CN109203901A - It is a kind of it is adjustable inclination and pitch angle suspension system high-clearance vehicle and its working method - Google Patents
It is a kind of it is adjustable inclination and pitch angle suspension system high-clearance vehicle and its working method Download PDFInfo
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- CN109203901A CN109203901A CN201811335506.2A CN201811335506A CN109203901A CN 109203901 A CN109203901 A CN 109203901A CN 201811335506 A CN201811335506 A CN 201811335506A CN 109203901 A CN109203901 A CN 109203901A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
本发明提出一种具有可调节侧倾及俯仰角悬架系统的高地隙车辆，属于非传统车辆行驶及作业过程中稳定性控制领域，尤其针对农业装备中的高地隙运输及作业车辆的稳定性与安全性控制技术。该车辆包括缓冲吸震装置、侧倾及俯仰角度随动机构、主动调节机构、车身机械结构和电液控制系统，本发明的高地隙车辆悬架系统通过缓冲吸震装置减弱路面颠簸对整车稳定性的影响并通过主动调节机构调节车辆负载的质心位置，避免产生过大的倾覆力矩导致整车失稳程度过大甚至危险事故的发生，提高车辆行驶及作业安全性能，本发明的悬架系统也可结合具体作业工况，应用于其他领域的作业平台，以保障其作业过程中的稳定性。
The invention provides a high ground clearance vehicle with an adjustable roll and pitch angle suspension system, which belongs to the field of stability control during driving and operation of non-traditional vehicles, and is especially aimed at the stability of high ground clearance transportation in agricultural equipment and operating vehicles and security control technology. The vehicle includes a buffer shock absorbing device, a roll and pitch angle follow-up mechanism, an active adjustment mechanism, a body mechanical structure and an electro-hydraulic control system. The high ground clearance vehicle suspension system of the present invention reduces road bumps through the buffer shock absorbing device and affects the stability of the vehicle. It can adjust the position of the center of mass of the vehicle load through the active adjustment mechanism, so as to avoid the occurrence of excessive overturning moment, which may lead to excessive instability of the whole vehicle or even the occurrence of dangerous accidents, and improve the safety performance of vehicle driving and operation. The suspension system of the present invention also Combined with specific operating conditions, it can be applied to operating platforms in other fields to ensure the stability of the operation process.
Description
Technical field
The present invention relates to stability control fields in non-conventional vehicle traveling and operation process, and in particular to one kind has can
Adjust the high-clearance vehicle and its working method of inclination and pitch angle suspension system.
Background technique
Self-propelled clearance vehicle leads to its traveling due to the design features such as it is high with vehicle mass center, the road clearance is big
The influence of safety and control stability vulnerable to external drive, such as traveling are on the road surface of pavement behavior complexity or external
When lateral wind is larger, lateral and longitudinal stability is all difficult to be guaranteed；High-clearance operation especially in agricultural equipment
Vehicle, usually under rugged pavement conditions or at hills, hillside band operation, since operating environment is severe, vehicle
Safety and the comfort of driver be a greater impact, therefore, stability control for high-clearance job platform and
The research of chassis suspension system is always that the emphasis in stability control field in the self-propelled non-conventional vehicle operation process in China is ground
Study carefully direction.
Operation is the normality of high-clearance working truck in talents for agri-mechanization under the conditions of complex road surface, while in turning work
There is certain danger in condition downward driving, therefore, study stabilitrak pair of the high-clearance vehicle under traveling and working condition
Safety and control stability in raising driving safety and operation process are of great significance, but existing stability control
Means processed are the conventional truck stability control technology that is based on mostly, and most of conventional truck unstability is sideway unstability, less hair
Raw rollover and pitching accident, therefore in application process, due to working environment difference, there is control precision in similar control method
It is bad, control response is insufficient and control response excessively etc. problems.
Summary of the invention
The present invention is to solve the above-mentioned problems, steady for high-clearance vehicle roll under complicated operating environment and pitch orientation
Qualitative contrlol fundamentally directly controls the spatial attitude of vehicle load using active regulating mechanism, avoids producing because of centre-of gravity shift
Raw bigger tilting moment guarantees safety and control stability of the high-clearance vehicle in traveling and operation process.
To achieve the goals above, the following technical solutions are proposed by the present invention:
A kind of high-clearance vehicle with adjustable inclination and pitch angle suspension system, including shock-damper, roll and bow
Elevation angle degree follower, active regulating mechanism, vehicle body mechanical structure and electrohydraulic control system；Wherein:
The buffering shock absorbing device includes spring damping damper I, spring damping damper II, spring damping damper III, bullet
Spring damping shock absorber IV；The spring damping damper I, spring damping damper II, spring damping damper III, spring damping
The upper end of damper IV is that plane is hinged with upper pallet 3, and the rotary freedom for rolling direction can be achieved；The spring resistance
Buddhist nun's damper I, spring damping damper II, spring damping damper III, the lower end of spring damping damper IV and lower pallet 1 are equal
It is hinged for plane, the rotary freedom of pitch orientation can be achieved.
The inclination and pitch angle follower 13 include rolling direction articulated joint 131, rolling and pitch orientation angle
Conversion head 132, pitch orientation articulated joint 133；The inclination direction articulated joint 131 constitutes prismatic pair with upper pallet 3, turns rolling
Upper pallet 3 can also carry out planar movement while dynamic, and roll center and the height of center of mass of load 18 are adjustable；The inclination direction hinge
Connector 131 is connect with inclination with pitch orientation angular transition head 132 by the hinged ear of two sides；The inclination and pitch orientation angle
Degree conversion head 132 is connect with pitch orientation articulated joint 133 by the hinged ear of lower base, realizes that the angle of pitch orientation turns
It is dynamic.
The active regulating mechanism includes linear movement pick-up I, hydraulic cylinder I, linear movement pick-up II, hydraulic cylinder
II, linear movement pick-up III, hydraulic cylinder III, linear movement pick-up IV, hydraulic cylinder IV；Institute's displacement sensors I, displacement of the lines
Sensor II, linear movement pick-up III, linear movement pick-up IV respectively with hydraulic cylinder I, hydraulic cylinder II, hydraulic cylinder III,
Hydraulic cylinder IV is installed in parallel, guarantees that the displacement of each linear movement pick-up is equal with the stroke of each hydraulic cylinder；The line
Displacement sensor I, hydraulic cylinder I, linear movement pick-up II, hydraulic cylinder II, linear movement pick-up III, hydraulic cylinder III, line
Displacement sensor IV, hydraulic cylinder IV upper end be attached respectively with upper pallet 3, lower pallet 1 using ball-joint, constitute spherical surface
It is secondary.
The vehicle body mechanical structure includes car body 22, lower pallet 1, upper pallet 3, load 18；The car body 22 and wheel 21
Together by axis connection, the running gear of vehicle is constituted；The wheel 21 is hydraulically operated, and belongs to the independent hydraulically controlled drive of four-wheel
It is dynamic, wheel speed sensors 20, real-time testing vehicle to run speed are installed, wheel 21 and wheel speed sensors 20 share four on wheel 21
Group；Obliquity sensor 6 is installed, lower pallet 1 and pitch orientation articulated joint 133 are fixedly mounted, upper pallet 3 on the upper pallet 3
It is fixedly mounted with load 18.
The electrohydraulic control system includes power source 17, controller 19, obliquity sensor 6, displacement sensor I, displacement of the lines
IV, four sensor II, linear movement pick-up III, linear movement pick-up wheel speed sensors；The power source 17 and controller 19
Electrical connection；The obliquity sensor 6, linear movement pick-up I, linear movement pick-up II, linear movement pick-up III, displacement of the lines sensing
IV, four wheel speed sensors 20 of device are electrically connected with controller 19.
A kind of working method of the high-clearance vehicle with adjustable inclination and pitch angle suspension system, including walk as follows
It is rapid:
A. in high-clearance vehicle driving and operation process, when vehicle driving is on rugged road surface or traveling is in hillside fields
When upper, the inclination of vehicle load 18 and the generation respective angles of car body 22 will test after obliquity sensor 6 detects tilt angle
To angle information be sent in controller 19.
B. control instruction is exported to active respectively and is adjusted by information collection, operational analysis, decision-making by controller 19
Hydraulic cylinder I, hydraulic cylinder II, hydraulic cylinder III, hydraulic cylinder IV in mechanism, control the flexible fortune of each hydraulic cylinder respectively
It is dynamic.
C. hydraulic cylinder I, hydraulic cylinder II, hydraulic cylinder III, hydraulic cylinder IV act on upper pallet 3, to drive
Inclination and pitch angle follower 13；Linear movement pick-up I, linear movement pick-up II, linear movement pick-up III, displacement of the lines pass
Sensor IV and each wheel speed sensors 20 distinguish real-time detection hydraulic cylinder I, hydraulic cylinder II, hydraulic cylinder during the motion
III, the real-time wheel speed of the practical stroke of hydraulic cylinder IV and each wheel, and the data that will test are sent to controller 19.
D. controller is again merged the information that each sensor measures, operational analysis obtains bias control signal, will
Bias control signal is sent to hydraulic cylinder I, hydraulic cylinder II, hydraulic cylinder III, hydraulic cylinder IV again, and then makes upper pallet
3 and load 18 movement.
E. it is rolled in high-clearance vehicle and the electrohydraulic control system of pitch rate adjusting constantly repeats above step, until vehicle
Load 18 returns to equilibrium state, reduces the tilting moments that 18 gravity of vehicle load and acceleration generate.
The beneficial effects of the present invention are: a kind of highland with adjustable inclination and pitch angle suspension system of the invention
Gap vehicle can be applied to working truck similar in non-conventional vehicle, especially for the high-clearance operation in agricultural equipment
The agricultural machinery such as machinery, such as high-clearance sprayer, due to the design features such as itself complete machine mass center is high, the road clearance is big,
Unstability situation caused by easily occurring due to external drive (such as complex road surface arbitrary excitation) factor in traveling and operation process,
The vehicle safety and control stability being supported under spatial attitude imbalance state can be effectively controlled in the present invention.It is specific next
It says, the working method that can be carried out according to the present invention is as follows:
1, when vehicle left side sink, cause vehicle to roll to the left, 18 center of gravity of vehicle load deviates to the left, generate around the near front wheel and a left side
The tilting moment of rear-wheel line has the danger for occurring to roll to the left, and the hydraulic cylinder II in left side extends at this time, the hydraulic oil on right side
Cylinder IV is shunk, and the center of gravity of vehicle load 18 is readjusted to equilbrium position, although car body 22 rolls to the left, whole center of gravity according to
It is old to be in center, it can still guarantee that vehicle stabilization advances；When vehicle right side sink, work when vehicle being caused to roll to the right
Mode is in contrast；
2, when vehicle the near front wheel and off-front wheel sink, lead to vehicle forward pitch, 18 center of gravity biased forwards of vehicle load, generate around
The pitching moment of the near front wheel and off-front wheel line has the danger that forward pitch occurs, and the hydraulic cylinder III of vehicle front is stretched at this time
Long, the hydraulic cylinder I of vehicle postposition is shunk, and the center of gravity of vehicle load 18 is readjusted to equilbrium position, although car body 22 to
Preceding pitching, but whole center of gravity is still in center, can still guarantee that vehicle stabilization advances；After vehicle left rear wheel and the right side
Wheel sink, cause vehicle backward pitching when working method in contrast；
3, when vehicle the near front wheel sink, vehicle exists simultaneously the angle of heel and pitch angle of front direction to the left, 18 center of gravity of vehicle load
Front direction deviates to the left, and left side is extended with preposition hydraulic cylinder II and hydraulic cylinder III at this time, the hydraulic oil on right side and postposition
Cylinder IV and hydraulic cylinder I are shunk, and the mass center of vehicle load 18 is readjusted to equilibrium state, before guaranteeing that vehicle can be stablized
Into；When vehicle off hind wheel sink, cause vehicle center of gravity to the right rear direction deviate when working method in contrast；
4, when vehicle off-front wheel sink, vehicle exists simultaneously the angle of heel and pitch angle of front direction to the right, 18 center of gravity of vehicle load
Front direction deviates to the right, and left side and the hydraulic cylinder II and hydraulic cylinder I of postposition are shunk at this time, right side and preposition hydraulic cylinder
IV extends with hydraulic cylinder III, and the mass center of vehicle load 18 is readjusted to equilibrium state, guarantees that vehicle can stablize advance；
When vehicle left rear wheel sink, cause vehicle center of gravity to the left rear direction deviate when working method in contrast.
Beneficial effects of the present invention also reside in: suspension system of the invention can be mounted on major part by Quick disassembling tool
On high-clearance job platform, installation process is simple, easy to maintenance, can effectively ensure that operating efficiency and driving safety and stabilization
Property.
Detailed description of the invention
Fig. 1 is suspension system entirety axonometric drawing of the invention.
Fig. 2 is that the present invention is applied to whole axonometric drawing after high-clearance vehicle.
Fig. 3 is inclination of the invention and pitch angle follower schematic diagram.
Appended drawing reference:
1, lower pallet 2, spring damping damper I
3, upper pallet 4, linear movement pick-up I
5, hydraulic cylinder I 6, obliquity sensor
7, spring damping damper II 8, linear movement pick-up II
9, hydraulic cylinder II 10, spring damping damper III
11, hydraulic cylinder III 12, linear movement pick-up III
13, inclination and pitch angle follower 131, inclination direction articulated joint
132, it rolls and pitch orientation angular transition head 133, pitch orientation articulated joint
14, spring damping damper IV 15, hydraulic cylinder IV
16, linear movement pick-up IV 17, power source
18, vehicle load 19, controller
20, wheel speed sensors 21, wheel 22, car body.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, to this
Invention is further elaborated.It should be understood that described herein, specific examples are only used to explain the present invention, and does not have to
It is of the invention in limiting.Following embodiment is the example that the present invention is applied to high-clearance working truck, and work of the invention is described below
Make process:
Embodiment 1: high-clearance working truck can face a variety of different complex road conditions in traveling and operation process.When single
When tire suddenly encounters pit, for example, when vehicle the near front wheel, off-front wheel, left rear wheel or off hind wheel are in this operating condition, car body
Centroid position offset corresponding with road conditions occurs, while vehicle load can also occur corresponding centroid motion and generate certain
Angle of heel and pitch angle, the tilting moment that gravity generates at this time make it possible to vehicle and roll around the grounding point of the near front wheel
Or the danger of pitching；Obliquity sensor is transferred to controller after detecting corresponding change of pitch angle information, and controller combines
It makes decisions after the information operation analysis of wheel speed sensors and issues control instruction, held by the hydraulic cylinder in active regulating mechanism
Row readjusts the spatial attitude of load and constantly detects inclination angle and wheel speed information, constantly amendment and adjustment, until vehicle restores
To the state of energy normally travel.
Embodiment 2: the present embodiment and the embodiment of embodiment 1 are essentially identical, the difference is that when vehicle side
When two tires suddenly encounter pit simultaneously, for example, when vehicle the near front wheel is in this with off-front wheel with left rear wheel or the near front wheel
When operating condition, centroid position offset corresponding with road conditions occurs for car body, while corresponding centroid motion can also occur for vehicle load
And certain angle of heel and pitch angle are generated, the tilting moment that gravity generates at this time makes it possible to vehicle and connects around left side tire
The danger of inclination or pitching occurs for place line or two front wheels grounding point line；Obliquity sensor is detecting corresponding inclination angle
After change information, it is transferred to controller, makes decisions after the information operation analysis of controller combination wheel speed sensors and issues control
System instruction, is executed by the hydraulic cylinder in active regulating mechanism, is readjusted the spatial attitude of load and is constantly detected inclination angle and wheel
Fast information, constantly amendment and adjustment, until vehicle is restored to the state of energy normally travel, meanwhile, vehicle off-front wheel and off hind wheel
Or left rear wheel and off hind wheel, when be in this operating condition, the course of work is similar to the present embodiment.
Those skilled in the art will readily recognize that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (2)
1. a kind of high-clearance vehicle with adjustable inclination and pitch angle suspension system, it is characterised in that: including buffering shock-absorbing
Device, inclination and pitch angle follower, active regulating mechanism, vehicle body mechanical structure and electrohydraulic control system；Wherein:
The buffering shock absorbing device includes spring damping damper I (2), spring damping damper II (7), spring damping damper
III (10), spring damping damper IV (14)；The spring damping damper I (2), spring damping damper II (7), spring resistance
Buddhist nun's damper III (10), the upper end of spring damping damper IV (14) and upper pallet (3) are that plane is hinged, and side can be achieved
Incline the rotary freedom in direction；The spring damping damper I (2), spring damping damper II (7), spring damping damper
III (10), the lower end of spring damping damper IV (14) and lower pallet (1) are that plane is hinged, and pitch orientation can be achieved
Rotary freedom；
The inclination and pitch angle follower (13) include rolling direction articulated joint (131), rolling and pitch orientation angle
Conversion head (132), pitch orientation articulated joint (133)；The inclination direction articulated joint (131) and upper pallet (3) constitute prismatic pair,
Upper pallet (3) can also carry out planar movement while rolling rotation, and roll center and the height of center of mass of load (18) are adjustable；Institute
Inclination direction articulated joint (131) is stated to connect with inclination with pitch orientation angular transition head (132) by the hinged ear of two sides；It is described
Inclination is connect with pitch orientation angular transition head (132) with pitch orientation articulated joint (133) by the hinged ear of lower base, real
The angular turn of existing pitch orientation；
The active regulating mechanism includes linear movement pick-up I (4), hydraulic cylinder I (5), linear movement pick-up II (8), hydraulic
Oil cylinder II (9), linear movement pick-up III (12), hydraulic cylinder III (11), linear movement pick-up IV (16), hydraulic cylinder IV
(15)；Institute's displacement sensors I (4), linear movement pick-up II (8), linear movement pick-up III (12), linear movement pick-up IV
(16) flat by pedestal with hydraulic cylinder I (5), hydraulic cylinder II (9), hydraulic cylinder III (11), hydraulic cylinder IV (15) respectively
Row installation, guarantees that the displacement of each linear movement pick-up is equal with the stroke of each hydraulic cylinder；The linear movement pick-up I
(4), hydraulic cylinder I (5), linear movement pick-up II (8), hydraulic cylinder II (9), linear movement pick-up III (12), hydraulic cylinder
III (11), linear movement pick-up IV (16), hydraulic cylinder IV (15) mounting seat upper and lower ends respectively with upper pallet (3), under
Supporting plate (1) is attached using ball-joint, constitutes spherical pair；
The vehicle body mechanical structure includes car body (22), lower pallet (1), upper pallet (3), load (18)；The car body (22) with
Wheel (21) together, constitutes the running gear of vehicle by axis connection；The wheel (21) is hydraulically operated, and it is only to belong to four-wheel
Hydraulic-driven is found, is equipped with wheel speed sensors (20) on wheel (21), real-time testing vehicle to run speed, wheel (21) and wheel speed
Sensor (20) shares four groups；It is equipped with obliquity sensor (6) on the upper pallet (3), lower pallet (1) and pitch orientation are hinged
Head (133) is fixedly mounted, and upper pallet (3) and load (18) are fixedly mounted；
The electrohydraulic control system includes power source (17), controller (19), obliquity sensor (6), displacement sensor I (4), line
Displacement sensor II (8), linear movement pick-up III (12), linear movement pick-up IV (16), four wheel speed sensors (20)；It is described
Power source (17) is electrically connected with controller (19)；The obliquity sensor (6), linear movement pick-up I (4), linear movement pick-up
II (8), linear movement pick-up III (12), linear movement pick-up IV (16), four wheel speed sensors (20) and controller (19) electricity
Connection.
2. a kind of work of high-clearance vehicle with adjustable inclination and pitch angle suspension system according to claim 1
Mode, characterized by the following steps:
A. in high-clearance vehicle driving and operation process, when vehicle driving is on rugged road surface or traveling is in hillside fields
When upper, buffering shock absorbing device can absorb partially due to vehicle caused by Uneven road vibrates, but vehicle load (18) and car body
(22) inclination of respective angles can still occur, after obliquity sensor (6) detects tilt angle, the angle information that will test is sent out
It is sent in controller (19)；
B. controller (19) is exported control instruction by information collection, operational analysis, decision-making to active adjusting machine respectively
Hydraulic cylinder I (5), hydraulic cylinder II (9), hydraulic cylinder III (11), hydraulic cylinder IV (15) in structure, control each hydraulic respectively
The stretching motion of oil cylinder；
C. hydraulic cylinder I (5), hydraulic cylinder II (9), hydraulic cylinder III (11), hydraulic cylinder IV (15) act on upper pallet
(3), to drive inclination and pitch angle follower (13)；Linear movement pick-up I (4), linear movement pick-up II (8), line
Displacement sensor III (12), linear movement pick-up IV (16) and each wheel speed sensors (20) distinguish real-time detection during the motion
Hydraulic cylinder I (5), hydraulic cylinder II (9), hydraulic cylinder III (11), hydraulic cylinder IV (15) practical stroke and each wheel
Real-time wheel speed, and the data that will test are sent to controller (19)；
D. controller is again merged the information that each sensor measures, operational analysis obtains bias control signal, by deviation
Control signal is sent to hydraulic cylinder I (5), hydraulic cylinder II (9), hydraulic cylinder III (11), hydraulic cylinder IV (15) again, into
And make upper pallet (3) and load (18) movement；
E. it is rolled in high-clearance vehicle and the electrohydraulic control system of pitch rate adjusting constantly repeats above step, until vehicle is negative
It carries (18) and returns to equilibrium state, reduce the tilting moment that vehicle load (18) gravity and acceleration generate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811335506.2A CN109203901A (en) | 2018-11-10 | 2018-11-10 | It is a kind of it is adjustable inclination and pitch angle suspension system high-clearance vehicle and its working method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811335506.2A CN109203901A (en) | 2018-11-10 | 2018-11-10 | It is a kind of it is adjustable inclination and pitch angle suspension system high-clearance vehicle and its working method |
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| CN201811335506.2A Pending CN109203901A (en) | 2018-11-10 | 2018-11-10 | It is a kind of it is adjustable inclination and pitch angle suspension system high-clearance vehicle and its working method |
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Application publication date: 20190115 |