CN111716958B - Suspension steering drive axle, vehicle and control method thereof - Google Patents

Abstract

The invention relates to a suspension steering drive axle, a vehicle and a control method thereof, belonging to the technical field of non-road agricultural vehicle transmission, wherein the steering drive axle comprises a drive axle housing assembly, a left rocker arm assembly and a right rocker arm assembly; the left rocker arm assembly is hinged to two ends of the driving axle housing assembly respectively; the hydraulic control system also comprises a suspension oil cylinder and a hydraulic control unit; a suspension oil cylinder is arranged between the driving axle housing assembly and the rocker arm assembly; the suspension oil cylinder can be controlled and regulated by the hydraulic control unit to realize the up-and-down swing of the rocker arm assembly. The driving axle, the vehicle comprising the driving axle and the control method can adjust the supporting rigidity of the left and right suspension cylinders to buffer the longitudinal and transverse impact jolts of the vehicle, so that the running posture of the whole machine is kept stable.

Description

Suspension steering drive axle, vehicle and control method thereof

Technical Field

The disclosure belongs to the technical field of non-road agricultural vehicle transmission, and particularly relates to a suspension steering drive axle, a vehicle and a control method thereof.

Background

The statements herein merely provide background art related to the present disclosure and may not necessarily constitute prior art.

The tractor is used as a main farm work power machine and is widely popularized in agricultural production in China, has huge social conservation quantity, and provides powerful support for agricultural modern development. However, there is a great gap between the research and development technologies of tractors in China and the international advanced level for a long time, and the gap is particularly great in the aspects of intellectualization and electromechanical liquid integration. The steering drive axle is used as an important power transmission part of the tractor, and has great influence on the comprehensive performance of the tractor, in particular to the power performance, the passing performance and the comfort performance.

The inventor finds that the existing suspension steering drive axle is still blank in the domestic tractor industry, four-wheel drive and large-scale trend are formed along with continuous expansion of the functions of the tractor, but the technical level is not in line with the development requirements, the traditional rigid steering drive axle is still used, jolt vibration caused by the rigid axle in rough rural roads and fields seriously affects the operation quality and the operation efficiency of the tractor, and even seriously affects the physical health of a driver, and lumbar muscle strain, gastroptosis and the like are generated. With the development of agriculture and rural work, especially the promotion of new rural construction, the production and living environment of farmers are greatly improved, and people have higher requirements on the technical advancement of the agricultural machinery, so that the research on the key technology of the suspension steering drive axle becomes necessary.

Disclosure of Invention

Aiming at the defects existing in the prior art, the present disclosure provides a suspension steering drive axle, a vehicle and a control method thereof, which are applied to a four-wheel drive tractor to replace the existing rigid steering drive axle and fill the blank of similar technology in China. When the tractor impacts the wheels due to the change of the running speed (including acceleration and deceleration working conditions) or the change of traction load (suddenly increasing or decreasing) or the unevenness of the ground, the intelligent controller can control the proportional valve and the one-way throttle valve of the hydraulic control module to act according to the signal intensity fed back by the suspension displacement sensor arranged on the complete machine VCU and the suspension steering drive axle, and the supporting rigidity of the suspension cylinders at the left side and the right side is regulated to buffer and absorb longitudinal impact and transverse impact caused by the impact, so that the running gesture of the complete machine is kept stable.

At least one embodiment of the present disclosure discloses a suspension steer drive comprising a drive housing assembly, a first rocker arm assembly, and a second rocker arm assembly; the first rocker arm assembly and the second rocker arm assembly are respectively hinged at two ends of the driving axle housing assembly; the device also comprises a suspension support cylinder and a hydraulic control unit; the suspension support oil cylinder is arranged between the driving axle housing assembly and the rocker arm assembly; the suspension support oil cylinder can control and regulate the flow rate and flow direction of hydraulic oil in the oil cylinder through the hydraulic control unit so as to realize up-and-down swing of the rocker arm assembly.

Further, the hydraulic control unit comprises a hydraulic valve group consisting of a proportional electromagnetic valve, a one-way throttle valve and an overflow valve; the hydraulic control unit controls the action of the proportional electromagnetic valve according to the instruction and controls the hydraulic oil quantity entering and exiting the suspension support oil cylinder by superposing the throttling action of the one-way throttle valve.

Further, the drive axle also comprises an electric control unit; the electric control unit comprises a microprocessor, a digital-to-analog converter, a power amplifier and a suspension height sensor; the suspension height sensor is configured to collect suspension height variation parameters when the wheels are impacted, the suspension height variation parameters are processed by the digital-to-analog converter and then input into the microprocessor together with CAN signals from the VCU of the vehicle, and the result processed by the microprocessor is amplified by the power amplifier and then output to the proportional electromagnetic valve of the hydraulic control unit to control the flow, the flow speed and the flow direction of hydraulic oil.

Further, the electric control unit also comprises a working mode change-over switch; the working mode change-over switch is divided into three gears, the middle gear is a suspension starting mode, the handle is pushed in to suspend in a middle position locking mode, and the handle is pulled out to suspend in the lowest position.

Further, the first rocker arm assembly and the second rocker arm assembly comprise a first rocker arm, a second rocker arm, a steering knuckle and a steering main pin; the steering knuckle is connected with the rocker arm through a steering main pin, and the first rocker arm and the second rocker arm are connected with the driving axle housing through a rotating shaft to form a four-bar mechanism; the rotating shaft is provided with a height sensor; one end of the suspension support cylinder is supported on the drive axle shell, and the other end is supported on the second rocker arm.

Further, the driving axle housing assembly comprises a driving axle housing and a suspension oil cylinder supporting shaft arranged at the end part of the housing; the two ends of the drive axle shell are also provided with rotating shaft holes for connecting the rocker arm assembly; the suspension cylinder is supported between the end of the drive axle housing and the lower rocker arm of the rocker arm assembly.

Further, the drive axle further comprises a central transmission assembly arranged inside the drive axle housing assembly; the central transmission assembly comprises a central transmission driving gear, a central transmission driven gear and an automatic limited slip differential; the central transmission driving gear is fixed in the central transmission supporting seat and meshed with the central transmission driven gear; the central transmission driven gear is fixed on the differential case and is installed in the differential fixing seat hole of the central transmission support together with the automatic limited slip differential.

Further, the drive axle also comprises a steering oil cylinder assembly, wherein the steering oil cylinder assembly comprises an oil cylinder and a steering pull rod joint; the two ends of the oil cylinder are provided with piston rods, the piston rods are hinged with one end of a steering pull rod joint, the other end of the steering pull rod joint is connected with a steering knuckle arm on the rocker arm assembly to form a steering trapezoid, and the oil cylinder drives the left steering knuckle arm and the right steering knuckle arm to deflect in a linkage manner during action to realize a steering function.

At least one embodiment of the present disclosure also discloses a vehicle including a suspended steer axle as described in any one of the preceding claims.

At least one embodiment of the present disclosure further provides a control method for a suspension steering drive axle according to any one of the foregoing embodiments:

feeding back information detected by a height sensor located on the rocker arm assembly to the digital-to-analog converter;

the signals converted by the digital-to-analog converter and the signals from the VCU of the whole machine are input into a microprocessor, are calculated and amplified by a power amplifier, and then a proportional electromagnetic valve in a hydraulic control unit is driven to act so as to control the flow and the flow direction of hydraulic oil flowing into a supporting oil cylinder to drive a rocker arm assembly to swing up and down.

The beneficial effects obtained by the above disclosed embodiments are as follows:

1. the suspension steering drive axle realizes the elastic support of the left and right wheels connected with the steering drive axle of the tractor, wherein the elastic support can independently act.

2. The suspension steering drive axle has the advantages that the supporting rigidity of the wheels of the suspension steering drive axle is intelligently controlled, and the impact strength and the running speed change strength of the whole machine are changed in real time along with the impact strength of the wheels; the steering drive axle has better driving comfort than the traditional rigid steering drive axle model, and improves the field operation quality.

4. The electric control unit in the suspension steering drive axle is suitable for different operation conditions, three operation modes are set, a suspension mode is used during normal operation, and a suspension closing mode or a mechanical limiting operation mode can be selected when front suspension farm tools are adopted for operation.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the exemplary embodiments of the disclosure and together with the description serve to explain the disclosure, and do not constitute an undue limitation on the disclosure.

FIG. 1 is a front view of a floating steer drive provided by an embodiment of the present disclosure;

FIG. 2 is a top view of a floating steer drive provided by an embodiment of the present disclosure;

FIG. 3 is a left side view of a floating steer drive provided by an embodiment of the present disclosure;

FIG. 4 is a top view of a floating steer drive provided by an embodiment of the present disclosure;

FIG. 5 is a top view of a transaxle housing assembly provided by an embodiment of the present disclosure;

FIG. 6 is a front view of a transaxle housing assembly provided by an embodiment of the present disclosure;

FIG. 7 is a schematic structural view of a center drive assembly provided by an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a left rocker arm assembly provided by an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of a left rocker arm assembly mounting suspension support cylinder provided in an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of a hub reduction gear assembly provided by an embodiment of the present disclosure;

FIG. 11 is a schematic structural view of a steering cylinder assembly provided in an embodiment of the present disclosure;

FIG. 12 is a system diagram of a hydraulic control unit provided by an embodiment of the present disclosure;

fig. 13 is a schematic diagram of a working process of an electronic control unit according to an embodiment of the disclosure.

In the figure: 1. front center drive assembly 111, center drive bevel gear 112, center drive driven bevel gear 113, automatic limited slip differential 114, center drive support 115, automatic limited slip differential housing 2, drive axle housing assembly 211, drive axle housing 212, rocker front support 213, rocker rear support 214, support cylinder pin 215, pivot shaft hole 3, hub reduction gear assembly 311, planet carrier 312, bearing housing 313, universal drive shaft assembly 4, left suspension rocker assembly 411, upper rocker 412, lower rocker 413, pivot I,414, pivot II,415, knuckle arm, 5, right suspension rocker assembly 6, steering cylinder assembly 611, cylinder 612, piston rod 613, piston rod joint 7, hydraulic control unit 8, electronic control unit 9, suspension height sensor 10, steering angular displacement sensor 11, suspension support cylinder 12, hydraulic accumulator.

Detailed Description

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

In the description of the present disclosure, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 4, the intelligent control suspension steering drive axle disclosed in this embodiment includes a front central transmission assembly 1, a drive axle housing assembly 2, a wheel-side reducer assembly 3, a left suspension rocker arm assembly 4, a right suspension rocker arm assembly 5, a steering cylinder assembly 6, a hydraulic control unit 7, and an electric control unit 8. The front central transmission assembly 1 is arranged in the driving axle housing assembly 2, the left suspension rocker arm assembly and the right suspension rocker arm assembly are arranged at two ends of the driving axle housing assembly and are connected with the driving axle housing assembly through rotating shafts, a suspension height sensor 9 is respectively arranged at the rotating shafts of the left suspension rocker arm and the right upper suspension rocker arm, a suspension supporting oil cylinder 11 is arranged between the driving axle housing and the lower suspension rocker arm, steering knuckles in the left suspension rocker arm assembly and the right suspension rocker arm assembly are respectively connected with a left wheel reducer assembly 3 and a right wheel reducer assembly 3, and the wheel reducer directly drives a steering driving wheel. When the vehicle runs on rugged ground or the running speed changes (such as starting acceleration and braking deceleration), the wheels are impacted by different degrees, so that the suspension rocker arm generates up-and-down runout, the suspension height sensor 9 and the vehicle complete machine VCU transmit detection signals to the electric control unit 8, a controller in the electric control unit 8 outputs and controls the hydraulic control unit 7 to act after processing the signals, and the hydraulic oil flowing in and out of the suspension support cylinder 11 is timely and accurately controlled by combining the energy accumulator 12 to change the support rigidity so as to buffer and absorb the jolt vibration energy, so that the unit running is stable.

As shown in fig. 5 to 6, the driving axle housing assembly 2 in this embodiment mainly includes a driving axle housing 211, a swing shaft front support seat 212, a swing shaft rear support seat 213, a support cylinder pin 214, a central transmission assembly 1 disposed inside the driving axle housing, two ends of the housing assembly being provided with rotation shaft holes 215 for connecting the left rocker arm assembly, the two rotation shaft holes being respectively connected with upper and lower rocker arms in the left rocker arm assembly and the right rocker arm assembly through rotation shafts; the suspension support cylinder pin 214 is used for connecting with one end of the suspension support cylinder 11, and the other end of the suspension support cylinder 11 is fixed on a lower rocker arm in the rocker arm assembly.

Further, the front center drive assembly 1 in the present embodiment as shown in fig. 7 includes a center drive bevel gear 111, a center drive driven bevel gear 112, an automatic limited slip differential 113, and a center drive support 114. The central drive bevel gear 111 is mounted in the central drive support 114 using a pair of thrust bearings, and the central drive driven gear is bolted to the housing 115 of the automatic limited slip differential and mounted with the automatic limited slip differential in the differential mount bore of the central drive support using a pair of thrust bearings. The power is input through a central transmission driving gear, a central transmission driven gear is driven to drive an automatic limited slip differential to rotate together, two half shaft differential gears of the automatic limited slip differential are connected with a universal transmission shaft connected with a left wheel edge speed reducer and a right wheel edge speed reducer through a spline to drive two steering driving wheels to work, specifically, the power from a transfer case is transmitted to the differential through a driven bevel gear, and then is transmitted into the wheel edge speed reducers at the left end and the right end in the differential to drive front wheels to work. The hydraulic clutch in the automatic limited slip differential is combined with the two half-shaft differential gears and the differential shell to lock and rotate together when the tractor moves straight so that the two steering driving wheels exert the optimal driving effect, and the steering angle displacement sensor 10 arranged at the steering knuckle on the left or right suspension rocker arm when the tractor steers sends out a signal to automatically separate and recover the differential function of the differential;

further, as shown in fig. 8 to 9, the rocker arm assembly in this embodiment is exemplified by a left suspension rocker arm assembly including an upper rocker arm 411, a lower rocker arm 412, a knuckle, a suspension support cylinder, an upper kingpin, and a lower kingpin. The upper rocker 411 is connected with an upper rotating shaft hole on the driving axle housing assembly 2 through a rotating shaft I413, the lower rocker 412 is connected with a lower rotating shaft hole on the driving axle housing assembly 2 through a rotating shaft II414, and the steering knuckle is connected with an upper suspension rocker and a lower suspension rocker through an upper steering main pin and a lower steering main pin, so that the upper suspension rocker and the lower suspension rocker are connected with the driving axle housing to form a four-bar mechanism. One end of the suspension support cylinder 11 may be directly disposed in the lower rocker arm 412, and the other end is connected to the support cylinder pin 214 on the transaxle housing assembly 2. The connection mode of the right suspension rocker arm assembly is the same as that described above, and redundant description is omitted here.

The upper and lower kingpins may be designed as knuckle bearing arrangements to maintain wheel alignment and to eliminate motion interference. When the wheels are impacted or the ground supporting force is perceived to be changed, the suspension rocker arm assembly can swing up and down along with the extension of the suspension cylinder, so that the running posture of the whole machine is kept stable.

The hub reduction gear assembly disclosed in this embodiment is used for connecting the wheels of a vehicle and is connected with an upper suspension rocker arm assembly and a lower suspension rocker arm assembly, as shown in fig. 10, and the hub reduction gear assembly adopts a planetary reduction mechanism and comprises a planet carrier (hub) 311, a bearing seat 312, a planet gear, an inner gear ring connecting disc and a universal transmission shaft assembly 313. The inner gear ring is fixed on a steering knuckle of the suspension rocker arm assembly through an inner gear ring connecting disc to serve as a fixing component of the planetary reduction mechanism, the planet carrier 311 serves as a hub to serve as an output component, three planetary gears are uniformly arranged on the inner gear ring, the planet carrier 311 and the bearing seat 312 share one set of bolts to be connected with a driving wheel, two sets of conical roller bearings are arranged in the hub to be supported on the steering knuckle, one end of the universal transmission shaft 313, namely a sun gear (a driving component of the planetary reduction mechanism) penetrates through the steering knuckle to be meshed with the three planetary gears, and the other end of the universal transmission shaft 313 is connected with an inner half shaft assembly inserted into the differential mechanism to input power from the differential mechanism into the planetary reduction mechanism.

Further, the steering drive axle disclosed in the embodiment is further provided with a steering oil cylinder assembly 6; as shown in fig. 11, the steering cylinder assembly includes a cylinder 611, a piston rod 612, a piston rod joint 613, and a tie rod joint. The cylinder 611 is centrally arranged on the central transmission support seat, symmetrical double piston rods 612 are symmetrically arranged, two ends of each piston rod 612 are hinged with a steering rod joint through a piston rod joint 613, a ball pin is arranged at the other end of the steering rod joint and is connected with a steering knuckle arm 415 of a steering knuckle to form a steering trapezoid, and when the cylinder acts, the left steering knuckle and the right steering knuckle are driven to deflect in a linkage mode to realize a steering function.

Further, as shown in fig. 12, the hydraulic control unit in the present embodiment mainly includes accumulators 9.1 and 9.2, proportional solenoid valves 7.1 and 7.2, cross valve groups 8.1 and 8.2, solenoid valves 6.1 and 6.2, relief valve 3, check valves 11.1 and 11.2, check throttle valve 4, bidirectional throttle valves 11.1 and 11.2, two-position three-way solenoid valve 2, throttle hole 5, shuttle valve 10, and left and right suspension support cylinders a and B.

Suspension control during tractor driving is performed by the proportional solenoid valves 7.1 and 7.2, the cross valve blocks 8.1 and 8.2, and the accumulators 9.1 and 9.2, among other elements. In the suspension mode state, the two-position three-way electromagnetic valve 2 and the two-position two-way electromagnetic ball valve 6.1 or 6.2 are powered off, and the proportional valves 7.1 and 7.2 are partially or completely opened. The accumulators 9.1 and 9.2 provide shock absorbers for the tractor, when the front wheels are subjected to ground impact load change and the suspension cylinders A and B shrink due to stress, hydraulic oil is pressed into the accumulators 9.1 and 9.2, when suspension rebounds, the suspension cylinders A and B stretch, the hydraulic oil flows out of the accumulators 9.1 and 9.2 to supplement oil, and the cross valve groups 8.1 and 8.2 provide a passive compression damping function. The two-position three-way electromagnetic valve 2 is a poppet valve and is used for controlling the oil feeding of the system. When the machine body is lifted, the two-position three-way electromagnetic valve 2, the two-position two-way electromagnetic ball valve 6.1 or 6.2 and the proportional valve 7.1 or 7.2 are electrified and opened, the large cavity of the suspension oil cylinder A or B is filled with oil, and the piston rod of the suspension oil cylinder A or B is extended, so that the front part of the tractor is lifted; the two-way throttles 1.1 and 1.2 are used to control the fuselage lifting speed and lowering speed, respectively. When the two-way throttle valve 1.2 is opened, the gravity of the front part of the tractor acts on the suspension oil cylinder, namely, the gravity of the tractor forces the suspension pressure oil to drain into the oil tank through the throttle valve, so that the suspension is lowered, and the front part of the tractor falls; the orifice 5 is used for generating a pressure difference between the high-pressure outlet pressure and the load feedback pressure of the load sensitive variable pump so as to control the activated oil pump and ensure the normal flow output of the oil pump; the function of the proportional solenoid valves 7.1 and 7.2 is to provide dynamic active compression damping; the safety relief valve 3 serves to limit the maximum operating pressure of the suspension circuit, preventing overload of the suspension system; the two-position two-way electromagnetic ball valves 6.1 and 6.2 are used for isolating left and right suspension oil ways, ensuring effective independent control of suspension lifting, suspension descending and other working modes and normal working; the one-way valves 11.1 and 11.2 are used for isolating left and right suspension oil paths, and guaranteeing that the left and right suspension systems share one safety valve 3 and share one set of oil drain oil path under the condition of meeting independent control of related functions; the function of the one-way throttle valve 4 is to control the falling speed of the suspension when the machine body falls electrically, so as to ensure safe and stable action; the shuttle valve 10 is used for selecting, switching and controlling the pressure signal of the complete machine lifting system and the suspension system LS.

As shown in fig. 13, the electronic control unit 8 in the steering drive axle disclosed in this embodiment includes a microprocessor, a digital-to-analog converter, a power amplifier, a power supply, a levitation height sensor, and a working mode change-over switch. The front wheel is impacted by uneven ground, the suspension rocker arm swings along with the front wheel jolt up and down, the suspension height sensor arranged at the shaft end of the rocker arm bearing feeds signals back to the digital-to-analog converter, the impact of the speed change of the whole machine on the front wheel is provided by the VCU of the whole machine, the signals converted by the digital-to-analog converter and the signals from the VCU of the whole machine are input into the microprocessor to be operated and amplified by the power amplifier, and then the proportional electromagnetic valve in the hydraulic control unit can be driven to act to control the flow and the flow direction of hydraulic oil flowing into the suspension supporting oil cylinder, so that the suspension function is realized.

In addition, the electric control unit 8 further comprises a working mode change-over switch, one end of the switch is connected with the power supply module, the other end of the switch is directly connected to the digital-to-analog converter, the working mode change-over switch is divided into three gears, the middle gear is a suspension starting mode, the front wheel is in a suspension state in the mode, the running posture of the whole machine can be automatically kept stable, the handle is pushed to be in a suspension locking mode in the middle position, the supporting oil cylinder is in an oil inlet and outlet totally-closed state in the mode, and the front wheel loses a suspension function. The handle is pulled out to suspend at the lowest position, at the moment, the mechanical limit is effective, and the three-gear switch is arranged to realize the conversion of the working mode of the vehicle under different walking environments, so that the adaptability of the vehicle is improved.

While the specific embodiments of the present disclosure have been described above with reference to the drawings, it should be understood that the present disclosure is not limited to the embodiments, and that various modifications and changes can be made by one skilled in the art without inventive effort on the basis of the technical solutions of the present disclosure while remaining within the scope of the present disclosure.

Claims (8)

1. A suspension steering drive axle comprises a drive axle housing assembly, a first rocker arm assembly and a second rocker arm assembly; the first rocker arm assembly and the second rocker arm assembly are respectively hinged at two ends of the driving axle housing assembly;

the hydraulic suspension device is characterized by also comprising a suspension support oil cylinder and a hydraulic control unit; the suspension support oil cylinder is arranged between the driving axle housing assembly and the rocker arm assembly; the suspension support oil cylinder can control and regulate the flow rate and flow direction of hydraulic oil in the oil cylinder through the hydraulic control unit so as to realize up-and-down swing of the rocker arm assembly;

the first rocker arm assembly and the second rocker arm assembly comprise a first rocker arm, a second rocker arm, a steering knuckle and a steering main pin; the steering knuckle is connected with the rocker arm through a steering main pin, and the first rocker arm and the second rocker arm are connected with the driving axle housing through a rotating shaft to form a four-bar mechanism; the rotating shaft is provided with a height sensor; one end of the suspension supporting oil cylinder is supported on the driving axle shell, and the other end of the suspension supporting oil cylinder is supported on the second suspension rocker arm;

the drive axle comprises an electric control unit, and the electric control unit comprises a working mode change-over switch; the working mode change-over switch is divided into three gears altogether, the middle gear is a suspension starting mode, the running posture of the whole machine can be automatically kept stable, the handle is pushed to be in a suspension-in locking mode, the supporting oil cylinder is in an oil way in-out totally-closed state under the mode, the front wheel loses the suspension function, the handle is pulled out to be in a suspension-out position, at the moment, the mechanical limit is effective, the vehicle can be switched to the working mode under different running environments by arranging the three-gear switch, and the adaptability of the vehicle is improved.

2. The suspension steering drive axle according to claim 1, wherein the hydraulic control unit comprises a hydraulic valve group consisting of a proportional solenoid valve, a one-way throttle valve and an overflow valve; the hydraulic control unit controls the action of the proportional electromagnetic valve according to the instruction and controls the hydraulic oil quantity entering and exiting the suspension support oil cylinder by superposing the throttling action of the one-way throttle valve.

3. The suspension steering drive axle of claim 1 wherein said electronic control unit comprises a microprocessor, digital to analog converter, power amplifier, suspension height sensor; the suspension height sensor is configured to collect suspension height variation parameters when the wheels are impacted, the suspension height variation parameters are processed by the digital-to-analog converter and then input into the microprocessor together with CAN signals from the VCU of the vehicle, and the result processed by the microprocessor is amplified by the power amplifier and then output to the proportional electromagnetic valve of the hydraulic control unit to control the flow, the flow speed and the flow direction of hydraulic oil of the suspension support cylinder.

4. A suspension steer axle as claimed in claim 1 wherein said axle housing assembly comprises an axle housing and a suspension cylinder support shaft disposed at an end of the housing; the two ends of the drive axle shell are also provided with rotating shaft holes for connecting the rocker arm assembly; the suspension cylinder is supported between the end of the drive axle housing and the rocker arm of the rocker arm assembly.

5. A suspension steer axle as claimed in claim 1, wherein said axle further comprises a central transmission assembly disposed within said axle housing assembly; the central transmission assembly comprises a central transmission driving gear, a central transmission driven gear and an automatic limited slip differential; the central transmission driving gear is fixed in the central transmission supporting seat and meshed with the central transmission driven gear; the central transmission driven gear is fixed on the differential case and is installed in the differential fixing seat hole of the central transmission support together with the automatic limited slip differential.

6. The suspension steering drive axle of claim 1, wherein said drive axle further comprises a steering cylinder assembly, said steering cylinder assembly comprising a cylinder, a steering linkage joint; the two ends of the oil cylinder are provided with piston rods, the piston rods are hinged with one end of a steering pull rod joint, the other end of the steering pull rod joint is connected with a steering knuckle arm on the rocker arm assembly to form a steering trapezoid, and the oil cylinder drives the left steering knuckle arm and the right steering knuckle arm to deflect in a linkage manner during action to realize a steering function.

7. A vehicle comprising a suspended steer axle as claimed in any one of claims 1 to 6.

8. A control method based on a suspension steer axle according to any one of the preceding claims 1-7:

feeding back information detected by a height sensor located on the rocker arm assembly to the digital-to-analog converter;

the signals converted by the digital-to-analog converter and the signals from the VCU of the whole machine are input into a microprocessor, are calculated and amplified by a power amplifier, and then a proportional electromagnetic valve in a hydraulic control unit is driven to act so as to control the flow and the flow direction of hydraulic oil flowing into a supporting oil cylinder to drive a rocker arm assembly to swing up and down.

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