CN108327470B - A kind of distributed more wheel mobile platforms of the pure electric vehicle of intelligent control hydraulic lift hitch - Google Patents
A kind of distributed more wheel mobile platforms of the pure electric vehicle of intelligent control hydraulic lift hitch Download PDFInfo
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- CN108327470B CN108327470B CN201810119454.9A CN201810119454A CN108327470B CN 108327470 B CN108327470 B CN 108327470B CN 201810119454 A CN201810119454 A CN 201810119454A CN 108327470 B CN108327470 B CN 108327470B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
-
- 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
-
- 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
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
-
- 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
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to the field of suspension devices of vehicle, the distributed more wheel mobile platforms of the pure electric vehicle of specifically a kind of intelligent control hydraulic lift hitch.The velocity sensor of controller and real-time monitoring mobile platform chassis travel speed is provided at the top of mobile platform chassis, each wheel shaft support is provided with range sensor and imaging sensor, and the speed probe of real-time monitoring electric wheel revolving speed is provided on each electric wheel.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 pure electric vehicle point of specifically a kind of intelligent control hydraulic lift hitch
Cloth takes turns mobile platform more.
Background technique
With the fast development of the new technologies such as batteries to store energy technology, 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 following important trend, electricity
The clear superiority of gasification is that higher or even ultimate attainment efficiency, electric energy transmission save a large amount of mechanical transmission structures, mute and easy
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 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.
Summary of the invention
The present invention provides a kind of intelligent control hydraulic suspension to solve existing mobile platform complex road condition adaptability problem
The distributed more wheel mobile platforms of the pure electric vehicle of hang device.
The present invention is achieved by the following technical solutions: a kind of pure electric vehicle of intelligent control hydraulic lift hitch is distributed
More wheel mobile platforms, the mobile platform chassis including being provided with multiple electric wheels, two electric wheels form one group, every group of electricity
It is connected between motor car wheel by wheel shaft, a kind of intelligent control liquid of all-electric pleiotaxy mobile platform is provided on each wheel shaft
Press suspension arrangement；A kind of intelligent control hydraulic lift hitch of all-electric pleiotaxy mobile platform includes vertical with wheel shaft solid
Surely the wheel shaft support connected, the bearing of inner ring and wheel shaft support upper end interference fit, core are fixed on bearing outer ring and by core
Portion is supported in upward four claw types to scatter outward of homogeneous radiation shape,
Bulb is connected with a sub- hydraulic cylinder, the specification of each sub- hydraulic cylinder respectively on each branch top of the four claw types support
It is identical, there are the space of accommodating main hydraulic cylinder between four sub- hydraulic cylinders in the support of same four claw type, and the cylinder of main hydraulic cylinder
Body bulb is connected to the core of four claw types support, and the piston rod top end bulb of main hydraulic cylinder is connected in the lower end surface of support plate
The piston rod top end bulb of the heart, four sub- hydraulic cylinders is connected in support plate, the piston rod top end center institute of four sub- hydraulic cylinders
The piston rod top end center of the circle surrounded and main hydraulic cylinder is concentric；
The rod chamber and rodless cavity of main hydraulic cylinder are respectively equipped with main oil inlet solenoid valve, and main oil inlet solenoid valve passes through Main Hydraulic Pump
It is attached 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
Solenoid 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 sub- oil inlet solenoid valve, and sub- oil inlet solenoid valve passes through sub- liquid
Press pump is attached to total hydraulic oil reservoir cryopreservation device, and the rod chamber and rodless cavity of every a sub- hydraulic cylinder further respectively have sub- oil return electromagnetism
Valve, sub- oil return solenoid valve are attached to total hydraulic oil reservoir cryopreservation device；The same upper two opposite sub- hydraulic cylinders of four claw types support are wherein
It is connected between the rod chamber of one sub- hydraulic cylinder and the rodless cavity of an other sub- hydraulic cylinder by hydraulic pipeline, in addition a son is hydraulic
It is connected between the rod chamber of cylinder and the wherein rodless cavity of a sub- hydraulic cylinder by hydraulic pipeline, is pacified on each hydraulic pipeline
Equipped with pipe electromagnetic valve.
Preferably, battery 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 accomplish.
As the further improvement of 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.
As the further improvement of technical solution of the present invention, controller and reality are provided at the top of the mobile platform chassis
When monitor the velocity sensor of mobile platform chassis travel speed, the support of each wheel shaft is provided with range sensor and image passes
Sensor is provided with the speed probe of real-time monitoring electric wheel revolving speed on each electric wheel.
Beneficial effects of the present invention:
(1) its multiple consistent independence of structure of the intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle
Suspended wheel structure improves driving through property, stationarity and system interchangeability compared to the few car wheel structure of tradition, can repair
Property.
(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.
Detailed description of the invention
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 technical 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
It obtains other drawings based on these drawings.
Fig. 1 is the usage state diagram of intelligent control hydraulic lift hitch of the present invention.A figure indicates that each hydraulic cylinder is received in figure
Contracting state, B figure indicate that each hydraulic cylinder is located at intermediate state, and C figure indicates each hydraulic cylinder elongation state.
Fig. 2 is the structural schematic diagram of main hydraulic cylinder.
Fig. 3 is the connection schematic 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 and electric wheel turn to schematic diagram in situ.
Fig. 6 is the structural schematic diagram of the all-electric pleiotaxy mobile platform.
In figure: 1- mobile platform chassis, 1a- support plate, 2- controller, 3- hydraulic cylinder, 4a- oil inlet solenoid valve, 4b-
Sub- oil return solenoid valve, 5- pipe electromagnetic valve, 6- hydraulic pipeline, the support of tetra- claw type of 7-, 8- bearing, 9a- wheel shaft, the support of 9b- wheel shaft,
10- electric wheel, 11- main hydraulic cylinder, the main oil inlet solenoid valve of 12a-, the main oil return solenoid valve of 12b-.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution 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 solution of the present invention is described in detail with reference to the accompanying drawing.
A kind of distributed more wheel mobile platforms of the pure electric vehicle of intelligent control hydraulic lift hitch, including be provided with multiple electronic
The mobile platform chassis 1 of wheel 10, two electric wheels 10 form one group, pass through wheel shaft 9a phase between every group of electric wheel 10
Even, a kind of intelligent control hydraulic lift hitch of all-electric pleiotaxy mobile platform is provided on each wheel shaft 9a；Described one
The intelligent control hydraulic lift hitch of the all-electric pleiotaxy mobile platform of kind includes the wheel shaft branch being fixedly connected vertical with wheel shaft 9a
9b, the bearing 8 of inner ring and the wheel shaft support upper end 9b interference fit are supportted, core is fixed on 8 outer ring of bearing and by core in uniform
The radial four claw types support 7 scattered outward upwards,
Bulb is connected with a sub- hydraulic cylinder 3 respectively on each branch top of the four claw types support 7, each sub- hydraulic cylinder 3
Specification 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 liquid
The cylinder body bulb of cylinder pressure 11 is connected to the core of four claw types support 7, and the piston rod top end bulb of main hydraulic cylinder 11 is connected to support
The piston rod top end bulb at the lower end surface center of disk 1a, four sub- hydraulic cylinders 3 is connected on support plate 1a, four sub- hydraulic cylinders 3
The piston rod top end center of circle and main hydraulic cylinder 11 that is surrounded of piston rod top end center it is concentric；
The rod chamber and rodless cavity of main hydraulic cylinder 11 are respectively equipped with main oil inlet solenoid valve 12a, and main oil inlet solenoid valve 12a passes through
Main Hydraulic 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 electromagnetism
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 sub- oil inlet solenoid valve 4a, and sub- oil inlet solenoid valve 4a is logical
It crosses sub- hydraulic pump and is attached to total hydraulic oil reservoir cryopreservation device, the rod chamber and rodless cavity of every a sub- hydraulic cylinder 3 further respectively have son and return
Solenoid 4b, sub- oil return solenoid valve 4b are attached to total hydraulic oil reservoir cryopreservation device；Two opposite sub- liquid in same four claw types support 7
It is connected between the wherein rod chamber of a sub- hydraulic cylinder 3 of cylinder pressure 3 and the rodless cavity of an other sub- hydraulic cylinder 3 by hydraulic pipeline 6
It connects, in addition the rod chamber of a sub- hydraulic cylinder 3 and is wherein connected by hydraulic pipeline 6 between the rodless cavity of a sub- hydraulic cylinder 3, often
Pipe electromagnetic valve 5 is mounted on a hydraulic 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 between main hydraulic cylinder 11 and sub- hydraulic cylinder 3 is main hydraulic cylinder
11 diameter is greater than the diameter of sub- hydraulic cylinder 3.The supporting power of main hydraulic cylinder 11 is greater 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 cooperate 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.
Specifically, being provided with 1 row of controller 2 and real-time monitoring mobile platform chassis at the top of the mobile platform chassis 1
The velocity sensor of speed is sailed, each wheel shaft support 9b is provided with range sensor and imaging sensor, each electric wheel
The speed probe of 10 revolving speed of real-time monitoring electric wheel 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 invention
Mobile platform is taken turns, which includes the following steps: that 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 cooperation of main oil inlet solenoid valve 12a and Main Hydraulic Pump, total hydraulic oil reservoir cryopreservation device, main oil return solenoid valve 12b with it is total hydraulic
The cooperation of oily storage device can change the indoor The hydraulic oil of each chamber, realize that main hydraulic cylinder 11 is extended, shunk, being located at
Between, this hydraulic principle by solenoid valve and Main Hydraulic Pump change chamber hydraulic oil volume is techniques well known.
In addition, closing each sub- liquid when the operating status of two sub- hydraulic cylinders 3 opposite in same four claw types support 7 is identical
Sub- oil inlet solenoid valve 4a and sub- oil return solenoid valve 4b on cylinder pressure 3, 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 cooperates 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 all-electric pleiotaxy mobile platform.It is preferred that
, battery can be arranged in the gap below mobile platform chassis 1 and between multiple hydraulic lift hitch, make full use of liquid
The clearance space between suspension arrangement and mobile platform chassis 1 is pressed, while being controller, the sensor, electromagnetism in mobile platform
The device powered needed for valve etc. is all is powered.In the present invention, the electric wheel 10 rotates, but its wheel shaft 9a is opposite
Ground is motionless.Specifically, the rotation of electric wheel 10 is realized by the hub motor on electric wheel 10, electric wheel 10
Specific working mode be general knowledge known in this field, it is right due to the object of the present invention is to provide a kind of hydraulic lift hitch
The working method of electric wheel 10 repeats no more.
In the present invention, clockwise (or inverse time of four sub- hydraulic cylinders 3 along support plate 1a in same hydraulic lift hitch
Needle) direction be respectively the first sub- hydraulic cylinder 3, the second sub- hydraulic cylinder 3, the sub- hydraulic cylinder 3 of third and the 4th sub- hydraulic cylinder 3.Wherein
By 6 connection of hydraulic pipeline, the first son is hydraulic for the rod chamber of first sub- hydraulic cylinder 3 and the rodless cavity of the sub- hydraulic cylinder 3 of third
The rod chamber of the sub- hydraulic cylinder 3 of the rodless cavity and third of cylinder 3 passes through 6 connection of hydraulic pipeline；The rod chamber of second sub- hydraulic cylinder 3
Pass through 6 connection 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 connection of hydraulic pipeline；A pipe electromagnetic valve 5 is provided on each hydraulic pipeline 6.
In the present invention, good sealing characteristics, hydraulic original are all had between the cylinder body and piston rod of all hydraulic cylinder
Reason is also well-known technique.Total hydraulic oil reservoir cryopreservation device of the invention is total fuel feeding dress of the hydraulic lift hitch of entire mobile platform
It sets, the control of each hydraulic pump, solenoid valve by controller 2, controls each hydraulic lift hitch according to specific circumstances
Work.
In the present invention, the revolving speed of speed probe real-time monitoring electric wheel 10, 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 road surface with the presence or absence of convexo concave and electric wheel
Whether 10 contact with road surface 11；Mobile platform has multiple (i, i=1,2,3 ...) electric wheels 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 shrink, 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
It works in protrusion and recess road surface schematic diagram 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 oil inlet solenoid valve 12a and main oil return electromagnetism
It is extended under the cooperation of valve 12b by the variation of hydraulic oil volume, four sub- hydraulic cylinders 3 follow main hydraulic cylinder 11 to extend:
1. the elongation control of main hydraulic cylinder 11: the main oil inlet solenoid valve 12a of the rodless cavity and main oil return solenoid valve 12b of rod chamber
In the open state simultaneously under the control of controller 2, hydraulic oil pump is entered the rodless cavity of main hydraulic cylinder 11, rod chamber by Main Hydraulic Pump
Interior hydraulic oil flows into total hydraulic oil reservoir cryopreservation device by main oil return solenoid valve 12b in the case where pressure balance, to piston rod
When extended length is fixed, controller 2 closes the main oil inlet solenoid valve 12a and main oil return electromagnetism of Main Hydraulic Pump, main hydraulic cylinder 11
Valve 12b, that realizes mobile platform stablizes support；
2. sub- hydraulic cylinder 3 follows main hydraulic cylinder 11 to extend: sub- oil inlet solenoid valve 4a, the sub- oil return electricity of four sub- hydraulic cylinders 3
Magnet valve 4b is remained off, and four pipe electromagnetic valves 5 between four sub- hydraulic cylinders 3 are under the control of controller 2 in unlatching
State, at this point, the rod chamber of the first sub- hydraulic cylinder 3 is connected to the rodless cavity of the sub- hydraulic cylinder 3 of third and two chambers hydraulic liquid
The sum of product is fixed, and the rodless cavity of the first sub- hydraulic cylinder 3 is connected to the rod chamber of the sub- hydraulic cylinder 3 of third and two chambers hydraulic liquid
The sum of product is fixed, and the rod chamber of the second sub- hydraulic cylinder 3 is connected to the rodless cavity of the 4th sub- hydraulic cylinder 3 and two chambers hydraulic liquid
The sum of product is fixed, and the rodless cavity of the second sub- hydraulic cylinder 3 is connected to the rod chamber of the 4th sub- hydraulic cylinder 3 and two chambers hydraulic liquid
The sum of product 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- liquid of third
The rodless cavity of cylinder pressure 3, the second sub- hydraulic cylinder 3 rod chamber hydraulic oil flow into the 4th sub- hydraulic cylinder 3 rodless cavity, while third son
The rod chamber hydraulic oil of hydraulic cylinder 3 flows into the hydraulic oil stream of rod chamber of the rodless cavity of the first sub- hydraulic cylinder 3, the 4th sub- hydraulic cylinder 3
Enter the rodless cavity of the second sub- hydraulic cylinder 3, then the rodless cavity hydraulic oil of four sub- hydraulic cylinders 3 increases, four sub- hydraulic cylinders 3 extend；
When device 2 to be controlled closes main oil inlet solenoid valve 12a, the main oil return solenoid valve 12b of main hydraulic cylinder 11, four sons are simultaneously closed off
The pipe electromagnetic valve 5 of hydraulic cylinder 3, four sub- hydraulic cylinders 3 cooperate 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 oil inlet solenoid valve 12a and main oil return electromagnetism
It is shunk under the cooperation of valve 12b by the variation of hydraulic oil volume, four sub- hydraulic cylinders 3 follow main hydraulic cylinder 11 to shrink:
1. main hydraulic cylinder 11 shortens control: the main oil inlet solenoid valve 12a of the rod chamber and main oil return solenoid valve 12b of rodless cavity
In the open state simultaneously under the control of controller 2, hydraulic oil pump is entered the rod chamber of main hydraulic cylinder 11, rodless cavity by Main Hydraulic Pump
Interior hydraulic oil flows into total hydraulic oil reservoir cryopreservation device by main oil return solenoid valve 12b in the case where pressure balance, to piston rod
When shortening length is fixed, controller 2 closes the main oil inlet solenoid valve 12a and main oil return electromagnetism of Main Hydraulic Pump, main hydraulic cylinder 11
Valve 12b, that realizes mobile platform stablizes support；
2. sub- hydraulic cylinder 3 follows main hydraulic cylinder 11 to shorten: sub- oil inlet solenoid valve 4a, the sub- oil return electricity of four sub- hydraulic cylinders 3
Magnet valve 4b is remained off；Four pipe electromagnetic valves 5 between four sub- hydraulic cylinders 3 are under the control of controller 2 in unlatching
State；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 the sub- hydraulic cylinder of third
3 rod chamber, the second sub- hydraulic cylinder 3 rodless cavity hydraulic oil flow into the rod chamber of the 4th sub- hydraulic cylinder 3, while third is hydraulic
The rodless cavity hydraulic oil of cylinder 3 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
The rod chamber of two sub- hydraulic cylinders 3, then the rodless cavity hydraulic oil of four sub- hydraulic cylinders 3 is reduced, four sub- hydraulic cylinders 3 are shunk；It is to be controlled
When device 2 processed closes main oil inlet solenoid valve 12a, the main oil return solenoid valve 12b of main hydraulic cylinder 11, it is hydraulic to simultaneously close off four sons
The pipe electromagnetic valve 5 of cylinder 3, four sub- hydraulic cylinders 3 cooperate main hydraulic cylinder 11 to realize that stablizing for mobile platform supports, and four sub- liquid
Cylinder pressure 3 shortens on an equal basis；
(3) four sub- 3 unequal lengths of hydraulic cylinder are flexible in the case of inclination.Four pipes between four sub- hydraulic cylinders 3
Road solenoid valve 5 is in close state under the control of controller 2；The sub- oil inlet electromagnetism of four sub- hydraulic cylinders 3 is controlled by controller 2
Valve 4a, sub- oil return solenoid valve 4b, adjust four sub- 3 rod chambers of hydraulic cylinder, in rodless cavity hydraulic oil volume variation, realize four
The unequal length of sub- hydraulic cylinder 3 is flexible, changes the state of four claw types support 7, guarantees electric wheel 10 and road surface phase cut-grafting as far as possible
Touching:
Main hydraulic cylinder of the present invention and four sub- hydraulic cylinder elongations are shortened, and think the real meaning of expression in fact: having bar
Hydraulic oil stereomutation in chamber and rodless cavity chamber, causes the piston rod in hydraulic cylinder to move in a certain range, reach elongation,
The effect of shortening.
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 mobile platform chassis 1 all hydraulic suspension arrangement length it is consistent and
Positioned at intermediate state, electric wheel 10 is contacted with road surface, average output, realizes the gentle support on mobile platform chassis 1；Work as movement
In the case of 1 zero load of platform chassis or underloading, the section hydraulic suspension arrangement that can will connect electric wheel 10 is shunk, and reduces ground
The friction in face reduces energy consumption.
(2) climbing situation, the hydraulic lift hitch that controller 2 controls 1 front of mobile platform chassis shorten, are subsequent hydraulic
Suspension arrangement elongation, 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, the hydraulic lift hitch that controller 2 controls 1 front of mobile platform chassis extend, are subsequent hydraulic
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, the hydraulic lift hitch on 2 pairs of controller different road surfaces is handled according to concrete condition.With wherein
Illustrate the elongation of hydraulic lift hitch for one hydraulic lift hitch (k-th) and shorten to control, 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 movement
The traveling power output of platform chassis 1；
(2) when encountering road surface groove, this group of electric wheel 10 is not contacted with road surface 11 in vacant state, electric vehicle
Wheel 10 cannot be the traveling power output of mobile platform chassis 1, and the pause of controller 2 at this time is powered to this group of electric wheel 10, and controls liquid
Suspension arrangement elongation is pressed, only to contacting ground location and controlling the rotation of this group of electric wheel 10, is reached if encountering groove road surface
The hydraulic lift hitch elongation limit can not be contacted with road surface 11, then the electric wheel 10 for shrinking hydraulic lift hitch reaches medium
Length (intermediate state), abandoning this group of electric wheel 10 is the traveling power output of mobile platform chassis 1；
(3) when encountering bump, controller 2, which controls hydraulic lift hitch, to be shortened, and guarantees the group under normal circumstances
Electric wheel 10 is contacted with road surface 11, remains as the traveling power output of mobile platform chassis 1；If raised road surface hinders hydraulic suspension electricity
Motor car wheel traveling, then controller 2 pause gives electric wheel 10 power, and control hydraulic lift hitch foreshorten to electric wheel 10 with
Road surface 11 separates；It encounters hydraulic lift hitch and foreshortens to limiting condition, raised road surface still hinders mobile platform chassis 1 to travel
Situation, 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 turning around；
(4) when soft or muddy road surface electric wheel skids, this group of electric wheel 10 contacted with road surface 11 but
It is that electric wheel skids and cannot effectively contribute for the traveling of mobile platform chassis 1, controller 2 judges as follows: control
Device 2 can calculate the linear velocity of 10 outer ring of electric wheel by the revolving speed of electric wheel 10, and electric wheel 10 connects with road surface 11
Under normal circumstances, the linear velocity of 10 outer ring of electric wheel is consistent with 1 travel speed of mobile platform chassis, 2 pairs of realities of controller for touching
When the linear velocity of electric wheel 10 that monitors be compared judgement, electric vehicle with 1 travel speed dynamic parameter of mobile platform chassis
Take turns 10 outer rings linear velocity be greater than 1 travel speed of mobile platform chassis (assuming that > 5%), then controller 2 judge electric wheel 10 and
Road surface 11 is skidded, 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 separate with road surface 11.
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 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 which two hub motors respectively drive when controlling steering
Two 10 differential speed rotations of electric wheel, the revolving speed of one of electric wheel 10 are less than the revolving speed of another electric wheel 10,
Then the big electric wheel 10 of revolving speed is rotated to the small electric wheel 10 of revolving 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 multiple groups electricity
The form of motor car wheel 10 independently hangs and is mounted on 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 that even number is in two rows of symmetrical arrangement (the practical feelings of foundation in left and right
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 invention proposes the distributed more wheel mobile platform intelligence of pure electric vehicle that a kind of 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 work 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 (3)
1. a kind of distributed more wheel mobile platforms of the pure electric vehicle of intelligent control hydraulic lift hitch, which is characterized in that including setting
There is the mobile platform chassis (1) of multiple electric wheels (10), two electric wheels (10) form one group, every group of electric wheel (10)
Between by wheel shaft (9a) be connected, a kind of intelligent control of all-electric pleiotaxy mobile platform is provided on each wheel shaft (9a)
Hydraulic lift hitch；A kind of intelligent control hydraulic lift hitch of all-electric pleiotaxy mobile platform includes and wheel shaft (9a)
The wheel shaft support (9b) being vertically fixedly connected, the bearing (8) of inner ring and the wheel shaft support upper end (9b) interference fit, core is fixed on
(7) are supported on bearing (8) outer ring and by core in upward four claw types to scatter outward of homogeneous radiation shape,
Bulb is connected with a sub- hydraulic cylinder (3), each sub- hydraulic cylinder (3) respectively on each branch top of the four claw types support (7)
Specification it is identical, there are the skies of accommodating main hydraulic cylinder (11) between four sub- hydraulic cylinders (3) in same four claw type support (7)
Between, and the cylinder body bulb of main hydraulic cylinder (11) is connected to the core of four claw types support (7), the piston rod top end of main hydraulic cylinder (11)
Bulb is connected to the lower end surface center of support plate (1a), and the piston rod top end bulb of four sub- hydraulic cylinders (3) is connected to support plate
On (1a), in the piston rod top end of circle and main hydraulic cylinder (11) that the piston rod top end center of four sub- hydraulic cylinders (3) is surrounded
The heart is concentric；
The rod chamber and rodless cavity of main hydraulic cylinder (11) are respectively equipped with main oil inlet solenoid valve (12a), and main oil inlet solenoid valve (12a) is logical
It crosses Main Hydraulic Pump and is attached to total hydraulic oil reservoir cryopreservation device, 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 sub- oil inlet solenoid valve (4a), sub- oil inlet solenoid valve (4a)
It is attached to total hydraulic oil reservoir cryopreservation device by sub- hydraulic pump, the rod chamber and rodless cavity of every a sub- hydraulic cylinder (3) further respectively have
Sub- oil return solenoid valve (4b), sub- oil return solenoid valve (4b) are attached to total hydraulic oil reservoir cryopreservation device；Phase on same four claw types support (7)
Pair the wherein rod chamber of a sub- hydraulic cylinder (3) of two sub- hydraulic cylinders (3) and the rodless cavity of an other sub- hydraulic cylinder (3) between lead to
Hydraulic pipeline (6) is crossed to be connected, in addition the rodless cavity of the rod chamber of a sub- hydraulic cylinder (3) and a wherein sub- hydraulic cylinder (3) it
Between be connected by hydraulic pipeline (6), be mounted on pipe electromagnetic valve (5) on each hydraulic pipeline (6).
2. a kind of distributed more wheel mobile platforms of the pure electric vehicle of intelligent control hydraulic lift hitch according to claim 1,
It is characterized in that, the arc-shaped structure of each branch of the four claw types support (7), and the convex surface of arcuate structure is outwardly.
3. a kind of distributed more wheels of the pure electric vehicle of intelligent control hydraulic lift hitch according to claim 1 or 2 are mobile flat
Platform, which is characterized in that be provided with controller (2) and real-time monitoring mobile platform chassis at the top of the mobile platform chassis (1)
(1) velocity sensor of travel speed, each wheel shaft support (9b) are provided with range sensor and imaging sensor, Mei Ge electricity
The speed probe of real-time monitoring electric wheel (10) revolving speed is provided on motor car wheel (10).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810119454.9A CN108327470B (en) | 2018-02-06 | 2018-02-06 | A kind of distributed more wheel mobile platforms of the pure electric vehicle of intelligent control hydraulic lift hitch |
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| CN201810119454.9A CN108327470B (en) | 2018-02-06 | 2018-02-06 | A kind of distributed more wheel mobile platforms of the pure electric vehicle of intelligent control hydraulic lift hitch |
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| CN108327470B true CN108327470B (en) | 2019-08-02 |
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| CN109637038B (en) * | 2019-01-18 | 2021-02-23 | 中北大学 | Shared vehicle wheel leg system and use method |
| CN109677228B (en) * | 2019-01-24 | 2020-04-28 | 中北大学 | Gas-liquid-spring composite suspension device |
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