider 7 is connected to the vehicle-mounted electronic control unit
ECU1, each oil discharge passage of the flow divider 7 and what is be correspondingly connected with described determine also to respectively correspond between score slime flux oil channel T1
There is overflow valve 5, the oil spilling end of each overflow valve 5 is respectively connected to the hydraulic oil container 10, i.e., each hydraulic motor
Oil passage is correspondingly provided with the overflow valve 5, and the setting of the overflow valve 5 plays the role of off-load, protection to pressure circuit.
When traveling wheel has skidded phenomenon, by the control of the vehicle-mounted electronic control unit ECU1, it is described fixed than shunting dress to realize
Setting makes hydraulic oil freely shunt and determine than automatic conversion between diverter function, described fixed than part flow arrangement work in slipping phenomenon
Make to make the hydraulic motor of walking domain front and rear end than adjusting by the pressure to hydraulic oil under SHUNT state fixed
Power is different, to achieve the purpose that eliminate slipping phenomenon.
In the present embodiment, the flow divider 7 includes valve body 71, is movably installed with free flow divider valve core in the valve body 71
72, the free flow divider valve core 72 be equipped with for the fixed free flow divider valve core oil inlet being connected to than divergent oil inlet channel P
Channel and for each free flow divider valve core oil discharge passage determining score effluent oil channel and being connected to, the free flow divider valve core
72 are fixedly connected with calmly than flow divider valve core 73, described to determine to be equipped with than flow divider valve core 73 for determining with described than divergent oil inlet channel
P connection it is fixed than flow divider valve core oil inlet passage and for it is each it is described determine that score effluent oil channel is connected to go out calmly than flow divider valve core
Oily channel, described to determine to be connected with shunting executive component than flow divider valve core 73, the shunting executive component is connected to the vehicle mounted electric
Sub-control unit ECU1.
Traveling wheel described in the present embodiment is set as four, correspondingly the hydraulic motor, the speed probe 2, institute
It states and determines score effluent oil channel, the free flow divider valve core oil discharge passage and described fixed be respectively set than flow divider valve core oil discharge passage
It is four, wherein being set to walking disk front end is preceding bridge hydraulic motor 4, it is rear axle hydraulic motor 3, institute set on walking back-end disk
State free flow divider valve core oil discharge passage, it is described it is fixed than flow divider valve core oil discharge passage respectively with described determine score effluent oil channel be one
One corresponding relationship.It is described to determine score effluent oil channel and be set as four, respectively：Determine score effluent oil channel P1~P4.It is described
It shunts executive component and is set as electromagnet Y1, control switch is in series on the electrified wire of the electromagnet Y1, the control is opened
Connection is connected to the vehicle-mounted electronic control unit ECU1.When the traveling wheel is without slipping phenomenon, the free flow divider valve core goes out
Determine score effluent oil channel by described and provide the hydraulic oil of need of work for the hydraulic motor in oily channel.Specifically it is：?
It is described to determine to determine score effluent oil channel by described than flow divider valve core oil discharge passage for institute when the traveling wheel has skidded phenomenon
It states hydraulic motor and the hydraulic oil of need of work is provided, the fixed work than part flow arrangement is substantially exactly having according to slipping phenomenon
Nothing realizes the free flow divider valve core oil discharge passage or described fixed than flow divider valve core oil discharge passage and described fixed more logical than divergent oil inlet
Road P connection selection.
It further include flushing valve 8, the flushing valve 8 is set there are two flushing work hydraulic fluid port and a flushing oil spilling mouth T2, wherein
The one flushing work hydraulic fluid port a1 is connected to the first actuator port A, and another flushing work hydraulic fluid port a2 is connected to described
Second actuator port B, the flushing oil spilling mouth T2, which is connected to, rinses fuel tank 11, and the flushing valve 8 is made with lifting system performance
With.
It walks the control method of automatic anti-slip system as shown in figure 3, the present embodiment further relates to above-mentioned implement porter, packet
Include following steps,
Step 1: being preset with the revolving speed threshold of the hydraulic motor in the vehicle-mounted electronic control unit ECU1
Value and the fixed shunt ratio than part flow arrangement.
Each hydraulic motor shunt ratio of the implement porter front end is consistent, i.e., the described preceding bridge hydraulic motor 4
Hydraulic oil shunt ratio is consistent, and each hydraulic motor shunt ratio of the implement porter rear end is consistent, i.e., the described rear axle
The hydraulic oil shunt ratio of hydraulic motor 3 is consistent.Preceding bridge described in the front end set in the vehicle-mounted electronic control unit ECU1
The shunt ratio of rear axle hydraulic motor 3 described in hydraulic motor 4 and rear end is 15:33~33:33.I.e. according to preceding bridge hydraulic motor 4,
The discharge capacity of rear axle hydraulic motor 3 is selected, and such as 25:25:25:25 or 17:17:33:33 or 20:20:30:30 etc..Shunt ratio is true
After fixed, when the vehicle-mounted electronic control unit ECU1 control it is described fixed than determining score effluent oil channel P1~P4 on part flow arrangement
Hydraulic fluid port distributes hydraulic oil to the preceding bridge hydraulic motor 4, the rear axle hydraulic motor 3 respectively, makes the hydraulic horse of preceding bridge in this way
It can be rotated up to 4, the rear axle hydraulic motor 3 according to certain speed, the motor for avoiding hydraulic oil from all flowing to skidding is allowed to high speed
Rotation skids and can not get rid of poverty.Certainly according to skid level, the hydraulic oil of the two preceding bridge hydraulic motors 4 can also be shunted
Ratio is adjusted to inconsistent, and the hydraulic oil shunt ratio of the same two rear axle hydraulic motor 3 is also adjusted to inconsistent, anti-slip
Function is more flexible.
Step 2: starting implement porter, each speed probe 2 distinguishes turning for each hydraulic motor of real-time detection
Speed, and the rotary speed data measured is sent to the vehicle-mounted electronic control unit ECU1.
Step 3: measurement data of the vehicle-mounted electronic control unit ECU1 to each speed probe 2 received
It is analyzed, obtains the tachometer value of current each hydraulic motor.
Step 4: the vehicle-mounted electronic control unit ECU1 is by each pressure night motor rotary speed value currently measured and in advance
The rotary speed threshold value of setting is compared respectively：
The tachometer value of each hydraulic motor is all not more than preset rotary speed threshold value, then the vehicle electronics control is single
First ECU1 determines that each hydraulic motor is in normal operating condition, then operating procedure five.
Wherein the tachometer value of a hydraulic motor is greater than preset rotary speed threshold value, the vehicle-mounted electronic control unit
ECU1 is judged to having the hydraulic motor to enter slipping state, then operating procedure six.
Step 5: the vehicle-mounted electronic control unit ECU1 sends a signal to described fixed than part flow arrangement, it is described fixed to control
Than part flow arrangement according to free SHUNT state, described score effluent oil channel is determined respectively to the hydraulic horse being correspondingly connected with from each
Up to the hydraulic oil being fed from by shunting, seven are then gone to step.
The i.e. described vehicle-mounted electronic control unit ECU1 will not the electromagnet Y1 on the flow divider 7 issue control letter
Number, the electromagnet Y1 must not be electric, and the flow divider 7 executes free diverter function, and the flow divider 7 is according to free SHUNT state
It is conveyed respectively to the preceding bridge hydraulic motor 4, the rear axle hydraulic motor 3 from fixed than P1, P2, P3, P4 hydraulic fluid port of part flow arrangement
Hydraulic oil, subsequently into step 7.
Step 6: the vehicle-mounted electronic control unit sends a signal to described fixed than part flow arrangement, controls and described determines score
Flow device according to previously selected shunt ratio, described to determine score effluent oil channel described hydraulic to what is be correspondingly connected with respectively from each
The fixed hydraulic oil than shunting of motor conveying, then gos to step two.
The electromagnet Y1 of the i.e. described vehicle-mounted electronic control unit ECU1 on the flow divider 7 issues control signal,
The electromagnet Y1 obtain it is electric, the flow divider 7 according to previously selected shunt ratio from, it is fixed than P1, P2 of part flow arrangement, P3,
P4 hydraulic fluid port distributes hydraulic oil to the preceding bridge hydraulic motor 4, the rear axle hydraulic motor 3 respectively, that is, has activated and described determine score
The fixed than diverter function of device is flowed, step 2 is then return to.
Step 7: implement porter is walked, automatic anti-slip control flow terminates.
The present invention passes through the cooperation of speed probe 2 and vehicle-mounted electronic control unit ECU1, judges whether traveling wheel occurs
Slipping phenomenon by controlling the fixed working condition than part flow arrangement, is realized when having skidded phenomenon and each determine score effluent oil and lead to
The hydraulic oil distribution ratio in road, so that anti-slip function is played, compared with traditional implement porter running gear, without behaviour manually
It intervenes, system has the function of automatic anti-slip, reliable operation safety, and control method, control program letter according to walking situation
Singly it is easily achieved, it can be according to the split ratio of the different discharge capacity flexible choice flow divider 7 of front end hydraulic motor, rear end hydraulic motor
Example.
The above shows and describes the basic principle, main features and advantages of the invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (9)
1. implement porter is walked, automatic anti-slip system is respectively used to including the hydraulic motor being correspondingly arranged with each traveling wheel
The speed probe of each hydraulic motor rotary speed is detected, the speed probe is connected separately to vehicle electronics and controls list
First ECU, it is characterised in that：It further include hydraulic oil pump, the oil inlet of the hydraulic oil pump is connected to hydraulic oil container, the hydraulic oil
Pump is connected with fixed than part flow arrangement, fixed first working oil being equipped with than part flow arrangement through oil pipe and the hydraulic oil pump
Mouth connection is determined than divergent oil inlet channel, and fixed be equipped with than part flow arrangement is correspondingly connected with by oil pipe and each hydraulic motor
Determine score effluent oil channel, fixed be equipped with than part flow arrangement determines score slime flux by what oil pipe was connect with the hydraulic oil container
Oily channel, it is described to determine to be additionally coupled to the vehicle-mounted electronic control unit ECU, the oil revolving end of each hydraulic motor than part flow arrangement
It is respectively connected to the second actuator port of the hydraulic oil pump.
The automatic anti-slip system 2. implement porter as described in claim 1 is walked, it is characterised in that：It is described fixed than shunting dress
It sets including fixed than shunting valve body, described fixed than being equipped with flow divider in shunting valve body, the oil inlet passage of the flow divider is connected to institute
It is fixed than divergent oil inlet channel to state, the flow divider be equipped with it is each it is described determine that the corresponding connection in score effluent oil channel is arranged fuel-displaced lead to
Road, the flow divider be connected to the vehicle-mounted electronic control unit ECU, each oil discharge passage of the flow divider be correspondingly connected with
Described to determine also to have respectively corresponded overflow valve between score slime flux oil channel, the oil spilling end of each overflow valve is respectively connected to described
Hydraulic oil container.
The automatic anti-slip system 3. implement porter as claimed in claim 2 is walked, it is characterised in that：The flow divider includes
Valve body, free flow divider valve core is movably installed in the valve body, and the free flow divider valve core is equipped with for determining score with described
Flow oil inlet passage connection free flow divider valve core oil inlet passage and for each freedom determining score effluent oil channel and being connected to
Flow divider valve core oil discharge passage, it is fixed than flow divider valve core that the free flow divider valve core is fixedly connected with, described fixed than setting on flow divider valve core
Have for fixed fixed than flow divider valve core oil inlet passage and being used for and each described fixed than shunting than what divergent oil inlet channel be connected to described
Oil discharge passage connection it is fixed than flow divider valve core oil discharge passage, it is described it is fixed be connected with shunting executive component than flow divider valve core, described point
Stream executive component is connected to the vehicle-mounted electronic control unit ECU.
The automatic anti-slip system 4. implement porter as claimed in claim 3 is walked, it is characterised in that：The shunting executes member
Part is set as electromagnet, and control switch is in series on the electrified wire of the electromagnet, and the control switch is connected to the vehicle
Carry electronic control unit ECU.
The automatic anti-slip system 5. implement porter as claimed in claim 4 is walked, it is characterised in that：The traveling wheel setting
Be four, correspondingly the hydraulic motor, the speed probe, described determine score effluent oil channel, the free flow divider
Core oil discharge passage and described fixed four are respectively set to than flow divider valve core oil discharge passage.
The automatic anti-slip system 6. implement porter according to any one of claims 1 to 5 is walked, feature exist
In：It further include flushing valve, the flushing valve is set there are two flushing work hydraulic fluid port and a flushing oil spilling mouth, wherein a flushing
Actuator port is connected to first actuator port, and another flushing work hydraulic fluid port is connected to second actuator port, institute
It states flushing oil spilling mouth and is connected to flushing fuel tank.
The control method of automatic anti-slip system 7. implement porter as described in claim 1 is walked, it is characterised in that：Including
Following steps,
Step 1: being preset with the rotary speed threshold value of the hydraulic motor and described in the vehicle-mounted electronic control unit ECU
The fixed shunt ratio than part flow arrangement；
Step 2: starting implement porter, the revolving speed of each speed probe difference each hydraulic motor of real-time detection, and
The rotary speed data measured is sent to the vehicle-mounted electronic control unit ECU；
Step 3: the vehicle-mounted electronic control unit ECU divides the measurement data of each speed probe received
Analysis obtains the tachometer value of current each hydraulic motor；
Step 4: the vehicle-mounted electronic control unit ECU by each pressure night motor rotary speed value currently measured with preset
Rotary speed threshold value be compared respectively,
The tachometer value of each hydraulic motor is all not more than preset rotary speed threshold value, then the vehicle-mounted electronic control unit
ECU determines that each hydraulic motor is in normal operating condition, then operating procedure five；
Wherein the tachometer value of a hydraulic motor is greater than preset rotary speed threshold value, the vehicle-mounted electronic control unit ECU
It is judged to having the hydraulic motor to enter slipping state, then operating procedure six；
Step 5: the vehicle-mounted electronic control unit ECU sends a signal to described fixed than part flow arrangement, it is described fixed than shunting to control
Device described determines score effluent oil channel respectively to the hydraulic motor conveying being correspondingly connected with according to free SHUNT state, from each
The hydraulic oil freely shunted, then gos to step seven；
Step 6: the vehicle-mounted electronic control unit sends a signal to described fixed than part flow arrangement, it is described fixed than shunting dress to control
It sets according to previously selected shunt ratio, described determines score effluent oil channel respectively to the hydraulic motor being correspondingly connected with from each
The fixed hydraulic oil than shunting of conveying, then gos to step two；
Step 7: implement porter is walked, automatic anti-slip control flow terminates.
The automatic anti-slip system 8. implement porter as claimed in claim 7 is walked, it is characterised in that：The implement porter
Each hydraulic motor shunt ratio of front end is consistent, each hydraulic motor shunt ratio one of the implement porter rear end
It causes.
The automatic anti-slip system 9. implement porter as claimed in claim 8 is walked, it is characterised in that：In the vehicle electronics
The shunt ratio of hydraulic motor described in front end set in control unit ECU and hydraulic motor described in rear end is 15:33~33:
33。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810728740.5A CN108860104A (en) | 2018-07-05 | 2018-07-05 | The automatic anti-slip system of implement porter walking and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110744999A (en) * | 2019-10-28 | 2020-02-04 | 韩国昊 | Hydraulic differential control system for vehicle |
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