The invention relates to the technical field of hydraulic drive control, in particular to a micro-motion device, a wheel track walking mechanism and a micro-motion control method. The micro-motion device comprises a main frame, a hydraulic motor, walking wheels and a brake device; the hydraulic motor, the walking wheels and the brake device are all arranged on the main frame. The hydraulic motor is connected with the walking wheel and used for controlling the rotating state of the walking wheel on the main frame. The brake device is connected with the walking wheel and used for controlling the rotating speed of the walking wheel. The wheel rail walking mechanism comprises a plurality of micro-motion devices. The inching control method comprises the steps that the walking speed of the hydraulic motor to the walking wheels is reduced through braking force, and the rotating speed of the walking wheels is reduced. Braking force is increased for the walking wheels through the braking device, under the condition that output power of the hydraulic motor is certain, the walking speed of the walking wheels is reduced, the parking time is shortened, then accurate judgment of the parking position can be better facilitated, and the positioning accuracy during parking is guaranteed.
本发明涉及液压驱动控制技术领域,具体而言,涉及一种微动装置、轮轨行走机构和微动控制方法。微动装置包括主架、液压马达、行走轮和刹车装置;液压马达、行走轮和刹车装置均设置在主架上;液压马达与行走轮连接,用于控制行走轮在主架上的转动状态;刹车装置与行走轮连接,用于控制行走轮的转动速度。轮轨行走机构包括多个微动装置。微动控制方法为,通过刹车力降低液压马达对行走轮的行走速度,降低行走轮的转动速度。本发明通过刹车装置对行走轮增加刹车力,在液压马达的输出动力一定的情况下,降低行走轮的行走速度,缩短了停车时间,进而能够更有利于对停车位置的准确判断,保证了停车时的定位准确性。
Micro-motion device, wheel track walking mechanism and micro-motion control method
微动装置、轮轨行走机构和微动控制方法
2021-11-02
Patent
Electronic Resource
Chinese
Deformation wheel device, wheel-track-leg walking device and wheel-track-leg robot
European Patent Office | 2020
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