CN108297640A - A kind of intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle - Google Patents
A kind of intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle Download PDFInfo
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- CN108297640A CN108297640A CN201810118074.3A CN201810118074A CN108297640A CN 108297640 A CN108297640 A CN 108297640A CN 201810118074 A CN201810118074 A CN 201810118074A CN 108297640 A CN108297640 A CN 108297640A
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- wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
-
- 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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
Abstract
The present invention relates to the field of suspension devices of vehicle, the intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of specifically a kind of pure electric vehicle.It is supported including wheel shaft, the bearing of inner ring and wheel shaft support upper end interference fit, core is fixed on bearing outer ring and is supported in upward four claw types to scatter outward of homogeneous radiation shape by core.There are 4 sub- hydraulic cylinders in full symmetric arrangement outside each electric wheel main hydraulic cylinder, 5 hydraulic cylinders are used cooperatively the elongation, shortening, inclination that hydraulic lift hitch may be implemented, the hydraulic lift hitch that five hydraulic mechanisms are constituted plays the role of buffering, damping to entire electric wheel or even entire mobile platform, effectively solves the problems, such as that main hydraulic cylinder occurs leading to master hydraulic bar surrounding weak vibrations by cross force during the work time.
Description
Technical field
The present invention relates to the field of suspension devices of vehicle, the intelligence of the distributed more wheel mobile platforms of specifically a kind of pure electric vehicle
Control hydraulic lift hitch.
Background technology
With the fast development of the new technologies such as batteries to store energy technology, wheel hub motor technology, generation of electricity by new energy, provided by battery
Power is flourished with the electric vehicle of motor drive wheels travel.Vehicle electrical gasification is the important trend in future, electricity
The clear superiority of gasification is that a large amount of mechanical transmission structures, mute and easy are saved in higher even ultimate attainment efficiency, electric energy transmission
Intelligent control.Occur some electric vehicles on the market now, such electric vehicle is usually that motor is filled by machine driving
It sets band motor car wheel to rotate, also some is based on the directly electrically driven (operated) electric wheel of wheel hub motor.More wheel electric vehicles and tradition
More wheel movable fixtures generally there are certain requirements the flatness of track, in the complicated evil such as rough and uneven in surface, muddy, sandstone
The utilization rate and collapsing length of wheel cannot be adjusted under bad running environment well, so that hindering the traveling of vehicle, is contracted
The small working range of vehicle.
In order to effectively adjust the utilization rate and collapsing length of wheel when needed, in conjunction with the scalability and buffering of hydraulic cylinder
Cushioning effect proposes multiple symmetrical sub- hydraulic cylinders and the suspension combined pure electric vehicle wheel of main hydraulic cylinder, and by pure electric vehicle wheel
The pleiotaxy mobile platform of device composition, to adapt to the traveling of complex road condition.
Invention content
It is distributed more to provide a kind of pure electric vehicle in order to solve existing mobile platform complex road condition adaptability problem by the present invention
Take turns the intelligent control hydraulic lift hitch of mobile platform.
The present invention is achieved by the following technical solutions：A kind of intelligent control of the distributed more wheel mobile platforms of pure electric vehicle
Hydraulic lift hitch, including wheel shaft support, the bearing of inner ring and wheel shaft support upper end interference fit, core are fixed on bearing outer ring
Above and by core in upward four claw types to scatter outward of homogeneous radiation shape support,
Bulb is connected with a sub- hydraulic cylinder, the specification phase of each sub- hydraulic cylinder respectively on each branch top of the four claw types support
Together, between four sub- hydraulic cylinders in the support of same four claw type there are the space of accommodating main hydraulic cylinder, and the cylinder body of main hydraulic cylinder
Bulb is connected to the core of four claw types support, and the piston rod top bulb of main hydraulic cylinder is connected to the lower face center of support plate,
The piston rod top bulb of four sub- hydraulic cylinders is connected in support plate, and the piston rod top center of four sub- hydraulic cylinders is surrounded
Circle and main hydraulic cylinder piston rod top center it is concentric；
The rod chamber and rodless cavity of main hydraulic cylinder are respectively equipped with master into solenoid, and master is coupled into solenoid by Main Hydraulic Pump
To total hydraulic oil reservoir cryopreservation device, the rod chamber and rodless cavity of main hydraulic cylinder further respectively have main oil return solenoid valve, main oil return electromagnetism
Valve is attached to total hydraulic oil reservoir cryopreservation device；
The rod chamber and rodless cavity of every a sub- hydraulic cylinder are respectively equipped with son into solenoid, and son passes through sub- hydraulic pump into solenoid
It is attached to total hydraulic oil reservoir cryopreservation device, the rod chamber and rodless cavity of every a sub- hydraulic cylinder further respectively have sub- oil return solenoid valve, son
Oil return solenoid valve is attached to total hydraulic oil reservoir cryopreservation device；Wherein one sub- liquid of the same upper two opposite sub- hydraulic cylinders of four claw types support
It is connected by hydraulic pipeline between the rod chamber of cylinder pressure and the rodless cavity of an other sub- hydraulic cylinder, in addition a sub- hydraulic cylinder
It is connected by hydraulic pipeline between rod chamber and the rodless cavity of wherein one sub- hydraulic cylinder, pipe is mounted on each hydraulic pipeline
Road solenoid valve.
Preferably, accumulator of the present invention has charge function, and mobile platform has braking mechanism, these skills
Art is that those skilled in the art are easy to implement.
As being further improved for technical solution of the present invention, the arc-shaped structure of each branch of the four claw types support, and
The convex surface of arcuate structure is outwardly.
Beneficial effects of the present invention：
（1）The consistent independent suspension of its multiple structure of the intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle
Car wheel structure improves driving through property, stationarity and system interchangeability, maintenanceability compared to the few car wheel structure of tradition.
（2）There are 4 sub- hydraulic cylinders in full symmetric arrangement, 5 hydraulic cylinders cooperations outside each electric wheel main hydraulic cylinder
Using the elongation, shortening, inclination that hydraulic lift hitch may be implemented, the hydraulic lift hitch that five hydraulic mechanisms are constituted is to entire
Electric wheel or even entire mobile platform play the role of buffering, damping, effectively solve main hydraulic cylinder occur during the work time by
Cross force leads to the problem of master hydraulic bar surrounding weak vibrations.
（3）The distributed more wheel mobile platforms of pure electric vehicle can both be used as the haulage vehicles such as car, lorry, can also be used as dress
Special vehicle under the complex road conditions such as first vehicle, mine truck, this mobile platform are suitble to various running environments.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the usage state diagram of intelligent control hydraulic lift hitch of the present invention.A figures indicate that each hydraulic cylinder is received in figure
Contracting state, B figures indicate that each hydraulic cylinder is located at intermediate state, and C figures indicate each hydraulic cylinder elongation state.
Fig. 2 is the structural schematic diagram of main hydraulic cylinder.
Fig. 3 is the connection diagram of the upper two opposite sub- hydraulic cylinders of same four claw type support.
Fig. 4 is schematic diagram of the intelligent hydraulic suspension arrangement in slope pavement.
Fig. 5 is that the intelligent hydraulic suspension arrangement turns to schematic diagram in situ with electric wheel.
Fig. 6 is the structural schematic diagram of the distributed more wheel mobile platforms of the pure electric vehicle.
In figure：1- mobile platforms chassis, 1a- support plates, 2- controllers, 3- hydraulic cylinders, 4a- is into solenoid, 4b-
Sub- oil return solenoid valve, 5- pipe electromagnetic valves, 6- hydraulic pipelines, the support of tetra- claw types of 7-, 8- bearings, 9a- wheel shafts, the support of 9b- wheel shafts,
10- electric wheels, 11- main hydraulic cylinders, 12a- master is into solenoid, the main oil return solenoid valves of 12b-.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, technical scheme of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
Technical scheme of the present invention is described in detail below in conjunction with the accompanying drawings.
A kind of intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle, including wheel shaft support 9b, interior
The bearing 8 of circle and the upper ends wheel shaft support 9b interference fit, core are fixed on 8 outer ring of bearing and by core in homogeneous radiation shape
The four claw types support 7 scattered outward upwards,
Bulb is connected with a sub- hydraulic cylinder 3, the specification of each sub- hydraulic cylinder 3 respectively on each branch top of the four claw types support 7
It is identical, there are the space of accommodating main hydraulic cylinder 11 between four sub- hydraulic cylinders 3 in same four claw type support 7, and main hydraulic cylinder
11 cylinder body bulb is connected to the core of four claw types support 7, and the piston rod top bulb of main hydraulic cylinder 11 is connected to support plate 1a
Lower face center, the piston rod top bulb of four sub- hydraulic cylinders 3 is connected on support plate 1a, the work of four sub- hydraulic cylinders 3
The piston rod top center of the circle that stopper rod top center is surrounded and main hydraulic cylinder 11 is concentric；
The rod chamber and rodless cavity of main hydraulic cylinder 11 are respectively equipped with master into solenoid 12a, and master passes through main liquid into solenoid 12a
Press pump is attached to total hydraulic oil reservoir cryopreservation device, and the rod chamber and rodless cavity of main hydraulic cylinder 11 further respectively have main oil return solenoid valve
12b, main oil return solenoid valve 12b are attached to total hydraulic oil reservoir cryopreservation device；
The rod chamber and rodless cavity of every a sub- hydraulic cylinder 3 are respectively equipped with son into solenoid 4a, and son passes through son into solenoid 4a
Hydraulic pump is attached to total hydraulic oil reservoir cryopreservation device, and the rod chamber and rodless cavity of every a sub- hydraulic cylinder 3 further respectively have sub- oil return electricity
Magnet valve 4b, sub- oil return solenoid valve 4b are attached to total hydraulic oil reservoir cryopreservation device；Two opposite sub- hydraulic cylinders in same four claw types support 7
It is connected by hydraulic pipeline 6 between the rod chamber of 3 wherein one sub- hydraulic cylinder 3 and the rodless cavity of an other sub- hydraulic cylinder 3, separately
It is connected by hydraulic pipeline 6 between the rod chamber and the rodless cavity of wherein one sub- hydraulic cylinder 3 of an outer sub- hydraulic cylinder 3, each liquid
Pipe electromagnetic valve 5 is mounted on pressure pipeline 6.
In the present invention, the specification of four sub- hydraulic cylinders 3 is completely the same（I.e. structure snd size are identical）, main hydraulic cylinder
11 is consistent with the function of sub- hydraulic cylinder 3, structure is identical.Difference lies in main hydraulic cylinders between main hydraulic cylinder 11 and sub- hydraulic cylinder 3
11 diameter is more than the diameter of sub- hydraulic cylinder 3.The supporting power of main hydraulic cylinder 11 is more than total supporting power of four sub- hydraulic cylinders 3.
In the present invention, main hydraulic cylinder 11 is mainly used for support movable platform chassis 1, and four sub- hydraulic cylinders 3 coordinate main hydraulic cylinder 11
Shift moving platform chassis 1.
Preferably, the arc-shaped structure of each branch of the four claw types support 7, and the convex surface of arcuate structure is outwardly.
Further, the present invention provides a kind of distributed more wheels of the pure electric vehicle of intelligent control hydraulic lift hitch are mobile flat
Platform, including it is provided with the mobile platform chassis 1 of multiple electric wheels 10, two electric wheels 10 form one group, every group of electric vehicle
It is connected by wheel shaft 9a between wheel 10, the distributed more wheels of a kind of pure electric vehicle that the present invention is both provided on each wheel shaft 9a are mobile flat
The intelligent control hydraulic lift hitch of platform.
Specifically, 1 top of the mobile platform chassis is provided with controller 2 and in real time 1 row of monitoring mobile platform chassis
The velocity sensor of speed is sailed, each wheel shaft support 9b is both provided with range sensor and imaging sensor, each electric wheel
The speed probe of monitoring 10 rotating speed of electric wheel in real time is provided on 10.
Invention further provides a kind of distributed more wheel mobile platforms of the pure electric vehicle of intelligent control hydraulic lift hitch
Control method, the control method is distributed more using a kind of pure electric vehicle of intelligent control hydraulic lift hitch of the present invention
Mobile platform is taken turns, which includes the following steps：Speed probe, range sensor, imaging sensor are real-time by information
Controller 2 is passed to, controller 2 controls the rod chamber and rodless cavity The hydraulic oil of main hydraulic cylinder 11 and sub- hydraulic cylinder 3, to control
The flexible of each hydraulic cylinder piston rod is made, piston rod is extended according to groove road surface, raised road surface is shunk, normal road surface is located at centre
To run.
In the present invention, each hydraulic cylinder is divided into two chambers, i.e. rod chamber and rodless cavity, main hydraulic cylinder 11 by piston rod
By the main cooperation into solenoid 12a and Main Hydraulic Pump, total hydraulic oil reservoir cryopreservation device, main oil return solenoid valve 12b and total hydraulic pressure
The cooperation of oily storage device can change the indoor The hydraulic oil of each chamber, in realizing that main hydraulic cylinder 11 is extended, shunk, is located at
Between, this hydraulic principle by solenoid valve and Main Hydraulic Pump change chamber hydraulic oil volume is techniques well known.
In addition, when the operating status of two opposite sub- hydraulic cylinders 3 is identical in same four claw types support 7, each sub- liquid is closed
For son on cylinder pressure 3 into solenoid 4a and sub- oil return solenoid valve 4b, two sub- hydraulic cylinders 3 pass through pipe electromagnetic valve 5 and hydraulic pipeline
6, it can extend simultaneously between two sub- hydraulic cylinders 3, shrink, is centrally located.But opposite two in same four claw type support 7
When the operating status difference of sub- hydraulic cylinder 3, it is necessary to close pipe electromagnetic valve 5, pass through the sub- oil inlet electricity on corresponding sub- hydraulic cylinder 3
Magnet valve 4a coordinates with sub- hydraulic pump, sub- oil return solenoid valve 4b is matched with total hydraulic oil reservoir cryopreservation device to control its corresponding shape
State.Hydraulic principle above-mentioned by solenoid valve and sub- hydraulic pump change chamber hydraulic oil volume is skill known in this field
Art.
In the present invention, controller 2 is the intelligent control management for realizing the distributed more wheel mobile platforms of pure electric vehicle.
Preferably, accumulator can be arranged in the gap below mobile platform chassis 1 and between multiple hydraulic lift hitch, fully profit
With the clearance space between hydraulic lift hitch and mobile platform chassis 1, at the same in mobile platform controller, sensor,
The device powered needed for solenoid valve etc. is all is powered.In the present invention, the electric wheel 10 rotates, but its wheel shaft 9a
Opposite ground is motionless.Specifically, the rotation of electric wheel 10 is realized by the wheel hub motor on electric wheel 10, electric vehicle
The specific working mode of wheel 10 is known in the art common sense, due to the object of the present invention is to provide a kind of hydraulic lift hitch, because
This repeats no more the working method of electric wheel 10.
In the present invention, in same hydraulic lift hitch four sub- hydraulic cylinders 3 along the clockwise of support plate 1a（Or the inverse time
Needle）Direction be respectively the first sub- hydraulic cylinder 3, the second sub- hydraulic cylinder 3, sub- 3 and the 4th sub- hydraulic cylinder 3 of hydraulic cylinder of third.Wherein
The rodless cavity of the sub- hydraulic cylinder of the rod chamber and third of first sub- hydraulic cylinder 33 passes through 6 unicom of hydraulic pipeline, the first sub- hydraulic pressure
The rod chamber of the sub- hydraulic cylinder of the rodless cavity and third of cylinder 33 passes through 6 unicom of hydraulic pipeline；The rod chamber of second sub- hydraulic cylinder 3
Pass through 6 unicom of hydraulic pipeline, the rodless cavity and the 4th sub- liquid of the second sub- hydraulic cylinder 3 with the rodless cavity of the 4th sub- hydraulic cylinder 3
The rod chamber of cylinder pressure 3 passes through 6 unicom of hydraulic pipeline；Pipe electromagnetic valve 5 there are one being respectively provided on each hydraulic pipeline 6.
In the present invention, good sealing characteristics are all had between the cylinder body and piston rod of all hydraulic cylinder, hydraulic pressure is former
Reason is also known technology.Total hydraulic oil reservoir cryopreservation device of the present invention is total fuel feeding dress of the hydraulic lift hitch of entire mobile platform
It sets, each hydraulic pump, solenoid valve control each hydraulic lift hitch by the control of controller 2 according to specific circumstances
Work.
In the present invention, speed probe monitors the rotating speed of electric wheel 10 in real time, due to track there are convex-concaves not
Situations such as flat or muddy soft, imaging sensor and range sensor by the image of the surface conditions where electric wheel 10 and
For range information real-time delivery from the ground to controller 2, controller 2 judges that road surface whether there is convexo concave and electric wheel
Whether 10 contact with road surface 11；Mobile platform has multiple（I, i=1,2,3 ...）Electric wheel 10, on multiple electric wheels 10
By information real-time delivery to controller 2, controller 2 controls hydraulic suspension and mounts for speed probe, range sensor, imaging sensor
Set, according to " elongation of groove road surface, raised road surface are shunk, normal road surface moderate-length is contacted with road surface, vacantly with slippery conditions liquid
Pressure suspension arrangement shrink and electric wheel do not power " principle control multiple hydraulic lift hitch elongation, shorten.Mobile platform
Protrusion and recess road surface schematic diagram are operated in as shown in fig. 6, hydraulic lift hitch shortens, is medium, extending three kinds of typicalness such as
Shown in Fig. 1.
The specific control method of hydraulic lift hitch is specific as follows in the present invention：
（1）Hydraulic lift hitch extends：Main hydraulic cylinder 11 is in Main Hydraulic Pump, main into solenoid 12a and main oil return solenoid valve 12b
Cooperation under extended by the variation of hydraulic oil volume, four sub- hydraulic cylinders 3 follow main hydraulic cylinder 11 extend：
1. the elongation control of main hydraulic cylinder 11：The main oil return solenoid valve 12b of the master of rodless cavity into solenoid 12a and rod chamber is being controlled
Device 2 processed control is lower simultaneously in open state, and hydraulic oil pump is entered the rodless cavity of main hydraulic cylinder 11 by Main Hydraulic Pump, in rod chamber
Hydraulic oil flows into total hydraulic oil reservoir cryopreservation device in the case of pressure balance by main oil return solenoid valve 12b, waits for that piston rod extends
When length is fixed, controller 2 closes the master of Main Hydraulic Pump, main hydraulic cylinder 11 into solenoid 12a and main oil return solenoid valve
12b, that realizes mobile platform stablizes support；
2. sub- hydraulic cylinder 3 follows main hydraulic cylinder 11 to extend：The son of four sub- hydraulic cylinders 3 is into solenoid 4a, sub- oil return solenoid valve
4b is remained off, and four pipe electromagnetic valves 5 between four sub- hydraulic cylinders 3 are in open state under the control of controller 2,
At this point, the rodless cavity of the sub- hydraulic cylinder of the rod chamber of the first sub- hydraulic cylinder 3 and third 3 is connected to and the sum of two chambers hydraulic oil volume
Fixed, the rod chamber of the sub- hydraulic cylinder of the rodless cavity of the first sub- hydraulic cylinder 3 and third 3 is connected to and the sum of two chambers hydraulic oil volume
Fixed, the rod chamber of the second sub- hydraulic cylinder 3 is connected to the rodless cavity of the 4th sub- hydraulic cylinder 3 and the sum of two chambers hydraulic oil volume
Fixed, the rodless cavity of the second sub- hydraulic cylinder 3 is connected to the rod chamber of the 4th sub- hydraulic cylinder 3 and the sum of two chambers hydraulic oil volume
It is fixed；
When the elongation of the piston rod of main hydraulic cylinder 11, the rod chamber hydraulic oil of the first sub- hydraulic cylinder 3 flows into the sub- hydraulic cylinder of third 3
Rodless cavity, the second sub- hydraulic cylinder 3 rod chamber hydraulic oil flow into the rodless cavity of the 4th sub- hydraulic cylinder 3, while the sub- hydraulic pressure of third
The rod chamber hydraulic oil of cylinder 3 flows into the rodless cavity of the first sub- hydraulic cylinder 3, the rod chamber hydraulic oil of the 4th sub- hydraulic cylinder 3 flows into the
The rodless cavity of two sub- hydraulic cylinders 3, then the rodless cavity hydraulic oil of four sub- hydraulic cylinders 3 increases, four sub- hydraulic cylinders 3 extend；It is to be controlled
When device 2 processed closes the master of main hydraulic cylinder 11 into solenoid 12a, main oil return solenoid valve 12b, four sub- hydraulic pressure are simultaneously closed off
The pipe electromagnetic valve 5 of cylinder 3, four sub- hydraulic cylinders 3 coordinate main hydraulic cylinder 11 to realize that stablizing for mobile platform supports.
（2）Hydraulic lift hitch shortens：Main hydraulic cylinder 11 is in Main Hydraulic Pump, main into solenoid 12a and main oil return electromagnetism
It is shunk by the variation of hydraulic oil volume under the cooperation of valve 12b, four sub- hydraulic cylinders 3 follow main hydraulic cylinder 11 to shrink：
1. main hydraulic cylinder 11 shortens control：The main oil return solenoid valve 12b of the master of rod chamber into solenoid 12a and rodless cavity is being controlled
Device 2 processed control is lower simultaneously in open state, and hydraulic oil pump is entered the rod chamber of main hydraulic cylinder 11 by Main Hydraulic Pump, in rodless cavity
Hydraulic oil flows into total hydraulic oil reservoir cryopreservation device in the case of pressure balance by main oil return solenoid valve 12b, waits for that piston rod shortens
When length is fixed, controller 2 closes the master of Main Hydraulic Pump, main hydraulic cylinder 11 into solenoid 12a and main oil return solenoid valve
12b, that realizes mobile platform stablizes support；
2. sub- hydraulic cylinder 3 follows main hydraulic cylinder 11 to shorten：The son of four sub- hydraulic cylinders 3 is into solenoid 4a, sub- oil return solenoid valve
4b is remained off；Four pipe electromagnetic valves 5 between four sub- hydraulic cylinders 3 are in open state under the control of controller 2；
When the piston rod of main hydraulic cylinder 11 is shunk, the rodless cavity hydraulic oil of the first sub- hydraulic cylinder 3 flows into having for the sub- hydraulic cylinder of third 3
Rod cavity, the second sub- hydraulic cylinder 3 rodless cavity hydraulic oil flow into the rod chamber of the 4th sub- hydraulic cylinder 3, while the sub- hydraulic cylinder of third 3
Rodless cavity hydraulic oil flows into the rod chamber of the first sub- hydraulic cylinder 3, the rodless cavity hydraulic oil of the 4th sub- hydraulic cylinder 3 flows into the second sub- liquid
The rod chamber of cylinder pressure 3, then the rodless cavity hydraulic oil of four sub- hydraulic cylinders 3 is reduced, four sub- hydraulic cylinders 3 are shunk；Device 2 to be controlled closes
When the master of main hydraulic cylinder 11 is closed into solenoid 12a, main oil return solenoid valve 12b, the pipe of four sub- hydraulic cylinders 3 is simultaneously closed off
Road solenoid valve 5, four sub- hydraulic cylinders 3 coordinate main hydraulic cylinder 11 to realize that stablizing for mobile platform supports, and four sub- hydraulic cylinders 3 are same
Deng shortening；
（3）Four 3 unequal lengths of sub- hydraulic cylinder are flexible in the case of inclination.Four pipeline electricity between four sub- hydraulic cylinders 3
Magnet valve 5 is closed under the control of controller 2；Pass through the sub into solenoid of the four sub- hydraulic cylinders 3 of control of controller 2
4a, sub- oil return solenoid valve 4b, adjust four 3 rod chambers of sub- hydraulic cylinder, in rodless cavity hydraulic oil volume variation, realize four sons
The unequal length of hydraulic cylinder 3 is flexible, changes the state of four claw types support 7, ensures electric wheel 10 and road surface as possible is tangent contacts：
Main hydraulic cylinder of the present invention and four sub- hydraulic cylinder elongations are shortened, and think the real meaning of expression in fact：Rod chamber and
Hydraulic oil stereomutation in rodless cavity chamber, causes the piston rod in hydraulic cylinder to move in a certain range, reaches elongation, shortens
Effect.
Flat road surface, climbing, the descending situations such as, the hydraulic lift hitch elongation on mobile platform chassis 1 is shortened according to such as
Lower control：
（1）Flat road surface situation, controller 2 control all hydraulic suspension arrangement length on mobile platform chassis 1 unanimously and are located at
Intermediate state, electric wheel 10 are contacted with road surface, average output, realize the gentle support on mobile platform chassis 1；Work as mobile platform
In the case of 1 zero load of chassis or underloading, the section hydraulic suspension arrangement that can will connect electric wheel 10 is shunk, and reduces ground
Friction reduces energy expenditure.
（2）Climbing situation, controller 2 control the hydraulic lift hitch shortening of 1 front of mobile platform chassis, subsequent hydraulic pressure
Suspension arrangement extends, and realizes the steady of 1 chassis of mobile platform chassis；In the present invention, climbing situation is a kind of front road actually
Face protrusion, behind road surface groove the case where.
（3）Descending situation, controller 2 control the hydraulic lift hitch elongation of 1 front of mobile platform chassis, subsequent hydraulic pressure
Suspension arrangement shortens, and realizes the steady of 1 chassis of mobile platform chassis；In the present invention, descending situation is a kind of front road actually
Face groove, behind bump the case where.
In road traveling, controller 2 handles the hydraulic lift hitch on different road surfaces according to concrete condition.With wherein
One hydraulic lift hitch（K-th）For illustrate that the elongation of hydraulic lift hitch is controlled with shortening, according to following several typical cases
Situation processing：
（1）In level road, two electric wheels 10 are contacted with road surface 11, and one group of electric wheel 10 normally rotates to be mobile platform
The traveling of chassis 1 is contributed；
（2）When encountering road surface groove, this group of electric wheel 10 does not contact with road surface 11 in vacant state, electric wheel 10
Cannot be that the traveling of mobile platform chassis 1 is contributed, the pause of controller 2 at this time is powered to this group of electric wheel 10, and controls hydraulic suspension
Hang device extends, only to contacting ground location and controlling this group of rotation of electric wheel 10, if encountering groove road surface reaches hydraulic pressure
The suspension arrangement elongation limit can not be contacted with road surface 11, then the electric wheel 10 for shrinking hydraulic lift hitch reaches moderate-length
（Intermediate state）, it is that the traveling of mobile platform chassis 1 is contributed to abandon this group of electric wheel 10；
（3）When encountering bump, controller 2, which controls hydraulic lift hitch, to be shortened, and ensures that the group is electronic under normal circumstances
Wheel 10 is contacted with road surface 11, is remained as the traveling of mobile platform chassis 1 and is contributed；If raised road surface hinders hydraulic suspension electric vehicle
Wheel traveling, then the pause of controller 2 is powered to electric wheel 10, and is controlled hydraulic lift hitch and foreshortened to electric wheel 10 and road surface
11 separation；It encounters hydraulic lift hitch and foreshortens to limiting condition, raised road surface still hinders the feelings that mobile platform chassis 1 travels
Condition, then road surface is complicated, mobile platform chassis 1 is hindered to travel, then controller 2 controls this group of electric wheel 10 and turns to, and realizes and turns to
Around raised barrier or turn around；
（4）When soft or muddy road surface electric wheel skids, this group of electric wheel 10 is contacted with road surface 11 but electricity
It cannot be effectively that the traveling of mobile platform chassis 1 is contributed that motor car wheel, which skids, and controller 2 judges as follows：Controller 2 is logical
The linear velocity of 10 outer ring of electric wheel can be calculated by crossing the rotating speed of electric wheel 10, and electric wheel 10 contacts just with road surface 11
In the case of often, the linear velocity of 10 outer ring of electric wheel is consistent with 1 travel speed of mobile platform chassis, and controller 2 to monitoring in real time
The linear velocity of electric wheel 10 be compared judgement with 1 travel speed dynamic parameter of mobile platform chassis, outside electric wheel 10
The linear velocity of circle is more than 1 travel speed of mobile platform chassis（Assuming that ＞ 5%）, then controller 2 judge electric wheel 10 and road surface 11
It skids, then the pause of controller 2 is powered to this group of electric wheel 10, and is controlled hydraulic lift hitch and foreshortened to electric wheel 10 and road
Face 11 detaches.
In the present invention, one group of electric wheel 10 uses two electric wheels 10, it may be convenient to and it is in situ to turn to, work as needs
When steering, controller 2 controls two wheel hub motor differential speed rotations of electric wheel 10, then this group of electric wheel 10 turns to, this
It is techniques well known knowledge, schematic diagram is as shown in Figure 5.For example, it is desired to when controlling steering, two wheel hub motors respectively drive
Two 10 differential speed rotations of electric wheel, the rotating speed of one of electric wheel 10 are less than the rotating speed of another electric wheel 10,
Then the big electric wheel 10 of rotating speed is rotated to the small electric wheel 10 of rotating speed.
In the present invention, the intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of the pure electric vehicle is with multigroup electricity
The form of motor car wheel 10 is independently hung on the mobile platform chassis 1, this 1 shape of mobile platform chassis can it is rectangular, can
Circle chooses the shape on mobile platform chassis 1 with design for aesthetic according to actual needs.Consider 1 shape of mobile platform chassis, in conjunction with
The multipair wheel of independent suspension of the present invention, it is desirable that wheel is even number in the two rows of symmetrical arrangements in left and right（According to practical feelings
Condition and needs can design the multipair wheel of independent suspension of different number, need to meet symmetrically sustainable principle）.Every group of electric vehicle
Wheel 10 works independently, and 1 height of mobile platform chassis is mounted by the independent hydraulic suspension of the distributed more wheel mobile platforms of pure electric vehicle
Collapsing length is set to be adjusted.
The present invention proposes a kind of distributed more wheel mobile platform intelligence of the pure electric vehicle that structure is different from existing mobile platform
Control hydraulic lift hitch.Every group of wheel uses hydraulic lift hitch independent control, while solving answering for mobile platform chassis 1
Miscellaneous good passability in road surface etc. in special circumstances the problem of.Main hydraulic cylinder 11 and four sub- hydraulic cylinders 3 are used cooperatively to entire vehicle
There are buffering, damping in wheel or even entire mobile platform chassis 1, effectively solve main hydraulic cylinder 11 occur during the work time by
Cross force leads to the problem of piston rod surrounding weak vibrations of main hydraulic cylinder 11.The distributed more wheel mobile platforms of such pure electric vehicle
Device is both suitable for being mounted on transport vehicle, can be also suitably used for being operated in the more complex particular surroundings in road surface.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (2)
1. a kind of intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle, which is characterized in that including wheel shaft
Support（9b）, inner ring and wheel shaft support（9b）The bearing of upper end interference fit（8）, core is fixed on bearing（8）On outer ring and by
Core is supported in upward four claw types to scatter outward of homogeneous radiation shape（7）,
The four claw types support（7）Bulb is connected with a sub- hydraulic cylinder respectively on each branch top（3）, each sub- hydraulic cylinder（3）
Specification it is identical, the support of same four claw type（7）On four sub- hydraulic cylinders（3）Between there are accommodating main hydraulic cylinders（11）Sky
Between, and main hydraulic cylinder（11）Cylinder body bulb be connected to four claw types support（7）Core, main hydraulic cylinder（11）Piston rod top
Bulb is connected to support plate（1a）Lower face center, four sub- hydraulic cylinders（3）Piston rod top bulb be connected to support plate
（1a）On, four sub- hydraulic cylinders（3）Piston rod top the center circle and main hydraulic cylinder that are surrounded（11）Piston rod top in
The heart is concentric；
Main hydraulic cylinder（11）Rod chamber and rodless cavity be respectively equipped with it is main into solenoid（12a）, main into solenoid（12a）It is logical
It crosses Main Hydraulic Pump and is attached to total hydraulic oil reservoir cryopreservation device, main hydraulic cylinder（11）Rod chamber and rodless cavity further respectively have main oil return
Solenoid valve（12b）, main oil return solenoid valve（12b）It is attached to total hydraulic oil reservoir cryopreservation device；
Every sub- hydraulic cylinder（3）Rod chamber and rodless cavity be respectively equipped with son into solenoid（4a）, sub into solenoid（4a）
It is attached to total hydraulic oil reservoir cryopreservation device, every sub- hydraulic cylinder by sub- hydraulic pump（3）Rod chamber and rodless cavity further respectively have
Sub- oil return solenoid valve（4b）, sub- oil return solenoid valve（4b）It is attached to total hydraulic oil reservoir cryopreservation device；Same four claw types support（7）Upper phase
To two sub- hydraulic cylinders（3）Wherein one sub- hydraulic cylinder（3）Rod chamber and other one sub- hydraulic cylinder（3）Rodless cavity between lead to
Cross hydraulic pipeline（6）It is connected, in addition a sub- hydraulic cylinder（3）Rod chamber and wherein one sub- hydraulic cylinder（3）Rodless cavity it
Between pass through hydraulic pipeline（6）It is connected, each hydraulic pipeline（6）On be mounted on pipe electromagnetic valve（5）.
2. a kind of intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle according to claim 1,
It is characterized in that, the four claw types support（7）The arc-shaped structure of each branch, and the convex surface of arcuate structure is outwardly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810118074.3A CN108297640B (en) | 2018-02-06 | 2018-02-06 | A kind of intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810118074.3A CN108297640B (en) | 2018-02-06 | 2018-02-06 | A kind of intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle |
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| CN108297640A true CN108297640A (en) | 2018-07-20 |
| CN108297640B CN108297640B (en) | 2019-08-02 |
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| CN201810118074.3A Expired - Fee Related CN108297640B (en) | 2018-02-06 | 2018-02-06 | A kind of intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle |
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| CN (1) | CN108297640B (en) |
Cited By (1)
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| CN109677228A (en) * | 2019-01-24 | 2019-04-26 | 中北大学 | A kind of solution-air-spring composite hanger device |
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| CN108297640B (en) | 2019-08-02 |
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