CN108909856B - Hydraulic active rollover prevention system for emergency rescue vehicle - Google Patents
Hydraulic active rollover prevention system for emergency rescue vehicle Download PDFInfo
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- CN108909856B CN108909856B CN201810364402.8A CN201810364402A CN108909856B CN 108909856 B CN108909856 B CN 108909856B CN 201810364402 A CN201810364402 A CN 201810364402A CN 108909856 B CN108909856 B CN 108909856B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/08—Tractors having means for preventing overturning or tipping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
Abstract
The invention discloses a hydraulic active rollover prevention system of an emergency rescue vehicle, which comprises a hydraulic system, a rollover prevention executing mechanism and a control system, wherein the rollover prevention executing mechanism comprises a hydraulic cylinder, a hydraulic cylinder and a hydraulic cylinder; the hydraulic system comprises a hydraulic motor, an electromagnetic proportional overflow valve, a three-position four-way electromagnetic directional valve, an energy accumulator, an overflow valve, a hydraulic pump and a filter; the rollover-prevention executing mechanism comprises a hydraulic motor, a hydraulic motor reducer mounting plate, a V-shaped oblique arm and a supporting arm; the supporting arm is fixedly arranged at the lower part of the vehicle body, and the V-shaped oblique arm is fixedly arranged on the supporting arm and matched with an output shaft hole of the hydraulic motor reducer; the control system comprises a speed sensor, a wheel rotation angle sensor, a tire pressure monitoring device, an inclination angle sensor and a controller. The invention adopts the hydraulic motor to provide the anti-roll moment, and the anti-roll moment directly acts on the vehicle body, thereby not only ensuring that the vehicle does not turn over during the steering process, but also not influencing the running smoothness of the vehicle.
Description
Technical Field
The invention belongs to the technical field of vehicle active safety, and particularly relates to a hydraulic active rollover prevention system of an emergency rescue vehicle.
Background
Heavy transport vehicles such as emergency rescue vehicles and the like have multiple vehicle-mounted equipment, high maneuverability requirement and complex running road conditions, so that the side-tipping stability of the heavy transport vehicles is poor, and the side-tipping danger is easy to occur. Therefore, how to avoid the rollover of the emergency rescue vehicle becomes one of the important research points of the active safety technology of the vehicle. In modeling analysis and experimental research of a triaxial heavy truck with a hydraulic interconnection suspension, a novel suspension mechanism, namely an anti-roll hydraulic interconnection suspension, is proposed and designed to reduce rollover accidents of a vehicle, but the vehicle adopts the hydraulic interconnection suspension to ensure the smoothness of vehicle running and play a role in resisting roll, so that the coordination control among a plurality of hydraulic actuators is required to be good, the control strategy is complex, and particularly in the turning process, the vehicle is difficult to meet the requirement of the smoothness of the vehicle while ensuring the anti-roll performance.
In the Chinese invention patent 'automatic balancing device for preventing vehicle from inclining and side turning' with the publication (cloth) number of CN107054485A, an automatic balancing device for preventing vehicle body from inclining and even side turning caused by centrifugal force generated during turning driving is provided. The hydraulic control device mainly comprises two hydraulic cylinders with the same structure, and when a vehicle turns and runs to generate centrifugal force, the hydraulic control device can automatically adjust and control the balance degree of two sides of the vehicle body, and keep the stability of the vehicle body so as to prevent the vehicle body from inclining and turning over. However, the device can interfere with the motion of the suspension system of the vehicle in the process of preventing the vehicle from rolling over, thereby influencing the running smoothness of the vehicle.
Disclosure of Invention
The invention aims to provide a hydraulic active rollover prevention system for an emergency rescue vehicle, which can prevent the vehicle from rolling over when the vehicle turns, can effectively prevent the vehicle from rolling over, and can ensure the safety and smoothness of the vehicle running.
The invention discloses a hydraulic active rollover prevention system which is arranged between a vehicle body and a vehicle frame and outputs different anti-roll moments according to the tire pressure difference of wheels at two sides of the vehicle in the steering process, the roll angle of the vehicle body, the running speed of the vehicle and the steering angle of the wheels, so that the roll of the vehicle body is effectively inhibited, and the vehicle cannot roll over during the turning process.
In order to achieve the purpose, the invention adopts the following technical scheme:
a hydraulic active rollover prevention system of an emergency rescue vehicle comprises a hydraulic system, a rollover prevention executing mechanism and a control system;
the hydraulic system comprises a hydraulic motor, an electromagnetic proportional overflow valve, a three-position four-way electromagnetic directional valve, an energy accumulator, an overflow valve, a hydraulic pump and a filter; the P4 oil port of the filter is connected with the oil tank, and the T4 oil port of the filter is connected with the P5 oil port of the hydraulic pump; the T5 oil port of the hydraulic pump is respectively connected with the P1 oil port of the three-position four-way electromagnetic directional valve, the P2 oil port of the electromagnetic proportional overflow valve, the P3 oil port of the overflow valve and the oil port of the energy accumulator; the T3 oil port of the overflow valve is connected with the oil tank; a T2 oil port of the electromagnetic proportional overflow valve is connected with an oil tank; the oil port T1 of the three-position four-way electromagnetic directional valve is connected with the oil tank, the oil port A1 of the three-position four-way electromagnetic directional valve is connected with the oil port A2 of the hydraulic motor, and the oil port B1 of the three-position four-way electromagnetic directional valve is connected with the oil port B2 of the hydraulic motor;
the anti-rollover executing mechanism comprises a hydraulic motor speed reducer, a hydraulic motor speed reducer mounting plate, a V-shaped oblique arm and a supporting arm; the supporting arm comprises a front cross beam and a rear cross beam, and is welded into a square structure through a left end beam and a right end beam; the supporting arm is fixedly arranged at the lower part of the vehicle body, and a front cross beam of the supporting arm is positioned at the front part and is vertical to the longitudinal vehicle body; the V-shaped oblique arm is of a V-shaped structure, a shaft hole matched with an output shaft of a hydraulic motor reducer is arranged at the intersection part of the V-shaped oblique arm, and two end parts of the V-shaped oblique arm are fixedly arranged in the middle of a front cross beam of the supporting arm, so that the shaft center of the shaft hole at the intersection part is superposed with the central plane of the longitudinal vehicle body; the hydraulic motor reducer is fixedly arranged at the output end of the hydraulic motor; the hydraulic motor speed reducer is fixedly installed below the vehicle body through a hydraulic motor speed reducer installing plate, so that an output shaft of the hydraulic motor speed reducer is matched with a shaft hole at the lower end of the V-shaped inclined arm;
the hydraulic motor is a power source of the rollover prevention actuating mechanism and provides anti-roll moment, the moment is output from an output shaft of the hydraulic motor reducer and is transmitted to the supporting arm through the V-shaped inclined arm, and the supporting arm applies the anti-roll moment to the vehicle body, so that the rollover prevention effect is achieved.
The control system comprises a speed sensor, a wheel rotation angle sensor, a tire pressure monitoring device, an inclination angle sensor and a controller;
the speed sensor, the wheel rotation angle sensor, the tire pressure monitoring device and the inclination angle sensor are respectively used for detecting the running speed of a vehicle in the steering process, the steering angle of wheels, the tire pressure difference of the wheels at two sides and the roll angle of a vehicle body;
the controller receives a vehicle running speed signal, a wheel rotation angle signal, pressure signals of wheel tires on two sides and a roll angle signal of a vehicle body respectively detected by the speed sensor, the wheel rotation angle sensor, the tire pressure monitoring device and the tilt angle sensor in real time, and sends a control instruction to the hydraulic system according to the signals, so that the control of the output torque and the direction of the hydraulic motor is finally realized.
Compared with the prior art, the invention has the following beneficial effects:
(1) the hydraulic motor is adopted to provide anti-roll moment, and the anti-roll moment directly acts on the vehicle body, so that the vehicle can not be turned over during the steering process, and the running smoothness of the vehicle is not influenced;
(2) the hydraulic active rollover prevention system adopted by the invention can output different anti-roll moments according to the tire pressure difference of wheels at two sides of the vehicle in the steering process, the roll angle of the vehicle body, the steering running speed and the steering angle of the wheels, thereby greatly improving the lateral stability of the vehicle.
Drawings
FIG. 1 is a schematic view of the installation of the anti-rollover actuator according to the present invention;
FIG. 2 is a perspective view of the hydraulic motor and hydraulic motor reducer assembly of the present invention;
FIG. 3 is a schematic perspective view of a V-shaped oblique arm in the anti-rollover actuator according to the present invention;
FIG. 4 is a schematic perspective view of a mounting plate for a hydraulic motor reducer in the anti-rollover actuator according to the present invention;
FIG. 5 is a perspective view of a support arm of the anti-rollover actuator of the present invention;
FIG. 6 is a schematic diagram of a hydraulic system of the present invention;
fig. 7 is a block diagram of a control system of the present invention.
In the figure: 1. the hydraulic motor speed reducer comprises a vehicle body, 2 parts of a supporting arm, 3 parts of a hydraulic motor, 4 parts of a hydraulic motor speed reducer, 5 parts of a hydraulic motor speed reducer mounting plate, 6 parts of a V-shaped inclined arm, 7 parts of a vehicle frame, 8 parts of a hydraulic motor speed reducer output shaft, 9 parts of a hydraulic motor speed reducer mounting hole, 10 parts of a bolt, 11 parts of a V-shaped inclined arm mounting hole, 12 parts of a V-shaped inclined arm shaft hole, 13 parts of a hydraulic motor speed reducer mounting plate mounting hole, 14 parts of a hydraulic motor speed reducer positioning hole, 15 parts of a rear cross beam, 16 parts of a left end beam, 17 parts of a supporting arm mounting hole, 18 parts of a V-shaped inclined arm positioning hole, 19 parts of a right end beam, 20 parts of a front cross beam, 21 parts of an energy accumulator, 22 parts of a three-position four-way electromagnetic directional valve, 23 parts of an overflow valve.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
the invention discloses an embodiment of a hydraulic active rollover prevention system of an emergency rescue vehicle, which comprises a hydraulic system, a rollover prevention executing mechanism and a control system, wherein the hydraulic system comprises a hydraulic cylinder, a hydraulic cylinder and a hydraulic cylinder;
as shown in fig. 6, the hydraulic system includes a hydraulic motor 3, an electromagnetic proportional relief valve 26, a three-position four-way electromagnetic directional valve 22, an accumulator 21, a relief valve 23, a hydraulic pump 24, and a filter 25; the P4 oil port of the filter 25 is connected with the oil tank, and the T4 oil port of the filter 25 is connected with the P5 oil port of the hydraulic pump 24; the T5 oil port of the hydraulic pump 24 is respectively connected with the P1 oil port of the three-position four-way electromagnetic directional valve 22, the P2 oil port of the electromagnetic proportional overflow valve 26, the P3 oil port of the overflow valve 23 and the oil port of the energy accumulator 21; the T3 oil port of the overflow valve 23 is connected with the oil tank; the T2 oil port of the electromagnetic proportional overflow valve 26 is connected with the oil tank; an oil port T1 of the three-position four-way electromagnetic directional valve 22 is connected with an oil tank, an oil port A1 of the three-position four-way electromagnetic directional valve 22 is connected with an oil port A2 of the hydraulic motor 3, and an oil port B1 of the three-position four-way electromagnetic directional valve 22 is connected with an oil port B2 of the hydraulic motor 3;
the hydraulic pump 24 provides power for the whole hydraulic system, the energy accumulator 21 serves as an auxiliary power source of the hydraulic system, the three-position four-way electromagnetic directional valve 22 controls the forward and reverse rotation of the hydraulic motor 3, when the 1DT of the three-position four-way electromagnetic directional valve 22 is electrified, the hydraulic motor 3 generates clockwise torque, and when the 2DT of the three-position four-way electromagnetic directional valve 22 is electrified, the hydraulic motor 3 generates anticlockwise torque. The relief valve 23 functions to protect the entire system, the filter 25 filters hydraulic oil entering the hydraulic system, and the electromagnetic proportional relief valve 26 controls the pressure of the entire hydraulic system.
As shown in fig. 1, the anti-rollover actuator is installed between a vehicle body 1 and a vehicle frame 7, and comprises a hydraulic motor reducer 4, a hydraulic motor reducer mounting plate 5, a "V" -shaped oblique arm 6 and a support arm 2;
as shown in fig. 5, the support arm 2 comprises a front beam 20 and a rear beam 15, and is welded into a square frame structure through a left end beam 16 and a right end beam 19; the supporting arm 2 is installed and fixed at the lower part of the vehicle body 1 through a supporting arm installing hole 17 by a bolt, a front beam 20 of the supporting arm is positioned at the front part and is vertical to the longitudinal vehicle body, and an installing groove seat of a V-shaped oblique arm 6 and a V-shaped oblique arm positioning hole 18 are arranged on the front beam 20;
as shown in fig. 3, the V-shaped oblique arm 6 is of a V-shaped structure, a shaft hole 12 matched with the output shaft 8 of the hydraulic motor reducer is arranged at the intersection part, two end parts of the V-shaped oblique arm are fixedly arranged in a mounting groove seat at the middle part of the front cross beam 20 of the supporting arm 2, and the V-shaped oblique arm is fixed on a positioning hole 18 of the V-shaped oblique arm by a bolt, so that the shaft center of the shaft hole 12 at the intersection part is superposed with the central plane of the longitudinal vehicle body;
as shown in fig. 1, 2 and 4, the hydraulic motor reducer 4 is fixedly installed at the output end of the hydraulic motor 3 through a bolt 10; the hydraulic motor reducer 4 is installed and fixed on a hydraulic motor reducer positioning hole 14 on the hydraulic motor reducer installation plate 5 through an installation hole 9 of the hydraulic motor reducer, the hydraulic motor reducer installation plate 5 is installed and fixed under the vehicle body 1 through an installation hole 13 of the hydraulic motor reducer installation plate through a bolt, so that an output shaft 8 of the hydraulic motor reducer is matched with a shaft hole 12 at the lower end of the V-shaped inclined arm 6, and the output shaft 8 of the hydraulic motor reducer is a spline shaft.
The hydraulic motor 3 is used as a power source of the rollover prevention actuating mechanism to provide anti-roll moment, the moment transmits the anti-roll moment to the V-shaped inclined arm 6 through the hydraulic motor reducer 4 through the hydraulic motor reducer output shaft 8 and the V-shaped inclined arm shaft hole 12 matched with the hydraulic motor reducer output shaft, and the V-shaped inclined arm 6 is fixed on the supporting arm 2, so that the anti-roll moment is transmitted to the supporting arm 2, the anti-roll moment is transmitted to the vehicle body 1 connected with the supporting arm 2, and the aim of reducing the roll of the vehicle body 1 is fulfilled.
As shown in fig. 7, the control system includes a speed sensor, a wheel rotation angle sensor, a tire pressure monitoring device, an inclination sensor, and a controller;
the control system comprises a speed sensor, a wheel rotation angle sensor, a tire pressure monitoring device, an inclination angle sensor and a controller;
the controller receives a vehicle running speed signal, a wheel rotation angle signal, pressure signals of wheel tires on two sides and a roll angle signal of a vehicle body respectively detected by the speed sensor, the wheel rotation angle sensor, the tire pressure monitoring device and the tilt angle sensor in real time, and sends a control instruction to the hydraulic system according to the signals, so that the control of the output torque and the direction of the hydraulic motor is finally realized.
The speed, the wheel steering angle, the wheel tire pressure and the vehicle body roll angle of the emergency rescue vehicle during turning running are respectively measured by a speed sensor, a wheel steering angle sensor, a tire pressure monitoring device and a roll angle sensor, and the set value A is the tire pressure difference between two sides of the wheel measured when the vehicle body begins to roll measured by the emergency rescue vehicle roll test. When the vehicle runs in a steering mode, the speed sensor, the wheel rotation angle sensor, the tire pressure monitoring device and the inclination angle sensor respectively transmit a running speed signal, a wheel rotation angle signal, pressure signals of tires of wheels on two sides and a roll angle signal of the vehicle body 1 of the emergency rescue vehicle to the controller. The controller controls the opening of a hydraulic pump 24 and the reversing of a three-position four-way electromagnetic reversing valve 22 in the hydraulic system according to the tire pressure difference of wheels on two sides and the deflection angle of the wheels to obtain the torque direction output by the hydraulic motor 3; and then the size of the valve core opening of the electromagnetic proportional overflow valve 26 is controlled according to the running speed of the emergency rescue vehicle during steering, the roll angle of the vehicle body 1 and the steering angle of the wheels, so as to obtain the torque output by the hydraulic motor 3.
When the emergency rescue vehicle turns, the vehicle body can roll due to the action of centrifugal force, the roll degree is closely related to the turning speed and the wheel turning angle, and once the roll angle is too large, the emergency rescue vehicle has the danger of side turning. Therefore, the invention adopts the hydraulic active rollover prevention system of the emergency rescue vehicle to provide the anti-roll moment and offset the roll moment of the vehicle generated by the centrifugal force.
The working principle of the invention is as follows:
when the emergency rescue vehicle turns right, the speed sensor and the wheel corner sensor detect the speed and the wheel corner when the vehicle turns right, the tire pressure monitoring device and the inclination angle sensor detect the tire pressure of the wheels on two sides and the roll angle of the vehicle body, and transmit a speed signal, a corner signal, a tire pressure signal and a roll angle signal to the controller. The controller controls the hydraulic pump 24 to start according to the tire pressure difference and the corner signal of the wheel, and controls the 1DT of the three-position four-way electromagnetic directional valve 22 to be electrified, so that the hydraulic motor 3 generates clockwise moment, the moment is transmitted to the V-shaped oblique arm 6 through the hydraulic motor reducer 4, the hydraulic motor reducer output shaft 8 and the V-shaped oblique arm shaft hole 12 matched with the hydraulic motor reducer output shaft, and then the V-shaped oblique arm 6 transmits the moment to the supporting arm 2, so that the moment is transmitted to the vehicle body 1 connected with the supporting arm 2. The controller controls the size of the valve core opening of the electromagnetic proportional overflow valve 26 according to the running speed and the wheel rotation angle of the emergency rescue vehicle when the emergency rescue vehicle turns right and the roll angle of the vehicle body, so that the pressure of the hydraulic system is controlled, and finally the size of the clockwise moment output by the hydraulic motor 3 is controlled. The clockwise moment generated by the hydraulic motor 3 and finally transmitted to the vehicle body 1 is the anti-roll moment of the vehicle and the roll moment of the vehicle generated by the centrifugal force in opposite directions, and the two moments cancel each other out to reduce the influence of the centrifugal force of the vehicle on the vehicle body 1, and finally reduce the roll angle of the vehicle body 1 rolling to the left.
When the emergency rescue vehicle turns left, the working principle of the hydraulic active rollover prevention system of the emergency rescue vehicle is the same as that of the emergency rescue vehicle turning right, the controller controls the 2DT of the three-position four-way electromagnetic directional valve 22 to be electrified according to the tire pressure difference of the wheels at two sides and the wheel corner signal, so that the hydraulic motor 3 generates anticlockwise moment, and the valve core opening of the electromagnetic proportional overflow valve 26 is controlled to control the anticlockwise moment output by the hydraulic motor 3. The counterclockwise moment output from the hydraulic motor 3 is transmitted to the vehicle body 1 via the hydraulic motor reducer 4, the "V" -shaped tilting arm 6, and the support arm 2, and the roll moment that tilts the vehicle body 1 to the right is cancelled, and finally the roll angle at which the vehicle body 1 rolls to the right is reduced.
Claims (1)
1. The utility model provides a hydraulic pressure initiative rollover prevention system of emergency rescue vehicle which characterized in that: the rollover prevention system comprises a hydraulic system, a rollover prevention executing mechanism and a control system;
the hydraulic system comprises a hydraulic motor, an electromagnetic proportional overflow valve, a three-position four-way electromagnetic directional valve, an energy accumulator, an overflow valve, a hydraulic pump and a filter; the P4 oil port of the filter is connected with the oil tank, and the T4 oil port of the filter is connected with the P5 oil port of the hydraulic pump; the T5 oil port of the hydraulic pump is respectively connected with the P1 oil port of the three-position four-way electromagnetic directional valve, the P2 oil port of the electromagnetic proportional overflow valve, the P3 oil port of the overflow valve and the oil port of the energy accumulator; the T3 oil port of the overflow valve is connected with the oil tank; a T2 oil port of the electromagnetic proportional overflow valve is connected with an oil tank; the oil port T1 of the three-position four-way electromagnetic directional valve is connected with the oil tank, the oil port A1 of the three-position four-way electromagnetic directional valve is connected with the oil port A2 of the hydraulic motor, and the oil port B1 of the three-position four-way electromagnetic directional valve is connected with the oil port B2 of the hydraulic motor;
the anti-rollover executing mechanism comprises a hydraulic motor speed reducer, a hydraulic motor speed reducer mounting plate, a V-shaped oblique arm and a supporting arm; the supporting arm comprises a front cross beam and a rear cross beam, and is welded into a square structure through a left end beam and a right end beam; the supporting arm is fixedly arranged at the lower part of the vehicle body, and a front cross beam of the supporting arm is positioned at the front part and is vertical to the longitudinal vehicle body; the V-shaped oblique arm is of a V-shaped structure, a shaft hole matched with an output shaft of a hydraulic motor reducer is arranged at the intersection part of the V-shaped oblique arm, and two end parts of the V-shaped oblique arm are fixedly arranged in the middle of a front cross beam of the supporting arm, so that the shaft center of the shaft hole at the intersection part is superposed with the central plane of the longitudinal vehicle body; the hydraulic motor reducer is fixedly arranged at the output end of the hydraulic motor; the hydraulic motor speed reducer is fixedly installed below the vehicle body through a hydraulic motor speed reducer installing plate, so that an output shaft of the hydraulic motor speed reducer is matched with a shaft hole at the lower end of the V-shaped inclined arm;
the control system comprises a speed sensor, a wheel rotation angle sensor, a tire pressure monitoring device, an inclination angle sensor and a controller;
the speed sensor, the wheel rotation angle sensor, the tire pressure monitoring device and the inclination angle sensor are respectively used for detecting the running speed of a vehicle in the steering process, the steering angle of wheels, the tire pressure difference of the wheels at two sides and the roll angle of a vehicle body;
the controller receives a vehicle running speed signal, a wheel rotation angle signal, pressure signals of wheel tires on two sides and a roll angle signal of a vehicle body respectively detected by the speed sensor, the wheel rotation angle sensor, the tire pressure monitoring device and the tilt angle sensor in real time, and sends a control instruction to the hydraulic system according to the signals, so that the control of the output torque and the direction of the hydraulic motor is finally realized.
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| CN201810364402.8A CN108909856B (en) | 2018-04-19 | 2018-04-19 | Hydraulic active rollover prevention system for emergency rescue vehicle |
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| CN201810364402.8A CN108909856B (en) | 2018-04-19 | 2018-04-19 | Hydraulic active rollover prevention system for emergency rescue vehicle |
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| CN108909856B true CN108909856B (en) | 2020-07-28 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109704236B (en) * | 2018-12-17 | 2020-07-17 | 集美大学诚毅学院 | Forklift with anti-toppling function |
| CN109703636B (en) * | 2019-01-30 | 2021-02-09 | 刘智慧 | Rollover prevention method and system of all-terrain vehicle |
| CN110979239B (en) * | 2019-10-15 | 2021-08-24 | 长沙中联重科环境产业有限公司 | Rollover prevention control system and wall surface cleaning vehicle |
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| US3680878A (en) * | 1970-05-15 | 1972-08-01 | Eugene F Beck | Wheeled vehicle including hydraulic leveling system |
| JPS5465918A (en) * | 1977-11-05 | 1979-05-28 | Kubota Ltd | Horizontal control apparatus for mobile vehicle |
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