CN116215682A - Floating chassis, automatic automobile body adjusting system and control method - Google Patents
Floating chassis, automatic automobile body adjusting system and control method Download PDFInfo
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- CN116215682A CN116215682A CN202211555227.3A CN202211555227A CN116215682A CN 116215682 A CN116215682 A CN 116215682A CN 202211555227 A CN202211555227 A CN 202211555227A CN 116215682 A CN116215682 A CN 116215682A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
- B62D55/1125—Hydro-pneumatic or pneumatic, e.g. air-cushioned
Abstract
The invention discloses a floating chassis, an automatic automobile body adjusting system and a control method, wherein the automatic automobile body adjusting system comprises the floating chassis, a controller and a hydraulic system; the floating chassis comprises a chassis body, two side girder main bodies and two side supporting oil cylinders; each longitudinal beam main body is connected to the side part of the underframe main body through at least two groups of rotating connecting rods, and the rotating connecting rods and the two ends of the supporting oil cylinder are respectively connected with the underframe main body and the longitudinal beam main body in a rotating way; the support cylinders on two sides are respectively connected with a hydraulic system through cylinder proportional electromagnetic valves; the controller controls the telescopic actions of the support cylinders at the two sides to change the height positions of the two sides of the chassis body by controlling the proportional solenoid valve of the left cylinder and/or the proportional solenoid valve of the right cylinder according to the vehicle body inclination angle signal detected by the inclination angle sensor arranged on the vehicle body until the vehicle body inclination angle changes to be within a preset range. The invention can automatically adjust the horizontal inclination angle of the whole machine during the slope operation, reduce the oil consumption loss of the slope operation and improve the comfort and the stability of the whole machine.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a floating chassis and vehicle body automatic adjusting system and a control method suitable for an excavator.
Background
On engineering machinery such as an excavator, the chassis is responsible for connecting and bearing the loading parts and realizing the walking function of the whole machine. The chassis of the existing excavator generally adopts an integral welding structure, when facing to a rugged road or a slope working condition, the excavator body cannot always keep a horizontal state, and a large amount of energy is wasted on overcoming gravity when the excavator body rotates; long tilting operations can also cause great discomfort to the driver. Therefore, when facing a slope operation or an uneven road surface, the excavator generally needs to clean a flat surface in advance for stopping and stabilizing the whole machine, and then performs excavating operation, so that more time is consumed, when facing a working condition with limited space or an emergency working period, enough working planes are usually not cleaned under the condition, the whole machine can be lifted up to directly perform excavating operation, and the comfort, the stability and the energy conservation of the whole machine are poor.
Disclosure of Invention
The invention aims to provide a floating chassis, an automatic automobile body adjusting system and a control method suitable for an excavator, which can automatically adjust the horizontal inclination angle of the whole machine during slope operation, reduce the oil consumption loss during slope operation and improve the comfort and the stability of the whole machine. The technical scheme adopted by the invention is as follows.
In one aspect, the invention provides a floating chassis, which comprises a chassis body for installing a revolving bracket, two longitudinal beam main bodies respectively connected to two sides of the chassis body, and support cylinders respectively arranged between the chassis body and each longitudinal beam main body;
the longitudinal beam main body is connected to the side part of the underframe main body through at least two groups of rotating connecting rods respectively, and two ends of each rotating connecting rod are connected with the underframe main body and the longitudinal beam main body in a rotating mode respectively;
the two ends of the supporting oil cylinder are respectively and rotatably connected with the underframe body and the longitudinal beam main body; the supporting cylinders on two sides of the underframe body are connected into a hydraulic system through a left cylinder proportional electromagnetic valve and a right cylinder proportional electromagnetic valve respectively; the expansion and contraction of the supporting oil cylinder can drive the same-side rotating connecting rod to rotate, so that the included angle between the rotating connecting rod and the underframe body is changed.
Optionally, each set of the rotating connecting rods comprises a pair of connecting rods which are arranged in parallel up and down, and a pair of connecting rod rotating fulcrums are respectively arranged up and down corresponding to each set of the rotating connecting rods on the side part of the underframe body and each longitudinal beam main body;
and the support oil cylinder is arranged between the two groups of rotating connecting rods on each side of the underframe body.
Optionally, the axial swinging plane of the supporting oil cylinder is parallel to the swinging planes of the two groups of rotating connecting rods on the same side. When the support oil cylinder stretches out and draws back, the distance between the connection point of the chassis body and the connection point of the longitudinal beam main body changes, and under the running fit of the support oil cylinder and the rotating connecting rod, the included angle between the axial direction of the rotating connecting rod and the chassis body changes.
Optionally, one end of the supporting oil cylinder is connected to the upper end of the side part of the chassis body, and the other end of the supporting oil cylinder is connected to the lower end of the longitudinal beam main body. The hydraulic control system is an implementation mode capable of ensuring that the support oil cylinder stretches and contracts to drive the rotary connecting rod to rotate.
Optionally, one end of the supporting oil cylinder is connected to the upper part of the front end of the underframe body, and the other end of the supporting oil cylinder is connected to the lower part of the rear end of the longitudinal beam main body. Under this kind of implementation mode, support hydro-cylinder is located the diagonal department in the cube space that two sets of rotation connecting rods constitute, has bigger flexible space, and is more nimble to the contained angle change control between rotation connecting rod and the chassis body.
In a second aspect, the present invention provides an automatic vehicle body adjustment system, comprising the floating chassis of the first aspect, and a controller and a hydraulic system; the hydraulic system is used for providing hydraulic power for the two support cylinders through the left cylinder proportional electromagnetic valve and the right cylinder proportional electromagnetic valve;
the vehicle body is provided with an inclination sensor, and the signal output end of the inclination sensor is connected with the controller; the controller judges the inclination angle of the vehicle body according to the vehicle body inclination angle signal detected by the inclination angle sensor, and controls the telescopic action of the support cylinders at the two sides by controlling the left cylinder proportional electromagnetic valve and/or the right cylinder proportional electromagnetic valve according to the real-time vehicle body inclination angle until the vehicle body inclination angle changes to be within a preset range.
The inclination angle sensor on the car body can be provided with a plurality of inclination angle sensors so as to more accurately detect the inclination condition of the car body.
Optionally, the controller calculates the control quantity of each support cylinder according to the inclination angle judgment result and with the aim of recovering the horizontal state of the vehicle body as a target, and controls the telescopic action of the corresponding support cylinder by controlling the corresponding cylinder proportional electromagnetic valve according to the control quantity calculation result, so that the vehicle body recovers the horizontal state.
Optionally, the automatic car body adjusting system further comprises a man-machine interface unit, wherein the man-machine interface unit is used for receiving an externally input control instruction and transmitting the control instruction to the controller, and the control instruction comprises an adjusting mode switching instruction, a left-tilting adjusting instruction, a right-tilting adjusting instruction and a car body narrowing instruction; the controller switches the adjustment mode into a manual control mode or an automatic control mode according to the adjustment mode switching instruction; under the manual control mode, the controller locks the automatic control function, responds to the left-tilting adjustment instruction, the right-tilting adjustment instruction or the vehicle body narrowing instruction, and controls the telescopic action of the two-side supporting cylinders by controlling the left-cylinder proportional electromagnetic valve and/or the right-cylinder proportional electromagnetic valve according to the received instruction.
In a third aspect, the present invention provides a vehicle body adjustment control method, based on the vehicle body adjustment system of the second aspect, the control method comprising: in the automatic control mode of operation,
acquiring an inclination angle detection signal output by the inclination angle sensor;
judging the inclination state of the vehicle body according to the inclination detection signal;
according to the vehicle body tilting state: if the left side is high and the right side is low, controlling the left oil cylinder proportional electromagnetic valve and/or the right oil cylinder proportional electromagnetic valve to control the expansion and contraction of the two support oil cylinders, so that the included angle between the left side rotating connecting rod and the underframe body is increased, and/or the included angle between the right side rotating connecting rod and the underframe body is reduced; if the left rotating connecting rod is low on the left and high on the right, controlling the left oil cylinder proportional electromagnetic valve and/or the right oil cylinder proportional electromagnetic valve to control the expansion and contraction of the two support oil cylinders, so that the included angle between the left rotating connecting rod and the underframe body is reduced, and/or the included angle between the right rotating connecting rod and the underframe body is increased; and judging that the obtained vehicle body inclination state is that the inclination angle is within a preset range according to the real-time inclination angle detection signal.
Optionally, the vehicle body adjustment control method further includes:
receiving a control mode switching instruction input from the outside, and determining the control mode to be an automatic control mode or a manual control mode according to the control mode switching instruction;
in a manual control mode, receiving a left-leaning adjustment instruction, a right-leaning adjustment instruction or a vehicle body narrowing instruction which are input from the outside; the left-leaning adjusting instruction is used for adjusting the chassis recovery level when the chassis body is low left and high right; the right inclination adjusting instruction is used for adjusting the chassis recovery level when the left side of the chassis body is high and the right side of the chassis body is low;
the left side supporting oil cylinder is controlled to act by controlling the left oil cylinder proportional electromagnetic valve according to the left inclination adjusting instruction, so that the included angle between the left side rotating connecting rod and the underframe body is reduced, and/or the right side supporting oil cylinder is controlled to act by controlling the right oil cylinder proportional electromagnetic valve, so that the included angle between the right side rotating connecting rod and the underframe body is increased;
controlling a right supporting oil cylinder to act through controlling a right oil cylinder proportional electromagnetic valve according to a right inclination adjusting instruction so as to reduce an included angle between the right rotating connecting rod and the underframe body, and/or controlling a left supporting oil cylinder to act through controlling a left oil cylinder proportional electromagnetic valve so as to enlarge an included angle between the left rotating connecting rod and the underframe body;
according to the vehicle body narrowing instruction, the left oil cylinder proportional electromagnetic valve and the right oil cylinder proportional electromagnetic valve are controlled to control the action of the left and right support oil cylinders, so that the included angle between the rotating connecting rods on two sides and the underframe body is reduced.
In the above technical scheme, when the contained angle between the rotation connecting rod and the chassis body is reduced, the longitudinal beam main body moves towards the chassis body, and because the length of the rotation connecting rod is unchanged, the corresponding side part of the chassis body is lifted upwards relative to the ground, and if the longitudinal beam main bodies on two sides all move towards the chassis body, the width of the whole vehicle body is reduced.
Advantageous effects
According to the floating chassis, the chassis body and the longitudinal beam main body are connected through the frame type connecting rod structure, the relative movement of the longitudinal beam main bodies and the chassis body on two sides can be realized through the extension and contraction of the supporting oil cylinders on two sides, the adjustment of the left side height and the right side height of the chassis body is realized, the horizontal alignment is convenient when the vehicle body is inclined, and the large-amplitude adjustment of the width of the vehicle body can be realized through the simultaneous action of the supporting oil cylinders on two sides when the vehicle body passes through a narrower road section.
The automatic automobile body adjusting system is based on the floating chassis, and the inclination angle sensor is arranged on the automobile body to monitor the inclination condition of the automobile body, so that the automobile body adjusting control method can control the corresponding side support oil cylinder according to the actual inclination condition of the automobile body, recover the horizontal state of the chassis in time, reduce the oil consumption loss of slope operation and improve the comfort and stability of the whole automobile. Moreover, the system can support automatic and manual modes, and has stronger operability.
Drawings
FIG. 1 is a schematic view of a floating chassis according to an embodiment of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a schematic view of the electro-hydraulic control principle of the automatic body adjustment system of the present invention;
FIG. 4 is a schematic diagram of control logic of a vehicle body trim control method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram showing the automatic inclination adjustment before and after the inclination adjustment under the slope operation condition in one embodiment of the present invention;
FIG. 6 is a schematic diagram of a level ground operation state in one embodiment of the present invention;
FIG. 7 is a schematic view showing a state of passing through a catwalk in one embodiment of the present invention;
in fig. 1 to 7, 1-chassis, 11-chassis body, 12-slewing bracket, 13-chassis link pivot, 14-chassis cylinder pivot, 2-floating connection structure, 21-slewing link, 22-supporting cylinder, 23-pin, 3-left running gear, 31-stringer body, 32-stringer link pivot, 33-stringer cylinder pivot, 4-right running gear.
Detailed Description
Further description is provided below in connection with the drawings and the specific embodiments.
The main technical conception of the invention is as follows: the chassis is designed into a split structure, and the relative position change between the longitudinal beam main bodies on two sides and the two side parts of the chassis body is realized through the cooperation of the rotating connecting rods and the supporting oil cylinders, so that the alignment adjustment under the condition of the inclination of the vehicle body is realized; and then the inclination angle sensor, the controller and the like are combined to realize automatic adjustment of the vehicle body in an inclined state.
Example 1
The present embodiment describes a floating chassis suitable for engineering machinery such as an excavator, and referring to fig. 1 and 2, the floating chassis comprises a chassis body 11 for mounting a revolving bracket 12, two longitudinal beam bodies 31 respectively connected to two sides of the chassis body, and support cylinders 22 respectively arranged between the chassis body and each longitudinal beam body;
the longitudinal beam main body is connected to the side part of the underframe main body through at least two groups of rotating connecting rods 21 respectively, and two ends of each rotating connecting rod are respectively connected with the underframe main body and the longitudinal beam main body in a rotating way;
the two ends of the supporting oil cylinder are respectively connected with the underframe body and the longitudinal beam main body in a rotating way; the supporting cylinders on two sides of the underframe body are connected into a hydraulic system through a left cylinder proportional electromagnetic valve and a right cylinder proportional electromagnetic valve respectively; the expansion and contraction of the supporting oil cylinder can drive the same-side rotating connecting rod to rotate, so that the included angle between the rotating connecting rod and the underframe body is changed.
As shown in fig. 1 and 2, in this embodiment, two sets of rotating links are respectively disposed on two sides of a chassis body, each set of rotating links includes a pair of links disposed in parallel up and down, on a side portion of the chassis body and each longitudinal beam main body, a pair of link rotating fulcra are respectively disposed up and down corresponding to each set of rotating links, including in fig. 1: chassis link pivot 13, stringer link pivot 32; a chassis cylinder rotation fulcrum 14 and a stringer cylinder rotation fulcrum 33 are provided corresponding to each support cylinder.
At each side of the chassis body, the supporting oil cylinder is arranged between the two groups of rotating connecting rods, one end of the supporting oil cylinder is connected to the upper end of the side part of the chassis body, the other end of the supporting oil cylinder is connected to the lower end of the longitudinal beam main body, and the axial swinging plane of the supporting oil cylinder can be parallel to the swinging planes of the two groups of rotating connecting rods at the same side. In this embodiment, at each side of the chassis body, two sets of rotating links form a four-link space structure, and when the support cylinder stretches, the distance between the chassis body connection point and the longitudinal beam main body connection point changes, and under the running fit of the support cylinder and the rotating links, the included angle between the rotating links and the chassis body changes.
As another embodiment, the support cylinder is still disposed between the two sets of rotating links, one end of which is connected to the upper portion of the front end of the chassis body, and the other end of which is connected to the lower portion of the rear end of the longitudinal beam body. Under this kind of implementation mode, support hydro-cylinder is located the diagonal department in the cube space that two sets of rotation connecting rods constitute, has bigger flexible space, and is more nimble to the contained angle change control between rotation connecting rod and the chassis body.
Referring to fig. 5 to 7, taking the assembly position of the supporting oil cylinder shown in fig. 1 as an example, the principle that the floating chassis of the invention realizes the change of the included angle between the rotating connecting rod and the chassis body through the telescopic action of the telescopic oil cylinder is as follows:
when the support cylinder is axially projected to the parallelogram, the support cylinder is approximately positioned on a diagonal line of the parallelogram, as shown in fig. 2, and the rotation pivot of the upper chassis connecting rod is connected with the rotation pivot of the lower longitudinal beam connecting rod. When the piston rod of the supporting cylinder extends out, the length of the supporting cylinder is prolonged, and the length of the connecting rod is unchanged, the diagonal line of each group of rotating connecting rods at the same side, which is connected with the rotating pivot of the connecting rod of the upper side chassis and the rotating pivot of the connecting rod of the lower side longitudinal beam, is prolonged, the distance between the two connecting rods is shortened, the included angle between the connecting rod and the chassis body is reduced, and the corresponding side part of the chassis body is lifted. Conversely, when the support cylinder piston rod on either side is retracted, the corresponding side of the chassis body will be lowered.
Example 2
This embodiment describes an automatic body adjustment system, referring to fig. 3, comprising the floating chassis of embodiment 1, and a controller and hydraulic system; the hydraulic system is used for providing hydraulic power for the two support cylinders through the left cylinder proportional electromagnetic valve and the right cylinder proportional electromagnetic valve;
the vehicle body is provided with an inclination sensor, and the signal output end of the inclination sensor is connected with the controller; the controller judges the inclination angle of the vehicle body according to the vehicle body inclination angle signal detected by the inclination angle sensor, and controls the telescopic action of the support cylinders at the two sides by controlling the left cylinder proportional electromagnetic valve and/or the right cylinder proportional electromagnetic valve according to the real-time vehicle body inclination angle until the vehicle body inclination angle changes to be within a preset range.
The ideal state of the automobile body after the automobile body inclination angle is adjusted and recovered is a horizontal state, but because a certain control error exists in practice and the influence on the operation of engineering machinery is not great in a certain inclination angle range, the controller can preset the inclination angle allowable range of the automobile body, and when the inclination angle of the automobile body is monitored in real time to be in the range, the control on the supporting oil cylinder can be stopped.
The inclination angle sensor on the car body can be provided with a plurality of inclination angle sensors so as to more accurately detect the inclination condition of the car body.
Further, in order to achieve more accurate and efficient control, in this embodiment, the controller may further calculate control amounts of the support cylinders respectively with a goal of recovering a horizontal state of the vehicle body or recovering to a preset inclination angle range according to the inclination angle determination result, and control the corresponding support cylinders to extend and retract according to the control amount calculation result by controlling the corresponding cylinder proportional solenoid valves, so that the vehicle body recovers to the horizontal state.
Furthermore, in order to improve the operability of the engineering machinery, the automatic vehicle body adjusting system of the embodiment further includes a man-machine interface unit, wherein the man-machine interface unit is used for receiving a control instruction input from the outside and transmitting the control instruction to the controller, and the control instruction may include an adjustment mode switching instruction, a left-tilting adjustment instruction, a right-tilting adjustment instruction and a vehicle body narrowing instruction; the controller switches the adjustment mode into a manual control mode or an automatic control mode according to the adjustment mode switching instruction; in the automatic mode, the adjustment after the vehicle body is inclined is carried out according to the automatic adjustment control logic; under the manual control mode, the controller locks the automatic adjustment control function, responds to the left-tilting adjustment instruction, the right-tilting adjustment instruction or the vehicle body narrowing instruction, and controls the telescopic action of the two-side supporting cylinders by controlling the left-cylinder proportional electromagnetic valve and/or the right-cylinder proportional electromagnetic valve according to the received instruction.
Example 3
This embodiment describes a vehicle body adjustment control method of the vehicle body automatic adjustment system in embodiment 2, as shown in fig. 4, which includes:
in the automatic control mode of operation,
acquiring an inclination angle detection signal output by the inclination angle sensor;
judging the inclination state of the vehicle body according to the inclination detection signal;
according to the vehicle body tilting state: if the left side is high and the right side is low, controlling the left oil cylinder proportional electromagnetic valve and/or the right oil cylinder proportional electromagnetic valve to control the expansion and contraction of the two support oil cylinders, so that the included angle between the left side rotating connecting rod and the underframe body is increased, and/or the included angle between the right side rotating connecting rod and the underframe body is reduced; if the left rotating connecting rod is low on the left and high on the right, controlling the left oil cylinder proportional electromagnetic valve and/or the right oil cylinder proportional electromagnetic valve to control the expansion and contraction of the two support oil cylinders, so that the included angle between the left rotating connecting rod and the underframe body is reduced, and/or the included angle between the right rotating connecting rod and the underframe body is increased; and judging that the obtained vehicle body inclination state is that the inclination angle is within a preset range according to the real-time inclination angle detection signal.
In combination with the human interface unit described in embodiment 2, the present embodiment can implement a manual adjustment mode and an automatic adjustment mode, and the implementation method is as follows:
the controller receives a control mode switching instruction input from the outside through the human-computer interface unit, and determines the control mode to be an automatic control mode or a manual control mode according to the control mode switching instruction;
in the automatic control mode, control adjustment is performed according to the method;
in a manual control mode, receiving a left-leaning adjustment instruction, a right-leaning adjustment instruction or a vehicle body narrowing instruction which are input from the outside; the left-leaning adjusting instruction is used for adjusting the chassis recovery level when the chassis body is low left and high right; the right inclination adjusting instruction is used for adjusting the chassis recovery level when the left side of the chassis body is high and the right side of the chassis body is low;
the left side supporting oil cylinder is controlled to act by controlling the left oil cylinder proportional electromagnetic valve according to the left inclination adjusting instruction, so that the included angle between the left side rotating connecting rod and the underframe body is reduced, and/or the right side supporting oil cylinder is controlled to act by controlling the right oil cylinder proportional electromagnetic valve, so that the included angle between the right side rotating connecting rod and the underframe body is increased;
controlling a right supporting oil cylinder to act through controlling a right oil cylinder proportional electromagnetic valve according to a right inclination adjusting instruction so as to reduce an included angle between the right rotating connecting rod and the underframe body, and/or controlling a left supporting oil cylinder to act through controlling a left oil cylinder proportional electromagnetic valve so as to enlarge an included angle between the left rotating connecting rod and the underframe body;
according to the vehicle body narrowing instruction, the left oil cylinder proportional electromagnetic valve and the right oil cylinder proportional electromagnetic valve are controlled to control the action of the left and right support oil cylinders, so that the included angle between the rotating connecting rods on two sides and the underframe body is reduced.
The control instruction and the corresponding logic can be adjusted according to actual requirements, such as setting a left lifting instruction and a left lowering instruction which are independently used for adjusting the left side of the underframe, a right lifting instruction and a right lowering instruction which are independently used for adjusting the right side of the underframe, and the like. The logic for these instructions is adjusted with reference to the logic described above. The man-machine interface may be implemented by a case or a touch screen.
With the floating chassis, the automatic vehicle body adjusting system and the adjusting control method of the present invention, when the vehicle body inclination condition shown in fig. 5 is generated, the vehicle body adjusting control logic of the present invention is as shown in fig. 4, and includes:
s1, judging whether the vehicle body is horizontal or within a preset inclination range according to inclination information detected by an inclination sensor, and if not, turning to S2;
s2, judging whether the left supporting oil cylinder is high and low in the left side or low in the right side, if so, controlling the left supporting oil cylinder to retract through the left proportional electromagnetic valve, and controlling the right supporting oil cylinder to extend through the right proportional electromagnetic valve at the same time, so that the left side of the underframe is lowered and the right side of the underframe is raised, and then the horizontal state is restored or the allowable inclination range is restored, and ending the control;
if the left side is low and the right side is high, the right supporting oil cylinder is controlled to retract through the right proportional electromagnetic valve, and at the moment, the left supporting oil cylinder can be controlled to extend through the left proportional electromagnetic valve at the same time, so that the right side of the underframe is lowered and the left side is raised, the horizontal state is restored or the allowable inclination range is restored, and the control is ended.
The actually measured inclination angle of the inclination angle sensor can be obtained in real time in the control process, so that efficient feedback control is realized;
in the state shown in fig. 6, if the engineering machinery vehicle needs to pass through a smaller space or a narrower channel, as shown in fig. 7, the invention can acquire road conditions in front of a road by arranging the visual perception analysis system, so as to send corresponding trigger signals to the controller, and the controller can adjust the overall lifting of the chassis height by simultaneously controlling the extension of the two support cylinders through the two proportional electromagnetic valves according to the trigger signals, and the longitudinal beam main bodies at the two sides are close to the chassis direction, so that the vehicle body width is reduced, and the road section in front can be passed. In addition, the triggering signal of the vehicle body narrowing can be actively sent out by a vehicle operator according to the requirement through the man-machine interface unit.
In summary, the invention can realize independent or simultaneous control of the left and right heights of the chassis and the positions of the longitudinal beams, realize the purpose of automatically or manually adjusting the horizontal state and the width of the vehicle body, reduce the oil consumption loss of slope operation, improve the comfort and the stability of the whole machine and improve the trafficability of a narrow space.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are all within the protection of the present invention.
Claims (10)
1. The floating chassis is characterized by comprising a chassis body for installing a rotary bracket, two longitudinal beam main bodies respectively connected to two sides of the chassis body, and supporting oil cylinders respectively arranged between the chassis body and each longitudinal beam main body;
the longitudinal beam main body is connected to the side part of the underframe main body through at least two groups of rotating connecting rods respectively, and two ends of each rotating connecting rod are connected with the underframe main body and the longitudinal beam main body in a rotating mode respectively;
the two ends of the supporting oil cylinder are respectively and rotatably connected with the underframe body and the longitudinal beam main body; the supporting cylinders on two sides of the underframe body are connected into a hydraulic system through a left cylinder proportional electromagnetic valve and a right cylinder proportional electromagnetic valve respectively; the expansion and contraction of the supporting oil cylinder can drive the same-side rotating connecting rod to rotate, so that the included angle between the rotating connecting rod and the underframe body is changed.
2. The floating chassis of claim 1, wherein each set of said rotating links comprises a pair of links arranged in parallel up and down, and a pair of link rotation fulcrums are respectively arranged up and down corresponding to each set of said rotating links on the side of the chassis body and on each of the stringer bodies;
and the support oil cylinder is arranged between the two groups of rotating connecting rods on each side of the underframe body.
3. A floating chassis according to claim 1 or 2, wherein the axial swing plane of the support ram is parallel to the swing planes of the two sets of swivel links on the same side.
4. A floating chassis as claimed in claim 3, wherein the support cylinder has one end connected to the upper end of the side portion of the chassis body and the other end connected to the lower end of the side member body.
5. A floating chassis according to claim 1 or 2, wherein the support cylinder is connected at one end to the upper part of the front end of the chassis body and at the other end to the lower part of the rear end of the rail body.
6. An automatic body adjustment system comprising the floating chassis of any one of claims 1-5, and a controller and hydraulic system; the hydraulic system is used for providing hydraulic power for the two support cylinders through the left cylinder proportional electromagnetic valve and the right cylinder proportional electromagnetic valve;
the vehicle body is provided with an inclination sensor, and the signal output end of the inclination sensor is connected with the controller; the controller judges the inclination angle of the vehicle body according to the vehicle body inclination angle signal detected by the inclination angle sensor, and controls the telescopic action of the support cylinders at the two sides by controlling the left cylinder proportional electromagnetic valve and/or the right cylinder proportional electromagnetic valve according to the real-time vehicle body inclination angle until the vehicle body inclination angle changes to be within a preset range.
7. The automatic vehicle body adjusting system according to claim 6, wherein the controller calculates the control amounts of the respective support cylinders with the aim of restoring the horizontal state of the vehicle body based on the result of the inclination angle determination, and controls the telescopic actions of the respective support cylinders by controlling the respective cylinder proportional solenoid valves based on the result of the control amounts, so that the vehicle body is restored to the horizontal state.
8. The automatic vehicle body adjustment system according to claim 6, further comprising a human-machine interface unit for receiving a control instruction inputted from the outside and transmitting the control instruction to the controller, the control instruction including an adjustment mode switching instruction, a left-tilt adjustment instruction, a right-tilt adjustment instruction, and a vehicle body narrowing instruction; the controller switches the adjustment mode into a manual control mode or an automatic control mode according to the adjustment mode switching instruction;
under the manual control mode, the controller locks the automatic control function, responds to the left-tilting adjustment instruction, the right-tilting adjustment instruction or the vehicle body narrowing instruction, and controls the telescopic action of the two-side supporting cylinders by controlling the left-cylinder proportional electromagnetic valve and/or the right-cylinder proportional electromagnetic valve according to the received instruction.
9. The vehicle body adjustment control method of the vehicle body adjustment system according to any one of claims 6 to 8, characterized by comprising: in the automatic control mode of operation,
acquiring an inclination angle detection signal output by the inclination angle sensor;
judging the inclination state of the vehicle body according to the inclination detection signal;
according to the vehicle body tilting state: if the left side is high and the right side is low, controlling the left oil cylinder proportional electromagnetic valve and/or the right oil cylinder proportional electromagnetic valve to control the expansion and contraction of the two support oil cylinders, so that the included angle between the left side rotating connecting rod and the underframe body is increased, and/or the included angle between the right side rotating connecting rod and the underframe body is reduced; if the left rotating connecting rod is low on the left and high on the right, controlling the left oil cylinder proportional electromagnetic valve and/or the right oil cylinder proportional electromagnetic valve to control the expansion and contraction of the two support oil cylinders, so that the included angle between the left rotating connecting rod and the underframe body is reduced, and/or the included angle between the right rotating connecting rod and the underframe body is increased; and judging that the obtained vehicle body inclination state is that the inclination angle is within a preset range according to the real-time inclination angle detection signal.
10. The vehicle body adjustment control method according to claim 9, characterized by further comprising:
receiving a control mode switching instruction input from the outside, and determining the control mode to be an automatic control mode or a manual control mode according to the control mode switching instruction;
in a manual control mode, receiving a left-leaning adjustment instruction, a right-leaning adjustment instruction or a vehicle body narrowing instruction which are input from the outside; the left-leaning adjusting instruction is used for adjusting the chassis recovery level when the chassis body is low left and high right; the right inclination adjusting instruction is used for adjusting the chassis recovery level when the left side of the chassis body is high and the right side of the chassis body is low;
the left side supporting oil cylinder is controlled to act by controlling the left oil cylinder proportional electromagnetic valve according to the left inclination adjusting instruction, so that the included angle between the left side rotating connecting rod and the underframe body is reduced, and/or the right side supporting oil cylinder is controlled to act by controlling the right oil cylinder proportional electromagnetic valve, so that the included angle between the right side rotating connecting rod and the underframe body is increased;
controlling a right supporting oil cylinder to act through controlling a right oil cylinder proportional electromagnetic valve according to a right inclination adjusting instruction so as to reduce an included angle between the right rotating connecting rod and the underframe body, and/or controlling a left supporting oil cylinder to act through controlling a left oil cylinder proportional electromagnetic valve so as to enlarge an included angle between the left rotating connecting rod and the underframe body;
according to the vehicle body narrowing instruction, the left oil cylinder proportional electromagnetic valve and the right oil cylinder proportional electromagnetic valve are controlled to control the action of the left and right support oil cylinders, so that the included angle between the rotating connecting rods on two sides and the underframe body is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211555227.3A CN116215682A (en) | 2022-12-06 | 2022-12-06 | Floating chassis, automatic automobile body adjusting system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211555227.3A CN116215682A (en) | 2022-12-06 | 2022-12-06 | Floating chassis, automatic automobile body adjusting system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116215682A true CN116215682A (en) | 2023-06-06 |
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ID=86581296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211555227.3A Pending CN116215682A (en) | 2022-12-06 | 2022-12-06 | Floating chassis, automatic automobile body adjusting system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116215682A (en) |
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2022
- 2022-12-06 CN CN202211555227.3A patent/CN116215682A/en active Pending
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