CN117962532A - Diagonal interconnection hydro-pneumatic suspension structure, system, crane and attitude optimization method - Google Patents
Diagonal interconnection hydro-pneumatic suspension structure, system, crane and attitude optimization method Download PDFInfo
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- CN117962532A CN117962532A CN202410228417.7A CN202410228417A CN117962532A CN 117962532 A CN117962532 A CN 117962532A CN 202410228417 A CN202410228417 A CN 202410228417A CN 117962532 A CN117962532 A CN 117962532A
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- 239000000725 suspension Substances 0.000 title claims abstract description 420
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005457 optimization Methods 0.000 title claims abstract description 10
- 239000003921 oil Substances 0.000 description 20
- 239000007789 gas Substances 0.000 description 19
- 238000010586 diagram Methods 0.000 description 7
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 229910052757 nitrogen Inorganic materials 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011261 inert gas Substances 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The invention provides a diagonal interconnection hydro-pneumatic suspension structure, a system, a crane and a posture optimization method, which comprise a right front suspension valve, a first energy accumulator, a first axle right suspension cylinder, a right rear suspension valve, a second energy accumulator, a second axle right suspension cylinder, a second axle left suspension cylinder, a third energy accumulator, a left rear suspension valve, a first axle left suspension cylinder, a fourth energy accumulator and a left front suspension valve; the rod cavity of the right suspension cylinder of the axle is connected with the left rear suspension valve, and the rod-free cavity of the right suspension cylinder of the axle is connected with the right front suspension valve; the rod cavity of the two-shaft right suspension cylinder is connected with the left front suspension valve; the rodless cavity of the two-axis right suspension cylinder is connected with a right rear suspension valve; the rod cavity of the two-shaft left suspension cylinder is connected with the right front suspension valve, and the rod-free cavity of the two-shaft left suspension cylinder is connected with the left rear suspension valve; the rod-less chamber of the left suspension cylinder is connected to the front left suspension valve.
Description
Technical Field
The invention belongs to the technical field of hydro-pneumatic suspensions of wheel type all-terrain cranes, and particularly relates to a diagonal interconnected hydro-pneumatic suspension structure, a diagonal interconnected hydro-pneumatic suspension system, a crane and a posture optimization method.
Background
The hydro-pneumatic suspension technology is a typical characteristic technology of an all-terrain crane, has high power density and nonlinear stiffness curve characteristic, and shows excellent running characteristic.
The suspension system is a mechanism for transmitting force between the axle and the vehicle frame, which can buffer the impact force transmitted to the vehicle frame or the vehicle body by the uneven road surface and attenuate the vibration caused by the impact force, so as to ensure smooth running of the vehicle. The hydro-pneumatic suspension system mainly comprises a suspension cylinder, an energy accumulator and the like. The load of the acting force axle transferred to the ground by the vehicle is the sum of the force transferred to the axle by the suspension cylinder and the weight of the axle. The installation structure of the hydro-pneumatic suspension system is schematically shown in fig. 1, one end of a suspension cylinder 3 is hinged on a chassis frame 1 of a vehicle, the other end of the hydro-pneumatic suspension system is hinged on an axle 4, a small cavity of the suspension cylinder 3 on the left side is connected with a large cavity of the suspension cylinder 3 on the right side, the large cavity of the suspension cylinder 3 on the left side is connected with a small cavity of the suspension cylinder 3 on the right side, and the left side and the right side are connected with an energy accumulator 2. When the vehicle passes through a convex slope, the axle 4 compresses the suspension cylinder 3, the volume of the large cavity of the suspension cylinder 3 on the left side is reduced, the volume of the small cavity of the suspension cylinder 3 on the right side is increased, the stroke of the suspension cylinder 3 on the left side and the stroke of the suspension cylinder 3 on the right side are equal, the volume of the large cavity of the suspension cylinder 3 on the left side is larger than that of the small cavity of the suspension cylinder 3 on the right side, the reduced volume of the large cavity of the suspension cylinder 3 on the left side is larger than that of the small cavity of the suspension cylinder 3 on the right side, redundant hydraulic oil flows to the accumulator 2, and the accumulator is a sealed volume filled with nitrogen. The suspension cylinder 3 and the energy accumulator 2 can be separately installed, so that the overall arrangement is convenient, the installation is flexible, and the occupied space is small. The volume of the accumulator 2 increases with the compression, so the rigidity also increases, and compared with the rigidity of the spring in the compression stroke, the rigidity is unchanged, so the accumulator has the following advantages: the vehicle has small rigidity under the static load of the vehicle, and the comfort of the vehicle is improved; under dynamic load, the rigidity is increased, the jumping quantity of the suspension can be reduced, and the phenomenon of breakdown caused by the fact that the suspension cylinder 3 reaches the maximum stroke is avoided.
When the vehicle turns, the loads of the wheels on two sides change due to the action of centrifugal force, the load nearer to the steering center is increased, so that the pressure of a large cavity on the corresponding suspension cylinder 3 is increased, the piston is displaced downwards, and meanwhile, the pressure is transmitted to a small cavity of the suspension cylinder 3 on the other side, so that the piston of the cylinder is also moved downwards, the stroke change of the suspension cylinders 3 on two ends of the axle 1 in the same direction is kept, the roll angle of the vehicle is reduced, the roll rigidity of the vehicle is improved, and the running stability of the vehicle on a complex road surface and at a higher speed is ensured. If the energy accumulator 2 between the bridges is connected, the requirements of longitudinal running smoothness and nodding resistance can be met. It can be seen that the all-terrain crane has advantages in smoothness and stability by adopting the communicated oil-gas suspension.
In the practical application level, taking the five-axis all-terrain crane as shown in fig. 2 as an example, the grouping scheme of the suspension cylinders 3 is that a first axis and a second axis are divided into one group, three axes, four axes and five axes are divided into one group, the hydraulic schematic diagram is shown in fig. 3, and when the vehicle is running, the pneumatic control valve is ventilated (reference numeral 11 in fig. 3), so that the small cavities of the left front group (the left first axis and the left second axis) of the suspension cylinders are communicated with the large cavities of the right front group (the right first axis and the right second axis) of the suspension cylinders, and meanwhile, the large cavities of the left front suspension cylinders are communicated with the small cavities of the right front suspension cylinders. This state is a vehicle form state. When the suspension needs to be lifted in a vehicle stopping state, the suspension valve P is charged with oil corresponding to suspension lifting, and the solenoid valve at the opening T of the suspension valve is electrified corresponding to suspension lifting.
Fig. 4 shows a schematic diagram of the connection of the suspension axle one and two axles in the road driving condition (omitting the related suspension valve power-off relationship), wherein the two axles are in a group, and the energy accumulator is respectively connected with the small cavity of the opposite side oil cylinder and the large cavity of the same side (related comments see fig. 1), and the connection has two advantages:
(1) Side anti-roll effect: for example, when a shaft rotates left, the left oil cylinder is compressed, and the hydraulic oil with a large cavity is connected with the small cavity of the right oil cylinder, so that the right oil cylinder and the tire have the downward pressing effect, and the cornering side is greatly improved.
(2) The automatic shunting compensation function between different shafts of the large cavities on the same side is shown in fig. 3, when the hydraulic cylinder is in the working condition (the left high position of the first shaft and the left low position of the second shaft), the left suspension cylinder of the first shaft is compressed, redundant flow can be automatically compensated to the large cavity of the second shaft, and thus the posture of a vehicle on the left of the first shaft is relatively low, and the self-adaptive pavement function can be realized.
By combining the advantages, the compensation on the same side and the anti-rolling on the opposite side act together, so that the posture of the vehicle is the lowest, the rolling is the smallest, and the optimal running characteristic is achieved.
The problem of the running stability and the comfort level of multiaxis hoist vehicle has been better solved to prior art, above two kinds of advantages all are based on the condition that has 2 axles at least in the same group, but to few axle hoists such as two-axle or triaxial all ground hoist, according to the grouping scheme, always have the condition of a set of single axle, in this way, this group does not have the front and back compensation effect of other axles, lead to the vehicle to run in-process, meet the slope and rise (for example, a left side meets the slope and rises), do not have other axles to carry out automatic reposition of redundant personnel (a left side big chamber hydraulic oil can't reposition of redundant personnel), though have the anti-roll of contralateral to restrain the tire and jump the effect, but because the vehicle gesture is higher (a left side suspension compression is very little, a left side probably appears unsettling phenomenon), still cause very big harm to form stability and trafficability.
Disclosure of Invention
The invention aims to: the invention provides a diagonal interconnection oil gas suspension structure, a diagonal interconnection oil gas suspension system, a diagonal interconnection oil gas suspension crane and a diagonal interconnection oil gas suspension system posture optimization method, which are used for solving the running stability problem of a two-axis all-terrain crane, a three-axis all-terrain crane and even a compact four-axis all-terrain crane.
The technical scheme is as follows: a diagonally interconnected hydro-pneumatic suspension structure comprising: the device comprises a right front suspension valve, a first energy accumulator, a one-axle right suspension cylinder, a right rear suspension valve, a second energy accumulator, a two-axle right suspension cylinder, a two-axle left suspension cylinder, a third energy accumulator, a left rear suspension valve, a one-axle left suspension cylinder, a fourth energy accumulator and a left front suspension valve;
The rod cavity of the one-axis right suspension cylinder is connected with the left rear suspension valve, and the rod-free cavity of the one-axis right suspension cylinder is connected with the right front suspension valve; the first energy accumulator is connected with the right front suspension valve;
The rod cavity of the two-shaft right suspension cylinder is connected with the left front suspension valve; the rodless cavity of the two-axis right suspension cylinder is connected with a right rear suspension valve; the second energy accumulator is connected with the right rear suspension valve;
the rod cavity of the two-axis left suspension cylinder is connected with the right front suspension valve, and the rod-free cavity of the two-axis left suspension cylinder is connected with the left rear suspension valve; the third energy accumulator is connected with the left rear suspension valve;
the rod cavity of the one-axle left suspension cylinder is connected with the right rear suspension valve, the rodless cavity of the one-axle left suspension cylinder is connected with the left front suspension valve, and the fourth energy accumulator is connected with the left front suspension valve.
Further, the T port of the right front suspension valve is connected with the T port of the left front suspension valve, and the P port of the right front suspension valve is connected with the P port of the left front suspension valve; the T port of the right rear suspension valve is connected with the T port of the left rear suspension valve, and the P port of the right rear suspension valve is connected with the P port of the left rear suspension valve.
The invention discloses a diagonal interconnected oil-gas suspension structure, which comprises: the device comprises a right front suspension valve, a first energy accumulator, a first axle right suspension cylinder, a right rear suspension valve, a second energy accumulator, a two axle right suspension cylinder, a three axle left suspension cylinder, a two axle left suspension cylinder, a third energy accumulator, a left rear suspension valve, a first axle left suspension cylinder, a fourth energy accumulator and a left front suspension valve;
The rod cavity of the one-axis right suspension cylinder is connected with the left rear suspension valve, and the rod-free cavity of the one-axis right suspension cylinder is connected with the right front suspension valve; the first energy accumulator is connected with the right front suspension valve;
The rod cavity of the two-axis right suspension cylinder is connected with the rod cavity of the three-axis right suspension cylinder and is connected with the left front suspension valve; the rodless cavity of the two-axis right suspension cylinder is connected with the rodless cavity of the three-axis right suspension cylinder and is connected with the right rear suspension valve; the second energy accumulator is connected with the right rear suspension valve;
The rod cavity of the three-axis left suspension cylinder is connected with the rod cavity of the two-axis left suspension cylinder and is simultaneously connected with the right front suspension valve; the third energy accumulator is connected with the left rear suspension valve;
the rod cavity of the one-axle left suspension cylinder is connected with the right rear suspension valve, the rodless cavity of the one-axle left suspension cylinder is connected with the left front suspension valve, and the fourth energy accumulator is connected with the left front suspension valve.
Further, the T port of the right front suspension valve is connected with the T port of the left front suspension valve, and the P port of the right front suspension valve is connected with the P port of the left front suspension valve;
The T port of the right rear suspension valve is connected with the T port of the left rear suspension valve, and the P port of the right rear suspension valve is connected with the P port of the left rear suspension valve.
The invention discloses a diagonal interconnection hydro-pneumatic suspension system, which comprises an oil pump, a gas circuit valve group and a hydro-pneumatic suspension; the hydro-pneumatic suspension is of a diagonal interconnected hydro-pneumatic suspension structure;
One end of the oil pump is connected with the P port of the right front suspension valve, the right rear suspension valve, the left rear suspension valve and the left front suspension valve respectively, and the other end of the oil pump is connected with the oil cylinder;
one end of the gas circuit valve group is connected with a gas source, and the other end of the gas circuit valve group is respectively connected with pneumatic control valves in the right front suspension valve, the right rear suspension valve, the left rear suspension valve and the left front suspension valve.
The invention discloses a crane, which comprises a crane main body and an oil-gas suspension system arranged on the crane main body, wherein the oil-gas suspension system is a diagonal interconnection oil-gas suspension system.
The invention discloses a posture optimization method suitable for a few-axis crane, which comprises the following steps:
Building a diagonal interconnected oil-gas suspension system on a crane; the diagonal interconnection hydro-pneumatic suspension system is a diagonal interconnection hydro-pneumatic suspension system;
when the crane is in a running state, an air source acts on the pneumatic control valves in the right front suspension valve, the right rear suspension valve, the left rear suspension valve and the left front suspension valve through the air circuit valve group, so that the rod cavity of the one-axis left suspension cylinder is connected with the rod cavity of the two-axis right suspension cylinder, the rod cavity of the one-axis right suspension cylinder is connected with the rod cavity of the two-axis left suspension cylinder, and the rod cavity of the one-axis right suspension cylinder is connected with the rod cavity of the two-axis left suspension cylinder.
The invention discloses a posture optimization method suitable for a few-axis crane, which comprises the following steps:
Building a diagonal interconnected oil-gas suspension system on a crane; the diagonal interconnection hydro-pneumatic suspension system is a diagonal interconnection hydro-pneumatic suspension system;
When the crane is in a running state, an air source acts on the pneumatic control valves in the right front suspension valve, the right rear suspension valve, the left rear suspension valve and the left front suspension valve through the air circuit valve group, so that the rod cavity of the one-axis left suspension cylinder is connected with the rod-free cavities of the two-axis right suspension cylinder and the three-axis right suspension cylinder, the rod-free cavity of the one-axis left suspension cylinder is connected with the rod cavities of the two-axis right suspension cylinder and the three-axis right suspension cylinder, the rod-free cavity of the one-axis right suspension cylinder is connected with the rod-free cavities of the three-axis left suspension cylinder and the two-axis left suspension cylinder, and the rod-free cavity of the one-axis right suspension cylinder is connected with the rod-free cavities of the three-axis left suspension cylinder and the two-axis left suspension cylinder.
The beneficial effects are that: compared with the prior art, the invention has the following advantages:
(1) For a two-triaxial crane, the diagonal interconnection hydro-pneumatic suspension principle provided by the invention solves the problem of the trafficability of the low-axle hydro-pneumatic suspension cross-country road surface;
(2) For a multiaxial vehicle, the opposite-side interconnection is guaranteed due to the mutual coupling of a plurality of suspension cylinders in the same group and the automatic flow distribution characteristic of hydraulic oil.
Drawings
FIG. 1 is a schematic diagram of a hydro-pneumatic suspension installation;
FIG. 2 is a schematic diagram of a five-axis all-terrain crane;
FIG. 3 is a hydraulic schematic diagram of a contralateral interconnected hydro-pneumatic suspension;
FIG. 4 is a hydraulic assembly diagram of a contralateral interconnected hydro-pneumatic suspension;
FIG. 5 is a hydraulic schematic diagram of a diagonally interconnected hydro-pneumatic suspension;
Fig. 6 is a schematic view of a distorted pavement.
Detailed Description
The objects, technical solutions and advantages of the present invention will be further clarified by the following description of the present invention with reference to the accompanying drawings and examples.
In order to facilitate understanding of the technical scheme of the present invention, the related professional names will now be described.
Suspension: the suspension is a generic term for all force-transmitting connection devices between the frame and the axle of a motor vehicle, which act on the forces and the torque between the wheels and the frame, and which buffer the impact forces transmitted to the frame or the body by uneven road surfaces and attenuate the vibrations caused thereby, so as to ensure a smooth running of the motor vehicle.
Suspension hydraulic system: the suspension hydraulic system is a suspension device formed by the hydraulic system and has the function of ensuring the running stability and stability of the vehicle.
Hydro-pneumatic suspension: the hydro-pneumatic suspension is a suspension using oil to transmit pressure and inert gas (usually nitrogen) as an elastic medium, an elastic element of the hydro-pneumatic suspension is an accumulator, and a damping element is an orifice, a check valve and the like in a suspension cylinder.
Suspension cylinder: the hydraulic cylinder connecting the frame and the axle is an important element of a suspension hydraulic system.
Rodless cavity: hydraulic cylinders do not have the oil chamber of the piston rod, often also called the large chamber.
The rod cavity is provided with: the hydraulic cylinder has an oil chamber, often referred to as a small chamber, of a piston rod.
Suspension valve: and controlling a hydraulic valve of the suspension cylinder.
An energy accumulator: the accumulator is a device for storing and releasing hydraulic energy by utilizing the balance principle of force to change the volume of working liquid (oil).
A frame: the base body of a motor vehicle is generally composed of two longitudinal beams and several transverse beams, and is supported on wheels via suspension devices, front axles and rear axles. Has sufficient strength and rigidity to withstand the load of the automobile and the impact transmitted from the wheels.
An axle: also called axle, is connected with the frame (or bearing type car body) through a suspension, and the two ends of the axle are provided with car wheels. Its function is to transfer forces in all directions between the frame (or the carrying body) and the wheels.
Example 1:
Aiming at a two-axis all-ground crane and a three-axis all-ground crane, on the basis of left and right interconnection of a multi-axis crane, the embodiment discloses a diagonal interconnection oil gas suspension system, which mainly comprises: the hydraulic system comprises an oil pump 1, a right front suspension valve 2, a first energy accumulator 3, a first-axle right suspension cylinder 4, a right rear suspension valve 5, a second energy accumulator 6, a second-axle right suspension cylinder 7, a three-axle right suspension cylinder 8, a gas circuit valve group 9, a three-axle left suspension cylinder 10, a second-axle left suspension cylinder 11, a third energy accumulator 12, a left rear suspension valve 13, a first-axle left suspension cylinder 14, a fourth energy accumulator 15, a left front suspension valve 16 and a relief valve 17.
As shown in fig. 5, in the running state, the air source acts on the air hole valves in the right front suspension valve 2, the right rear suspension valve 5, the left rear suspension valve 13 and the left front suspension valve 16 through the air path valve group 9, so that the small cavity of the one-axis left suspension cylinder 14 is connected with the large cavities of the two-axis right suspension cylinder 7 and the three-axis right suspension cylinder 8, and the large cavity of the one-axis left suspension cylinder 14 is connected with the small cavities of the two-axis right suspension cylinder 7 and the three-axis right suspension cylinder 8. The small cavity of the first-axis right suspension cylinder 4 is connected with the large cavities of the second-axis left suspension cylinder 11 and the third-axis left suspension cylinder 10, and the large cavity of the first-axis right suspension cylinder 4 is connected with the small cavities of the second-axis left suspension cylinder 11 and the third-axis left suspension cylinder 10.
The all-terrain crane is well known in terms of being suitable for complex all-terrain roads, the diagonal interconnection oil-gas suspension provided by the embodiment is analyzed by taking a typical twisted road surface as an example in fig. 6, the principle of diagonal interconnection is that the left front tire and the right rear tire are interconnected on a slope according to the running direction of a vehicle in the figure, the large cavities of the left front suspension cylinder and the right rear suspension cylinder are interconnected, and the corresponding left front suspension cylinder and the corresponding right front suspension cylinder are compressed to the greatest extent due to the fact that the suspension cylinders are increased in load, and redundant oil enters an energy accumulator. The right front tire and the left rear tire are positioned at a low position, and the large cavity and the small cavity of the left front tire are diagonally interconnected due to the diagonal interconnection principle, so that the left front tire and the left rear tire can be well attached to the ground.
For a two-three-shaft all-terrain crane, the diagonally-interconnected hydro-pneumatic suspension can effectively prevent the vehicle from turning on one's side: each tire can be well attached to the ground, and the phenomenon of 'emptying' of the tire can not occur. And the diagonally-interconnected hydro-pneumatic suspension provided by the embodiment can greatly improve the running stability: aiming at poor road conditions, particularly a twisted road surface, the tires on the slope can be compressed to the greatest extent, the center of gravity of the vehicle is lowered, and the running stability is improved.
Example 2:
the embodiment discloses a hoist, its characterized in that: comprising a crane body and a hydro-pneumatic suspension system disposed on the crane body, the hydro-pneumatic suspension system being one of the diagonally interconnected hydro-pneumatic suspension systems disclosed in example 1.
Example 3:
The embodiment discloses a gesture optimization method suitable for a few-axis crane, which comprises the following steps:
Building a diagonal interconnected oil-gas suspension system on a crane; the diagonal interconnected hydro-pneumatic suspension system is a diagonal interconnected hydro-pneumatic suspension system disclosed in embodiment 1;
When the crane is in a running state, an air source acts on pneumatic control valves in the right front suspension valve 2, the right rear suspension valve 5, the left rear suspension valve 13 and the left front suspension valve 16 through the air circuit valve group 9, so that a rod cavity of the one-axis left suspension cylinder 14 is connected with rod cavities of the two-axis right suspension cylinder 7 and the three-axis right suspension cylinder 8, the rod cavity of the one-axis right suspension cylinder 4 is connected with rod cavities of the three-axis left suspension cylinder 10 and the two-axis left suspension cylinder 11, and the rod cavity of the one-axis right suspension cylinder 4 is connected with rod cavities of the three-axis left suspension cylinder 10 and the two-axis left suspension cylinder 11.
Claims (10)
1. The utility model provides a diagonal interconnection hydro-pneumatic suspension structure which characterized in that: comprising the following steps: a right front suspension valve (2), a first energy accumulator (3), a one-axle right suspension cylinder (4), a right rear suspension valve (5), a second energy accumulator (6), a two-axle right suspension cylinder (7), a two-axle left suspension cylinder (11), a third energy accumulator (12), a left rear suspension valve (13), a one-axle left suspension cylinder (14), a fourth energy accumulator (15) and a left front suspension valve (16);
The rod cavity of the one-axis right suspension cylinder (4) is connected with the left rear suspension valve (13), and the rod-free cavity of the one-axis right suspension cylinder (4) is connected with the right front suspension valve (2); the first energy accumulator (3) is connected with the right front suspension valve (2);
the rod cavity of the two-shaft right suspension cylinder (7) is connected with a left front suspension valve (16); the rodless cavity of the two-axis right suspension cylinder (7) is connected with the right rear suspension valve (5); the second energy accumulator (6) is connected with the right rear suspension valve (5);
The rod cavity of the two-shaft left suspension cylinder (11) is connected with the right front suspension valve (2), and the rod-free cavity of the two-shaft left suspension cylinder (11) is connected with the left rear suspension valve (13); the third energy accumulator (12) is connected with a left rear suspension valve (13);
The rod cavity of the one-axle left suspension cylinder (14) is connected with the right rear suspension valve (5), the rodless cavity of the one-axle left suspension cylinder (14) is connected with the left front suspension valve (16), and the fourth energy accumulator (15) is connected with the left front suspension valve (16).
2. The diagonally interconnected hydro-pneumatic suspension structure of claim 1 wherein: the T port of the right front suspension valve (2) is connected with the T port of the left front suspension valve (16), and the P port of the right front suspension valve (2) is connected with the P port of the left front suspension valve (16); the T port of the right rear suspension valve (5) is connected with the T port of the left rear suspension valve (13), and the P port of the right rear suspension valve (5) is connected with the P port of the left rear suspension valve (13).
3. The utility model provides a diagonal interconnection hydro-pneumatic suspension structure which characterized in that: comprising the following steps: a right front suspension valve (2), a first energy accumulator (3), a one-axle right suspension cylinder (4), a right rear suspension valve (5), a second energy accumulator (6), a two-axle right suspension cylinder (7), a three-axle right suspension cylinder (8), a three-axle left suspension cylinder (10), a two-axle left suspension cylinder (11), a third energy accumulator (12), a left rear suspension valve (13), a one-axle left suspension cylinder (14), a fourth energy accumulator (15) and a left front suspension valve (16);
The rod cavity of the one-axis right suspension cylinder (4) is connected with the left rear suspension valve (13), and the rod-free cavity of the one-axis right suspension cylinder (4) is connected with the right front suspension valve (2); the first energy accumulator (3) is connected with the right front suspension valve (2);
The rod cavity of the two-axis right suspension cylinder (7) is connected with the rod cavity of the three-axis right suspension cylinder (8) and is connected with the left front suspension valve (16); the rodless cavity of the two-axis right suspension cylinder (7) is connected with the rodless cavity of the three-axis right suspension cylinder (8) and is connected with the right rear suspension valve (5); the second energy accumulator (6) is connected with the right rear suspension valve (5);
The rod cavity of the three-axis left suspension cylinder (10) is connected with the rod cavity of the two-axis left suspension cylinder (11) and is simultaneously connected with the right front suspension valve (2), and the rod-free cavity of the three-axis left suspension cylinder (10) is connected with the rod-free cavity of the two-axis left suspension cylinder (11) and is simultaneously connected with the left rear suspension valve (13); the third energy accumulator (12) is connected with a left rear suspension valve (13);
The rod cavity of the one-axle left suspension cylinder (14) is connected with the right rear suspension valve (5), the rodless cavity of the one-axle left suspension cylinder (14) is connected with the left front suspension valve (16), and the fourth energy accumulator (15) is connected with the left front suspension valve (16).
4. A diagonally interconnected hydro-pneumatic suspension structure according to claim 3 wherein: the T port of the right front suspension valve (2) is connected with the T port of the left front suspension valve (16), and the P port of the right front suspension valve (2) is connected with the P port of the left front suspension valve (16);
the T port of the right rear suspension valve (5) is connected with the T port of the left rear suspension valve (13), and the P port of the right rear suspension valve (5) is connected with the P port of the left rear suspension valve (13).
5. A diagonally interconnected hydro-pneumatic suspension system, characterized by: comprises an oil pump (1), a gas circuit valve group (9) and a hydro-pneumatic suspension; the hydro-pneumatic suspension is a diagonally interconnected hydro-pneumatic suspension structure as claimed in claim 1 or 2;
One end of the oil pump (1) is connected with the P port of the right front suspension valve (2), the right rear suspension valve (5), the left rear suspension valve (13) and the left front suspension valve (16) respectively, and the other end of the oil pump (1) is connected with the oil cylinder;
One end of the gas circuit valve group (9) is connected with a gas source, and the other end of the gas circuit valve group is respectively connected with pneumatic control valves in the right front suspension valve (2), the right rear suspension valve (5), the left rear suspension valve (13) and the left front suspension valve (16).
6. A diagonally interconnected hydro-pneumatic suspension system, characterized by: comprises an oil pump (1), a gas circuit valve group (9) and a hydro-pneumatic suspension; the hydro-pneumatic suspension is a diagonally interconnected hydro-pneumatic suspension structure as defined in claim 3 or 4;
One end of the oil pump (1) is connected with the P port of the right front suspension valve (2), the right rear suspension valve (5), the left rear suspension valve (13) and the left front suspension valve (16) respectively, and the other end of the oil pump (1) is connected with the oil cylinder;
One end of the gas circuit valve group (9) is connected with a gas source, and the other end of the gas circuit valve group is respectively connected with pneumatic control valves in the right front suspension valve (2), the right rear suspension valve (5), the left rear suspension valve (13) and the left front suspension valve (16).
7. A crane, characterized in that: comprising a crane body and a hydro-pneumatic suspension system arranged on said crane body, said hydro-pneumatic suspension system being a diagonally interconnected hydro-pneumatic suspension system according to claim 5.
8. A crane, characterized in that: comprising a crane body and a hydro-pneumatic suspension system arranged on said crane body, said hydro-pneumatic suspension system being a diagonally interconnected hydro-pneumatic suspension system according to claim 6.
9. A posture optimization method suitable for a few-axis crane is characterized by comprising the following steps of: comprising the following steps:
building a diagonal interconnected oil-gas suspension system on a crane; the diagonally interconnected hydro-pneumatic suspension system is a diagonally interconnected hydro-pneumatic suspension system as defined in claim 5;
When the crane is in a running state, an air source acts on pneumatic control valves in a right front suspension valve (2), a right rear suspension valve (5), a left rear suspension valve (13) and a left front suspension valve (16) through an air circuit valve group (9), so that a rod cavity of a one-axis left suspension cylinder (14) is connected with a rod cavity of a two-axis right suspension cylinder (7), a rod cavity of the one-axis left suspension cylinder (14) is connected with a rod cavity of the two-axis right suspension cylinder (7), a rod cavity of the one-axis right suspension cylinder (4) is connected with a rod cavity of the two-axis left suspension cylinder (11), and a rod cavity of the one-axis right suspension cylinder (4) is connected with a rod cavity of the two-axis left suspension cylinder (11).
10. A posture optimization method suitable for a few-axis crane is characterized by comprising the following steps of: comprising the following steps:
Building a diagonal interconnected oil-gas suspension system on a crane; the diagonally interconnected hydro-pneumatic suspension system is a diagonally interconnected hydro-pneumatic suspension system as defined in claim 6;
When the crane is in a running state, an air source acts on pneumatic control valves in a right front suspension valve (2), a right rear suspension valve (5), a left rear suspension valve (13) and a left front suspension valve (16) through an air circuit valve group (9), so that a rod cavity of a one-axle left suspension cylinder (14) is connected with rod cavities of a two-axle right suspension cylinder (7) and a three-axle right suspension cylinder (8), the rod cavity of the one-axle left suspension cylinder (14) is connected with rod cavities of the two-axle right suspension cylinder (7) and the three-axle right suspension cylinder (8), the rod cavity of the one-axle right suspension cylinder (4) is connected with rod cavities of the three-axle left suspension cylinder (10) and the two-axle left suspension cylinder (11), and the rod cavity of the one-axle right suspension cylinder (4) is connected with rod cavities of the three-axle left suspension cylinder (10) and the two-axle left suspension cylinder (11).
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