CN117774583B - Self-adaptive suspension adjustment control system for multi-axis vehicle - Google Patents
Self-adaptive suspension adjustment control system for multi-axis vehicle Download PDFInfo
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- 239000000725 suspension Substances 0.000 title claims abstract description 277
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- 230000001276 controlling effect Effects 0.000 claims abstract description 4
- 238000004146 energy storage Methods 0.000 claims description 27
- 230000009471 action Effects 0.000 claims description 12
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 5
- 239000003921 oil Substances 0.000 description 152
- 238000010586 diagram Methods 0.000 description 22
- 238000013016 damping Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
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- 230000005540 biological transmission Effects 0.000 description 2
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- 230000000694 effects Effects 0.000 description 2
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- 238000005461 lubrication Methods 0.000 description 2
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- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The invention discloses a self-adaptive suspension adjustment control system for a multi-axis vehicle, wherein: the axis car body comprises a plurality of suspension mechanisms; the suspension mechanism comprises a suspension bracket, a balance arm and a suspension cylinder: the suspension bracket is connected with the axis car body; the balance arm is movably connected with the suspension bracket; the suspension oil cylinder is connected with the balance arm and used for driving the balance arm to act; the driving mechanism comprises a multi-way valve and a suspension control valve; under the control of the multi-way valve, oil is provided for a suspension control valve corresponding to the suspension mechanism, and the suspension control valve drives a piston rod of the suspension oil cylinder to extend or retract through the oil input by the multi-way valve; and the controller is used for controlling the multi-way valve to provide oil for the suspension control valve, and the suspension control valve drives the suspension oil cylinder to execute corresponding actions, so that the bearing platform of the axis car body is adjusted to the target position. By adopting the technical scheme, each independent suspension mechanism of the multi-axis vehicle can be actively and adaptively controlled accurately, and meanwhile, the control system is low in cost and simple in structure.
Description
Technical Field
The invention relates to the technical field of multi-axis vehicle control, in particular to a self-adaptive suspension adjustment control system for a multi-axis vehicle.
Background
With the increasing development of economy, large engineering construction is more and more, and the transportation demand for large equipment is more and more strong, such as large-tonnage ships, ocean platforms and the like, and hydraulic combination trailers, namely multiaxial vehicles, are generated. The multi-axis vehicle is used by combining the flat vehicles, and has the following advantages: the transportation capability is strong, and the combination form is flexible; (2) low transportation cost; (3) flexible steering. Because of these advantages, axle vehicles have become a common tool for large cargo transportation. The related technology of the axis vehicle is developed rapidly, modularized production and application can be realized, and the functions of the vehicles are combined into a whole vehicle function to realize the effect of integrating multiple vehicles.
In the prior art, the following 3 common control modes of a suspension hydraulic system of a multi-axis vehicle are available: (1) A flow distributing and collecting valve is adopted to control the synchronous movement of each suspension plunger cylinder; (2) The constant power pump is matched with the reversing valve to control the telescopic movement of each suspension plunger cylinder; (3) The load sensitive pump is matched with the proportional multi-way valve to form load sensitive control. The former two methods have lower cost, but have poorer precision, and cannot realize accurate control. In comparison, the third method, although better in control performance, also higher in accuracy, is higher in cost. In addition, the third method works in such a way that when the maximum pressure of the external load is fed back to the hydraulic pump in real time, the flow rate of the output of the hydraulic pump is matched with the load, and when the load exceeds the rated value, the hydraulic pump works at a constant pressure, so that the active and self-adaptive control of the suspension mechanism cannot be performed.
In summary, in the prior art, for multi-axis vehicles, there is a lack of precision, low cost, simple structure for each independent suspension mechanism, while enabling an active and adaptive control system.
Disclosure of Invention
The invention aims to: the invention provides a self-adaptive suspension adjustment control system for a multi-axis vehicle, which aims to solve the technical problems of the multi-axis vehicle in the prior art, namely the lack of precision, low cost and simple structure of each independent suspension mechanism, and can realize an active and self-adaptive control system.
The technical scheme is as follows: the present invention provides an adaptive suspension adjustment control system for a multi-axis vehicle, comprising: axis automobile body, suspension mechanism, actuating mechanism and controller, wherein: the axis car body comprises a plurality of suspension axes, and each suspension axis comprises a suspension mechanism; the suspension mechanism comprises a suspension bracket, a balance arm and a suspension cylinder, wherein: the suspension bracket is connected with the axis car body; one end of the balance arm is movably connected with the suspension bracket; the suspension oil cylinder is connected with the balance arm and used for driving the balance arm to act; the actuating mechanism includes multiple unit valve and suspension control valve, wherein: the number of the suspension control valves corresponds to that of the suspension mechanisms; the multi-way valve is used for providing oil to a suspension control valve corresponding to the suspension mechanism under control, and the suspension control valve drives a piston rod of a suspension oil cylinder of the suspension mechanism to extend or retract through the oil input by the multi-way valve; the controller controls the multi-way valve to provide oil for the suspension control valve of the corresponding suspension mechanism, and the suspension control valve drives the suspension cylinder of the suspension mechanism to execute corresponding actions, so that the bearing platform of the axis car body is adjusted to the target position.
Specifically, the balance arm and the suspension bracket are connected to the rotating shaft, and act around the rotating shaft under the drive of the suspension cylinder.
Specifically, the device also comprises a sensor, wherein the sensor is used for detecting the included angle between the axis car body and the ground and the height between the axis car body and the ground and providing the height for the controller, and the controller controls the suspension cylinder of the corresponding suspension mechanism to execute corresponding actions through the multi-way valve based on the information provided by the sensor.
Specifically, selecting a supporting point corresponding to each suspension mechanism, wherein the sensor is used for detecting an included angle between each supporting point and the ground and the height between the supporting point and the ground; the controller determines the current position and the target position of the bearing platform of the axis car body based on the information provided by the sensor.
Specifically, the controller controls the suspension cylinders of the corresponding suspension mechanisms to execute corresponding actions according to the corresponding target points of the supporting points after the bearing platform reaches the target position, so that the supporting points reach the target points.
Specifically, the controller takes the highest or lowest target point in the vertical direction as a reference point, controls the action speed of a piston rod of a suspension cylinder of each suspension mechanism, and is in direct proportion to the distance between the corresponding support point of each suspension mechanism and the reference point in the vertical direction; and the controller controls the action speed of the piston rod of the suspension cylinder of each suspension mechanism by controlling the speed of the oil liquid input to each suspension mechanism by the multi-way valve.
Specifically, the multi-way valve is provided with corresponding independent control solenoid valves corresponding to each suspension control valve, the suspension control valves are provided with a first oil port and a second oil port, the independent control solenoid valves input oil into the first oil port or the second oil port of the suspension control valves under control, and the piston rods of the suspension cylinders are controlled to extend or retract.
Specifically, the suspension control valve comprises a first one-way valve and a balance valve, wherein: the oil inlet of the first one-way valve is connected with the second oil port, and the oil outlet of the first one-way valve is connected with a suspension oil cylinder of the suspension mechanism; the control end of the balance valve is connected with the first oil port, the oil inlet is connected with a suspension oil cylinder of the suspension mechanism, and the oil outlet is connected with the second oil port.
Specifically, the suspension control valve further comprises an emergency lower discharge solenoid valve, one port is connected with a suspension cylinder of the suspension mechanism, and the other port is connected with the first oil port.
Specifically, the suspension control valve further comprises a second one-way valve, a buffer valve, an energy storage electromagnetic valve and an energy accumulator, wherein: the oil inlet of the second one-way valve is connected with the second oil port, and the oil outlet of the second one-way valve is connected with the buffer valve and the energy storage electromagnetic valve respectively; the buffer valve is characterized in that one port is connected with the oil outlet of the second one-way valve, and the other port is connected with a connecting line between the oil outlet of the first one-way valve and a suspension oil cylinder of the suspension mechanism; and one port of the energy storage electromagnetic valve is connected with the oil outlet of the second one-way valve, and the other port of the energy storage electromagnetic valve is connected with the energy accumulator.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable advantages: the system can realize active and self-adaptive precise control on each independent suspension mechanism of the multi-axis vehicle, and has low cost and simple structure.
Drawings
FIG. 1 is a schematic view of a suspension mechanism according to the present invention;
FIG. 2 is a schematic diagram of the suspension mechanism according to the present invention;
FIG. 3 is a schematic diagram of a driving mechanism according to the present invention;
FIG. 4 is a schematic view of a suspension control valve according to the present invention;
FIG. 5 is a schematic diagram of the multiway valve according to the present invention in a first operating state;
FIG. 6 is a schematic diagram of the multiway valve according to the present invention in a second operating state;
FIG. 7 is a schematic diagram of the multi-way valve according to the present invention in a third operating state;
FIG. 8 is a schematic view of an oil circuit of the suspension control valve according to the present invention for performing a suspension lockout function;
FIG. 9 is a schematic view of an oil path of a suspension control valve according to the present invention for performing a damping function;
fig. 10 is a schematic diagram of an oil path of the suspension control valve according to the present invention for performing a pressure relief function;
FIG. 11 is a schematic view of an oil circuit of the suspension control valve according to the present invention for performing an emergency lowering function;
FIG. 12 is a schematic view of an oil circuit of a suspension control valve according to the present invention for performing an active lowering function;
FIG. 13 is a schematic view of an oil circuit of a suspension control valve according to the present invention for performing an active ascent function;
FIG. 14 is a schematic view of an oil circuit of a suspension control valve according to the present invention that performs accumulator charging functions;
Fig. 15 is a schematic view of a multi-axis vehicle according to the present invention.
1-A hanging frame; 2-balancing arms; 3-hanging an oil cylinder; 4-the axle mounting end of the balance arm; 5-rotating shaft; 6-a first oil port; 7-a second oil port; 8-a first one-way valve; 9-balancing valves; 10-an energy storage electromagnetic valve; 11-an emergency lower discharge solenoid valve; 12-a buffer valve; 13-a second one-way valve; 14-damping holes; 15-accumulator.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, and fig. 5, a schematic structural diagram of a suspension mechanism, a schematic motion diagram of a suspension mechanism, a schematic structural diagram of a driving mechanism, a schematic structural diagram of a suspension control valve, and a schematic diagram of a multi-axis vehicle are provided in the present invention.
The present invention provides an adaptive suspension adjustment control system for a multi-axis vehicle, comprising: axis automobile body, suspension mechanism, actuating mechanism and controller, wherein: the axis car body comprises a plurality of suspension axes, and each suspension axis comprises a suspension mechanism; the suspension mechanism comprises a suspension bracket 1, a balance arm 2 and a suspension cylinder 3, wherein: the suspension bracket 1 is connected with an axial vehicle body; one end of the balance arm 2 is movably connected with the suspension bracket 1, and the other end 4 is used for mounting wheels (axles); one end of the suspension cylinder 3 is connected with the balance arm 2, and the other end of the suspension cylinder can be connected with the suspension bracket 1 for driving the balance arm 2 to act; the actuating mechanism includes multiple unit valve and suspension control valve, wherein: the number of the suspension control valves corresponds to that of the suspension mechanisms; the multi-way valve is used for providing oil to a suspension control valve corresponding to the suspension mechanism under control, and the suspension control valve drives a piston rod of a suspension cylinder 3 of the suspension mechanism to extend or retract through the oil input by the multi-way valve; the controller controls the multi-way valve to provide oil for the suspension control valve of the corresponding suspension mechanism, and the suspension control valve drives the suspension cylinder 3 of the suspension mechanism to execute corresponding actions, so that the bearing platform of the axis car body is adjusted to the target position.
In practice, the suspension cylinders 3 may be single-acting ram cylinders, with the main load of each set of axles (suspension axis) being carried by them. The lifting of the multi-axis vehicle is realized by the telescopic movement of the suspension cylinder 3. When the suspension cylinder 3 supplies oil, a piston rod extends out, and the balance arm 2 drives wheels (axles) to move downwards under the pushing of the suspension cylinder, the body of the multi-axis vehicle is lifted upwards, and the multi-axis vehicle is lifted; when the suspension cylinder 3 stops feeding oil, the oil can flow back under the action of gravity, the piston rod of the suspension cylinder 3 can retract, the multi-axis vehicle body descends along with the downward descending of the hydraulic cylinder, and the axis vehicle descends.
In practice, uneven road surfaces are often encountered during transportation of multi-axis vehicles. In order to ensure safety, the axis car body can not only be integrally and synchronously lifted by the control of the multi-way valve and the suspension control valve, but also be independently controlled to lift and adjust each supporting point (suspension mechanism), so that the positions of the axis car body and the bearing platform are adjusted to the horizontal direction, namely the leveling of the multi-axis car.
In the concrete implementation, because the axis vehicle frequently transports large-tonnage goods, road conditions such as longitudinal slopes, transverse slopes and the like exist on the road surface in the running process, and the situation that the gravity center of the goods is deviated due to braking and turning can also occur, certain hidden danger is brought to the running safety of the multi-axis vehicle, and therefore the automatic leveling control significance is great when the axis vehicle runs.
In the concrete implementation, when the multi-axis vehicle encounters the potential safety hazard working condition, the axis vehicle automatically levels, so that a bearing platform of the axis vehicle is effectively controlled to maintain a certain levelness, and the safe operation of the vehicle is ensured. When the road surface is uneven, the multiaxis car can keep the frame (car body) level through hydraulic compensation to improve the frame stress, improve the usable life of axis car, improved the security simultaneously, make the goods transportation steady smooth.
In a specific implementation, the multi-way valve of the multi-axis vehicle comprises a plurality of independent oil circuits, each independent oil circuit corresponds to an independent suspension control valve, and each independent suspension control valve corresponds to the suspension cylinder 3 of one suspension mechanism. When the multi-axis vehicle transports large cargoes, the multi-axis vehicle encounters a cross slope road condition, and the multi-axis vehicle can maintain the level of the bearing platform by respectively adjusting the hanging mechanisms at the two sides of the hanging axis.
In a specific implementation, the multi-axis vehicle is provided with a plurality of suspension axes, each suspension axis typically being provided with 2 suspension mechanisms. The telescopic action of the balance arm 2 can be driven through the telescopic action of the suspension oil cylinder 3, so that the height position of the vehicle axle can be adjusted, the plunger of the suspension oil cylinder 3 extends out, the vehicle axle is far away from the vehicle frame, the vehicle frame is lifted, the plunger retracts, the vehicle axle is close to the vehicle frame, and the vehicle frame descends. The hydraulic oil pump is used for providing pressure oil during lift and the vehicle body is used for returning during return stroke.
In a specific implementation, the control of the multi-axis vehicle is realized by a micro-electric control system, the micro-electric control system is a control system based on a CAN bus, the controller coordinates, communication is established among the controller, the execution mechanisms (such as a multi-way valve and a suspension control valve, elements in the multi-way valve, such as a solenoid valve, an engine, an oil pump and the like) and the sensor by a serial network mode, the elements in each execution mechanism CAN be controlled by an independent microcontroller, and a channel is arranged between the microcontroller of each element and an information network, so that communication is carried out between the micro-electric control system and the controller, and the controller CAN send control instructions to the microcontroller according to feedback signals.
In specific implementation, compared with the traditional design, the CAN communication control has the obvious advantages: 1. the number of wiring cables used by the serial network is greatly reduced, so that faults caused by poor connection and wire breakage can be greatly reduced, and the installation and maintenance cost is effectively reduced; 2. the CAN utilizes the controller and microcontroller technology to improve the working efficiency by realizing the automation of the equipment; 3. the signal transmission medium of the CAN network is twisted pair, the communication speed CAN reach 1MB/s (the communication distance is smaller than 40 m), the transmission distance CAN reach 10km, the number of the hanging devices CAN reach 110, and the transmission speed is high and stable.
In the embodiment of the present invention, the balance arm 2 and the suspension bracket 1 are connected to the rotation shaft 5, and are driven by the suspension cylinder 3 to perform an operation around the rotation shaft 5.
The embodiment of the invention further comprises a sensor for detecting the included angle between the axis car body and the ground and the height between the axis car body and the ground and providing the included angle and the height for the controller, wherein the controller controls the suspension cylinder 3 of the corresponding suspension mechanism to execute corresponding actions, namely the extension or retraction of the plunger, through the multi-way valve based on the information provided by the sensor.
In the embodiment of the invention, a supporting point corresponding to each suspension mechanism is selected, and the sensor is used for detecting the included angle between each supporting point and the ground and the height between the supporting point and the ground; the controller determines the current position and the target position of the bearing platform of the axis car body based on the information provided by the sensor.
In a specific implementation, the support points are generally chosen on the portion of the connection between the axis body and the hanger 1 of the respective suspension mechanism, representing the points at which the suspension mechanism applies a supporting force to the axis body, the support points of each suspension mechanism may all be in the same position, for example the support points are all in the same position on (the hanger 1 of) each suspension mechanism.
In a specific implementation, the sensor comprises a double-shaft sensor and an angle sensor, wherein the double-shaft sensor can detect an included angle with the ground and a height between the double-shaft sensor and the ground, and the angle sensor can detect an included angle between the double-shaft sensor and the ground.
In the embodiment of the invention, a double-shaft sensor is arranged at the geometric center of the vehicle, an angle sensor is arranged at the suspension bracket 1 or the balance arm 2 at each point of the vehicle, each sensor acquires an angle signal in real time and transmits the angle signal to a controller, and the controller is connected with the sensor through a CAN bus.
In the embodiment of the invention, the controller controls the suspension cylinder 3 of the corresponding suspension mechanism to execute corresponding actions according to the corresponding target points of each supporting point on the target position of the bearing platform, so that the supporting point reaches the target point.
In a specific implementation, the target point corresponding to the supporting point refers to a point to which the supporting point moves when the carrying platform moves from the current position to the target position.
In the embodiment of the invention, the controller takes the highest or lowest target point in the vertical direction as a reference point, controls the action speed of the piston rod of the suspension cylinder 3 of each suspension mechanism, and the distance between the corresponding supporting point of each suspension mechanism and the reference point in the vertical direction is in direct proportion; the controller controls the action speed of the piston rod of the suspension cylinder 3 of each suspension mechanism by controlling the speed of the oil liquid input to each suspension mechanism by the multi-way valve.
In a specific implementation, if the target position is to level (the bearing platform of) the axis car body, each target point is on the same horizontal line, and each point is the highest point or the lowest point. That is, the further the support point is from the reference point in the vertical direction, the faster the suspension cylinder 3 of the corresponding suspension mechanism moves (lifts or descends), the greater the speed (amount) of the oil liquid input by the multi-way valve to the corresponding suspension control valve, and conversely, the closer the support point is from the reference point in the vertical direction, the slower the suspension cylinder 3 of the corresponding suspension mechanism moves (lifts or descends), and the smaller the speed (amount) of the oil liquid input by the multi-way valve to the corresponding suspension control valve. The purpose of the above control speed is to enable the axis vehicle body to be smoothly leveled or moved to the target position, and each suspension mechanism can complete the action (lifting or lowering) at the same time, that is, complete the leveling or the movement to the target position at the same time.
In the embodiment of the invention, the multi-way valve is provided with a corresponding independent control electromagnetic valve corresponding to each suspension control valve, the suspension control valve is provided with a first oil port 6 and a second oil port 7, and the independent control electromagnetic valve inputs oil into the first oil port 6 or the second oil port 7 of the suspension control valve under control to control the extension or retraction of a piston rod of the suspension cylinder 3.
In the embodiment of the invention, the multi-way valves are respectively connected with suspension control valves corresponding to a plurality of suspension mechanisms in the multi-axis vehicle and are used for respectively inputting oil to the first oil port 6 or the second oil port 7 of the corresponding one or a plurality of suspension control valves or recovering the oil from the first oil port 6 or the second oil port 7.
Fig. 5 is a schematic diagram of the multiway valve according to the present invention in a first working state.
In a specific implementation, the controller may control the engine (motor) to drive the hydraulic pump to provide oil to the multi-way valve, the hydraulic pump generally only pumps oil amount (oil path indicated by red lines in fig. 5) for maintaining leakage and lubrication of the system, and when the independent control electromagnetic valve is not powered, the multi-way valve does not input oil to the suspension control valve, and the oil path is in random standby. The blue line is the plunger pumping oil path.
Referring to fig. 6, a schematic diagram of the multiway valve according to the present invention in the second working state is shown. Referring to fig. 15, a schematic diagram of a multi-axis vehicle according to the present invention is shown.
In a specific implementation, when the vehicle climbs a slope or passes a ditch or other situations needing lifting, the engine (motor) drives the hydraulic pump to supply oil to the multiway valve, the hydraulic pump generally only pumps oil amount for maintaining leakage and lubrication of the system, the oil way is simultaneously fed back by a rotation angle sensor and a pressure sensor, the controller judges that the tire is not grounded or other situations needing lifting, the controller transmits an electric signal to an independent control electromagnetic valve (such as a Y21a electromagnetic valve in the figure) of a corresponding suspension control valve, the independent control electromagnetic valve is in a lower state when the independent control electromagnetic valve is electrified and commutated, hydraulic oil flows to the suspension control valve through the valve core, flows to the suspension oil cylinder 3 (an oil way indicated by red lines in fig. 6) through the suspension control valve, the piston rod of the oil cylinder extends outwards, the wheel (axle) is pushed to land downwards until the plane of the vehicle frame is upwards to a horizontal state or a target position (the process is continuously and repeatedly regulated until the vehicle modulation level), and the vehicle is leveled.
Referring to fig. 7, a schematic diagram of a third working state of the multiway valve according to the present invention is shown.
In a specific implementation, when the vehicle climbs a slope or passes over a ditch or other conditions requiring descending, at this time, the engine (motor) drives the hydraulic pump to supply oil to the multiway valve, the hydraulic pump generally only pumps oil amount leaked and lubricated by the maintenance system, at this time, the oil way is subjected to angle sensing and pressure sensor feedback simultaneously, the controller judges that the tire is not grounded or other conditions requiring descending, the controller transmits an electric signal to an independent control electromagnetic valve (such as a Y21b electromagnetic valve in the figure) of a corresponding suspension control valve, at this time, the independent control electromagnetic valve is in an upper state when the power supply of the electromagnetic valve is reversed, hydraulic oil flows to the suspension control valve (the oil way indicated by a red line in fig. 7) through the valve core, the suspension cylinder 3 is pressed to move downwards under the action of external force (gravity), at this time, the oil in the suspension cylinder 3 flows to the multiway valve through the oil way and the oil way indicated by a green line and a purple line in fig. 7), the piston rod of the suspension cylinder 3 retracts, and drives the vehicle body to move downwards until the plane of the bearing platform is kept to be leveled down to a horizontal state or a target position (the process is a continuously repeated adjustment process).
In the embodiment of the invention, the suspension control valve comprises a first one-way valve 8 and a balance valve 9, wherein: the oil inlet of the first one-way valve 8 is connected with the second oil port 7, and the oil outlet of the first one-way valve is connected with the suspension oil cylinder 3 of the suspension mechanism; the control end of the balance valve 9 is connected with the first oil port 6, the oil inlet is connected with the suspension cylinder 3 of the suspension mechanism, and the oil outlet is connected with the second oil port 7.
In the embodiment of the invention, the suspension control valve further comprises an emergency lower discharge solenoid valve 11, one port is connected with the suspension cylinder 3 of the suspension mechanism, and the other port is connected with the first oil port 6.
In the embodiment of the present invention, the suspension control valve further includes a second check valve 13, a cushion valve 12, an energy storage solenoid valve 10, and an energy storage 15, wherein: the oil inlet of the second one-way valve 13 is connected with the second oil port 7, and the oil outlet is respectively connected with the buffer valve 12 and the energy storage electromagnetic valve 10; the buffer valve 12 is connected with the oil outlet of the second one-way valve 13 at one port and is connected with a connecting line between the oil outlet of the first one-way valve 8 and the suspension cylinder 3 of the suspension mechanism at the other port; the energy storage electromagnetic valve 10 is connected with an oil outlet of the second one-way valve 13 at one port and is connected with the energy accumulator 15 at the other port.
In the embodiment of the invention, a damping hole 14 is arranged on a connecting line between the control end of the balance valve 9 and the first oil port 6.
In the embodiment of the invention, a damping hole 14 is arranged on a connecting line between the solenoid valve below an emergency and the suspension cylinder 3.
In particular embodiments, the orifice 14 is configured to reduce the rate of oil flowing through the path, thereby reducing the pressure of the oil within the suspension control valve.
In specific implementation, based on the structure of the suspension control valve provided by the invention, the following functions can be provided:
(1) Suspension locking function: referring to fig. 8, an oil path diagram of the suspension control valve for performing the suspension locking function is shown. The discharging solenoid valve 11 and the energy storage solenoid valve 10 are not electrically conducted under emergency, the first oil port 6 does not have oil entering the control end of the balance valve 9, the balance valve 9 is also not conducted, the oil of the suspension cylinder 3 is in a closed state (an oil way indicated by red lines in fig. 8), and at the moment, the vehicle has no damping effect and is in rigid connection.
(2) Damping function: referring to fig. 9, an oil path diagram of the suspension control valve for performing the damping function is shown. At this time, the energy storage electromagnetic valve 10 is electrically conducted, the energy storage 15 is communicated with the suspension cylinder 3 through the buffer valve 12, and when the suspension cylinder 3 is impacted to generate pressure fluctuation when the external road condition bumps, the oil is directly absorbed by the energy storage 15 (an oil way indicated by a green line in fig. 9), and the vehicle generates a damping function. The function of the damper 12 is to change the flow rate of the oil, typically to reduce the flow rate of the oil, in order to reduce the pressure fluctuations that occur when the vehicle is impacted.
(3) Decompression function: referring to fig. 10, an oil circuit diagram of the suspension control valve for performing the pressure relief function is shown. At this time, the energy storage electromagnetic valve 10 and the emergency lower discharge electromagnetic valve 11 are electrically conducted simultaneously, the energy storage 15 is communicated with the suspension cylinder 3 through the buffer valve 12, and pressure oil of the energy storage electromagnetic valve 11 and the emergency lower discharge electromagnetic valve and the first oil port 6 returns to an oil tank (an oil path indicated by a dark green line in fig. 10) through the emergency lower discharge electromagnetic valve 11, so that high-pressure oil in the suspension cylinder 3 and the energy storage 15 is released, and maintenance personnel can safely maintain and replace the oil tank, the valve and the energy storage 15. In this embodiment, the energy storage solenoid valve 10 and the emergency lower discharge solenoid valve 11 exist at the same time, and the connection structure is shown in the figure.
(4) Emergency lowering function: referring to fig. 11, an oil path diagram of the suspension control valve for performing the emergency lowering function is shown. At this time, the emergency lower discharge solenoid valve 11 is electrically connected, and the pressure oil in the suspension cylinder 3 returns to the oil tank (an oil path indicated by a yellow line in fig. 11) through the emergency lower discharge solenoid valve 11 and the first oil port 6, so that the suspension cylinder 3 falls under the action of external force (gravity) (the plunger is retracted).
(5) Active lowering function: referring to fig. 12, an oil circuit diagram of the suspension control valve for performing the active lowering function is shown. The external control oil passes through the multiway valve from the first oil port 6 to the control end (oil path indicated by red lines in fig. 12) of the balance valve 9, the balance valve 9 is conducted, the balance valve 9 is communicated with the suspension oil cylinder 3, the second oil port 7 and the oil tank, oil in the suspension oil cylinder 3 flows back to the oil tank (oil path indicated by green lines in fig. 12) through the second oil port 7, at the moment, the suspension oil cylinder 3 falls (the plunger is retracted), and when the suspension oil cylinder 3 reaches the required height, the first oil port 6 controls the oil to stop supplying. When the control end of the balance valve 9 is not under the action of oil, the oil inlet and the oil outlet of the balance valve 9 are not communicated.
(6) Active ascent function: referring to fig. 13, an oil circuit diagram of the suspension control valve for performing the active lifting function is shown. The external control oil passes through the multi-way valve, and flows from the second oil port 7 to the first one-way valve 8 and then to the suspension cylinder 3 (an oil way indicated by red lines in fig. 13), so that the piston rod of the suspension cylinder 3 extends out, and when the frame rises and the height reaches the requirement, the pressure oil supply is stopped.
(7) Accumulator 15 charging function: referring to fig. 14, an oil circuit diagram of the suspension control valve for performing the charging function of the accumulator 15 is shown. The external control oil passes through the multi-way valve, from the second oil port 7 to the first one-way valve 8, and passes through the buffer valve 12 and the second one-way valve 13 to the energy storage electromagnetic valve 10, at this time, the energy storage electromagnetic valve 10 is electrically conducted, so that the pressure oil directly enters the energy storage device 15 (an oil path indicated by red lines in fig. 14); the accumulator 15 is charged, in order to change the pressure of the accumulator 15 and thus the damping suspension hardness.
In specific implementation, the self-adaptive suspension adjustment control system provided by the invention can realize active and self-adaptive precise control on each independent suspension mechanism of the multi-axis vehicle, and has low cost and simple structure; furthermore, the suspension control valve has a damping function, so that the safety and stability of the multi-axis vehicle are further ensured.
Claims (7)
1. An adaptive suspension adjustment control system for a multi-axis vehicle, comprising: axis automobile body, suspension mechanism, actuating mechanism and controller, wherein:
The axis car body comprises a plurality of suspension axes, and each suspension axis comprises a suspension mechanism;
The suspension mechanism comprises a suspension bracket, a balance arm and a suspension cylinder, wherein: the suspension bracket is connected with the axis car body; one end of the balance arm is movably connected with the suspension bracket; the suspension oil cylinder is connected with the balance arm and used for driving the balance arm to act;
The actuating mechanism includes multiple unit valve and suspension control valve, wherein: the number of the suspension control valves corresponds to that of the suspension mechanisms, and the suspension control valves are provided with a first oil port and a second oil port; the multi-way valve is used for providing oil to a suspension control valve corresponding to the suspension mechanism under control, and the first oil port or the second oil port of the suspension control valve drives a piston rod of a suspension oil cylinder of the suspension mechanism to extend or retract through the oil input by the multi-way valve;
the controller controls the multi-way valve to provide oil to a suspension control valve of a corresponding suspension mechanism, and the suspension control valve drives a suspension cylinder of the suspension mechanism to execute corresponding actions, so that a bearing platform of the axis car body is adjusted to a target position;
The suspension control valve comprises a first one-way valve, a second one-way valve, a buffer valve, a balance valve, an emergency lower discharge magnetic valve, an energy storage electromagnetic valve and an energy accumulator, wherein: the oil inlet of the first one-way valve is connected with the second oil port, and the oil outlet of the first one-way valve is connected with a suspension oil cylinder of the suspension mechanism; the control end of the balance valve is connected with the first oil port, the oil inlet is connected with a suspension oil cylinder of the suspension mechanism, and the oil outlet is connected with the second oil port; the emergency lower discharge solenoid valve is characterized in that one port is connected with a suspension cylinder of the suspension mechanism, and the other port is connected with the first oil port; the oil inlet of the second one-way valve is connected with the second oil port, and the oil outlet of the second one-way valve is connected with the buffer valve and the energy storage electromagnetic valve respectively; the buffer valve is characterized in that one port is connected with the energy storage electromagnetic valve, and the other port is connected to a connecting line between the emergency lower discharge electromagnetic valve and a suspension cylinder of the suspension mechanism; and one port of the energy storage electromagnetic valve is connected with the oil outlet of the second one-way valve and the buffer valve respectively, and the other port of the energy storage electromagnetic valve is connected with the energy accumulator.
2. The adaptive suspension adjustment control system for a multi-axis vehicle of claim 1, wherein the balance arm is coupled to the suspension bracket and is actuated about the rotation axis by the suspension cylinder.
3. The adaptive suspension adjustment control system for a multi-axis vehicle of claim 1, further comprising a sensor for detecting an angle between the axis body and the ground, and a height between the axis body and the ground, and providing the detected angle to the controller, wherein the controller controls the suspension cylinder of the corresponding suspension mechanism to perform a corresponding action through the multiple valve based on information provided by the sensor.
4. The adaptive suspension adjustment control system for a multi-axis vehicle of claim 3, wherein a corresponding support point for each suspension mechanism is selected, and the sensor is configured to detect an angle between each support point and the ground, and a height between the support point and the ground; the controller determines the current position and the target position of the bearing platform of the axis car body based on the information provided by the sensor.
5. The adaptive suspension adjustment control system for a multi-axis vehicle according to claim 4, wherein the controller controls the suspension cylinders of the corresponding suspension mechanisms to perform corresponding actions according to the corresponding target points of the respective support points after the bearing platform reaches the target position, so that the support points reach the target points.
6. The adaptive suspension adjustment control system for a multi-axis vehicle according to claim 5, wherein the controller controls the movement speed of the piston rod of the suspension cylinder of each suspension mechanism with the highest or lowest target point in the vertical direction as a reference point, and the distance between the corresponding support point of each suspension mechanism and the reference point in the vertical direction is proportional; and the controller controls the action speed of the piston rod of the suspension cylinder of each suspension mechanism by controlling the speed of the oil liquid input to each suspension mechanism by the multi-way valve.
7. The adaptive suspension adjustment control system for a multi-axis vehicle according to claim 1, wherein the multi-way valve is provided with a corresponding independent control solenoid valve corresponding to each suspension control valve, and the independent control solenoid valve inputs oil into the first oil port or the second oil port of the suspension control valve under control to control the extension or retraction of the piston rod of the suspension cylinder.
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Citations (2)
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|---|---|---|---|---|
| CN201419626Y (en) * | 2009-04-15 | 2010-03-10 | 苏州大方特种车辆有限公司 | hydraulic suspension mechanism |
| CN111301085A (en) * | 2019-11-14 | 2020-06-19 | 徐工集团工程机械股份有限公司 | Hydro-pneumatic suspension system, vehicle and control method of hydro-pneumatic suspension system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4223783C2 (en) * | 1992-07-18 | 1998-09-10 | Hemscheidt Fahrwerktech Gmbh | Hydropneumatic suspension system |
| US8406955B2 (en) * | 2008-12-26 | 2013-03-26 | Kubota Corporation | Hydraulic suspension system for work vehicle |
| CN102039791B (en) * | 2010-06-13 | 2012-07-25 | 中联重科股份有限公司 | Vehicle body inclination angle adjusting unit, oil-gas suspension mechanism and mobile crane |
| CN202783347U (en) * | 2012-08-16 | 2013-03-13 | 湖北新楚风汽车股份有限公司 | Rear shaft active steering system of vehicle provided with hydro-pneumatic suspension |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201419626Y (en) * | 2009-04-15 | 2010-03-10 | 苏州大方特种车辆有限公司 | hydraulic suspension mechanism |
| CN111301085A (en) * | 2019-11-14 | 2020-06-19 | 徐工集团工程机械股份有限公司 | Hydro-pneumatic suspension system, vehicle and control method of hydro-pneumatic suspension system |
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