JPH06102433B2 - Suspension control system for hydraulic and pneumatic running of tracked vehicle - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention reduces the power consumption of a hydraulic power source by providing a suspension accumulator unit independent of the hydraulic power source and supporting the weight of a tracked vehicle having multiple wheels and crawler tracks. The present invention relates to a hydraulic pressure suspension control device for a tracked vehicle having a self-weight holding mechanism.

[0002]

2. Description of the Related Art Conventionally, a hydraulic / pneumatic suspension control system for a tracked vehicle for suppressing vehicle body sway and improving riding comfort is composed of a spring-damper system. A moving piston, an accumulator connected to the cylinder, a free piston moving in the accumulator, a rolling wheel arm connected to the suspension hydraulic cylinder, and a rolling wheel pivotally supported at the lower end of the rolling wheel arm. The constructed hydraulic / pneumatic suspension unit is used, and the own weight of the vehicle is supported by one accumulator.

[0003]

By the way, in the hydraulic / pneumatic traveling suspension control system of the tracked vehicle of the type in which energy is supplied from the outside of the hydraulic / pneumatic suspension unit to control the body motion, as described above, one accumulator is used. The structure of the hydraulic / pneumatic suspension unit that supports the weight of the vehicle has a tendency to increase the power consumption of the external energy source, that is, the hydraulic power source. Therefore, it is desired to reduce the power consumption as much as possible.

In view of the above points, the present invention provides a hydraulic accumulator unit with a suspension accumulator section for sharing and supporting the weight of a tracked vehicle separately from an accumulator for receiving hydraulic oil of a suspension hydraulic cylinder. It is an object of the present invention to provide an oil pressure traveling suspension control device for a tracked vehicle in which power consumption of a hydraulic pressure source that generates hydraulic pressure for rocking control is reduced.

[0005]

In order to achieve the above object, an oil pressure traveling suspension control system for a tracked vehicle according to the present invention comprises a starting wheel, a guiding wheel and a plurality of rolling wheels provided on both sides of a vehicle body. When the crawler belt is stretched between and the wheels are attached to the vehicle body by the hydraulic pressure suspension unit, and the hydraulic pressure is supplied from the hydraulic pressure source to the hydraulic pressure suspension unit via the servo valve added to the hydraulic pressure suspension unit. In the hydraulic pressure suspension unit, a suspension hydraulic cylinder that has a piston that receives the vibration of the rolling wheels and receives the supply of hydraulic oil from the hydraulic power source via the servo valve, and a suspension piston divided by a free piston A sub-suspension accumulator having first and second chambers, into which hydraulic oil from the suspension hydraulic cylinder is introduced into the first chamber through an attenuator, and gas is enclosed in the second chamber; and the suspension hydraulic pressure. Shi The chamber formed by utilizing a part of the Sunda piston has a configuration that includes a suspension accumulator unit encapsulating gas. Then, the weight consumption of the hydraulic power source is reduced by supporting the weight of the tracked vehicle partially by the suspension accumulator portion.

[0006]

In the hydraulic / pneumatic traveling suspension control device for a tracked vehicle according to the present invention, when the rolling wheel rides on the protrusion during traveling, the movement of the rolling wheel arm (or the casing of the hydraulic / pneumatic suspension unit that also serves as the rolling wheel arm) is performed. The piston of the suspension hydraulic cylinder is pushed, and the hydraulic oil of the suspension hydraulic cylinder presses the free piston of the sub-suspension accumulator through the attenuator to compress the nitrogen gas on the side of the sub-suspension accumulator, thereby causing a spring action and Attenuator damps body vibration. On the other hand, a part of the weight of the vehicle is shared and supported by the compression of the nitrogen gas enclosed in the suspension accumulator section further provided in the hydraulic suspension unit.

In the vehicle body vibration control, the vehicle body pitch signal velocity detector detects the vehicle body pitch angular velocity, roll angular velocity, acceleration,
The suspension control device receives detection signals of the wheel displacement and the suspension pressure, and the suspension control device sends a control signal for suppressing vehicle body sway to the servo valve via the suspension servo amplifier to operate from the hydraulic source. Control the oil flow rate. At that time, the suspension accumulator section shares and supports the own weight of the vehicle, so that the power consumption of the hydraulic power source can be reduced.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of a hydraulic and pneumatic suspension control system for a tracked vehicle according to the present invention will be described below with reference to the drawings.

FIG. 1 shows the construction of one side of a vehicle body in a first embodiment of the present invention. In FIG. 1, reference numeral 26 is a vehicle body of a tracked vehicle, and a starting wheel 5 for generating traveling driving force is provided on both sides of the vehicle body.
3, a guide wheel 54 and a plurality of rolling wheels 24 are arranged and supported, and a crawler belt 25 is stretched around them.

As shown in FIG. 2, each wheel 24 is attached to the vehicle body 26 via the hydraulic suspension unit 1. That is, the hydraulic / pneumatic suspension unit 1 includes a wheel assembly arm 9, a sub-suspension accumulator 2, a suspension hydraulic cylinder 4, a variable attenuator 12 that connects the two to dampen vibrations, and a suspension accumulator section 10. ing. The upper end of the wheel 9 is pivotally attached to the vehicle body 26, and the lower end of the arm 9 is pivotally supported by the wheel 24. Casing 1 of hydraulic / pneumatic suspension unit 1
Reference numeral 8 is fixed to a vehicle body 26 via a mounting bolt 19, and a sub-suspension accumulator 2, a suspension hydraulic cylinder 4, a suspension accumulator portion 10, a valve block 11 provided with a variable attenuator 12, a hydraulic oil passage, and the like are provided in the casing 18. Is stored.

The suspension hydraulic cylinder 4 is provided with a piston 5 which is slidable with respect to the inner wall of the cylinder. The piston 5 and the tip of a small arm (link) 8 which is integral with the rolling wheel arm 9 are connected to each other by a connecting rod (link). 7 are connected by pivoting with a pin, and the piston 5 is connected to the rolling wheel 2
4 vibration, that is, the swing of the wheel assembly 9 is interlocked. A guide portion 6 is integrally formed on the valve block 11 fixed to the casing 18, and an inner peripheral surface of a concave portion (a portion that serves as an in-piston accumulator chamber) formed inside the cylindrical protruding portion 5A of the piston 5 is formed. Is slidably fitted in the guide portion 6. Then, the nitrogen gas 15 is injected from the nitrogen gas filling port 16A into the piston accumulator chamber which is enclosed by the concave portion inside the cylindrical protruding portion 5A and the guide portion 6, and then the filling port 1
The suspension accumulator portion 10 in which the nitrogen gas 15 is enclosed is configured by closing 6A. An oil seal 23 is arranged on the outer circumference of the piston 5.

The sub-suspension accumulator 2 is provided with a free piston 3 slidable with respect to the inner wall of the accumulator,
Nitrogen gas 15 is injected from a nitrogen gas filling port 16B into one of the chambers partitioned by the free piston 3, and then the filling port 1
By closing 6B, nitrogen gas 15 is enclosed in the one closed chamber. The hydraulic oil 14 inside the suspension hydraulic cylinder is introduced into the other chamber partitioned by the free piston 3 through the hydraulic oil passage formed in the valve block 11 and the variable attenuator 12.

The servo valve 13 is added to the hydraulic suspension unit 1 to control the flow rate of hydraulic oil to the suspension hydraulic cylinder 4 (or the flow rate of hydraulic oil returning to the hydraulic source).
As shown in FIG. 1, for returning the hydraulic oil to the hydraulic supply pipe 21 and the oil tank from the hydraulic power source 62 mounted on the tracked vehicle (for example, the hydraulic oil in the oil tank is delivered by an engine-driven pump). The hydraulic oil return pipe 22 is connected. Also,
A command signal line 20 for transmitting an electric signal from the suspension servo amplifier 57 of FIG. 1 is connected.

A rolling wheel displacement gauge 17 for detecting the vehicle height is provided at the vehicle body side fulcrum of the rolling wheel arm 9.

The hydraulic / pneumatic suspension unit 1 as described above has a spring action and a vibration damping action. That is, when the rolling wheel 24 rides on the protrusion during traveling, the rolling wheel arm 9 swings, and this swinging pushes the piston 5 pin-connected through the small arm 8 and the connecting rod 7. The hydraulic oil 14 in the suspension hydraulic cylinder 4 passes through the passage in the valve block and the variable attenuator 12 to push the free piston 3 of the sub-suspension accumulator 2 to compress the nitrogen gas 15 in the sub-suspension accumulator 2 so as to have a spring action. I am making it. Along with this, the variable attenuator 12 damps the vibration of the vehicle body. On the other hand, the suspension accumulator portion 10 has an in-piston accumulator chamber formed between the recess of the piston 5 and the guide portion 6 fixed to the vehicle body side casing 18, and the nitrogen gas 15 in the in-piston accumulator chamber is compressed. This supports a portion of the vehicle's own weight. In addition, the hydraulic pressure suspension unit 1
Has not only a passive vibration damping action by the variable attenuator 12, but also a function of actively damping the vibration by adding the hydraulic pressure of the hydraulic power source 62 to the suspension hydraulic cylinder 4 via the servo valve 13 as described later. is doing.

In FIG. 1, 60 is a guide wheel device,
The guide wheel 54 is connected to the vehicle body 26 via the guide wheel device 60.
It is attached so that it can be displaced. That is, the guide wheel device 60 includes a guide wheel accumulator and a guide wheel hydraulic cylinder (not shown), which are connected to each other to form the crawler belt 2.
It is possible to absorb the tension fluctuation of No. 5 and to displace the guide wheel 54. The guide wheel device 60 includes a guide wheel 54.
Wheel displacement gauge and pressure gauge 60 for detecting the amount of displacement of the
A is added.

Reference numeral 55 is an attitude reference signal generator for setting a desired vehicle height, 56 is a suspension control device, 57 is a suspension servo amplifier, 58 is an induction wheel control device, 59 is an induction wheel servo amplifier, and 61 is a vehicle body pitch. It is a vehicle body motion signal detector including a rate gyro, a roll rate gyro, an accelerometer, and a speedometer. The suspension servo amplifier 57 and the servo valve 13 of each hydraulic / pneumatic suspension unit 1 are connected by a command signal line 20. In addition, the induction wheel servo amplifier 59 and the induction device 60
Is connected to the servo valve provided by the command signal line 20A. The hydraulic pressure source 62 and the servo valve 13 added to each hydraulic / pneumatic suspension unit 1 include a hydraulic pressure supply pipe 21 and a hydraulic oil return pipe 22.
Similarly, the hydraulic pressure source 62 and the servo valve of the guide wheel device 60 are connected to the hydraulic pressure supply pipe 21A and the hydraulic oil return pipe 22.
Connected with A.

In the configuration of the first embodiment described above, when the vehicle body posture conversion (or constant ground clearance control) is performed during maneuvering,
A desired vehicle height is set by the attitude reference signal generator 55, a vehicle height reference signal indicating the desired vehicle height is output to the suspension control device 56, and a guide wheel position reference signal is guided in conjunction with the vehicle height reference signal. Output to the wheel control device 58. Suspension control device 5
A reference numeral 6 denotes a rolling wheel displacement signal of the rolling wheel displacement gauge 17 indicating the current vehicle height, a vehicle body rolling signal of the vehicle body rolling signal detector 61 indicating vehicle body rolling, and the vehicle height reference signal, and indicates by the vehicle height reference signal. The suspension servo amplifier 57 is supplied with a control signal corresponding to the difference between the obtained vehicle height and the current vehicle height obtained by averaging the wheel displacement signals. The suspension servo amplifier 57 current-amplifies the control signal, adds it to the servo valve 13 of each hydraulic / pneumatic suspension unit 1 via the command signal line 20, controls the flow rate of the servo valve 13, and is instructed by the vehicle height reference signal. The hydraulic oil from the hydraulic source 62 is added to the suspension hydraulic cylinder 4 in the hydraulic suspension unit so that the difference between the vehicle height and the current vehicle height becomes zero, or the suspension hydraulic cylinder 4 is The hydraulic oil therein is returned to the hydraulic pressure source 62 via the hydraulic oil return pipe 22. On the other hand, in parallel with the control of the hydraulic suspension unit 1, the guide wheel device 60 is also controlled. That is, the guide wheel control device 58 receives the guide wheel displacement signal of the guide wheel displacement gauge and the pressure gauge 60A indicating the current guide wheel position and the guide wheel position reference signal, and guides with the guide wheel position reference signal. A control signal corresponding to the difference between the wheel position and the current guide wheel position is applied to the guide wheel servo amplifier 59. Induction wheel servo amplifier 5
Reference numeral 9 current-amplifies the control signal, applies it to the servo valve of the guide wheel device 60 via the command signal line 20A, controls the flow rate of the servo valve, and controls the guide wheel position indicated by the guide wheel position reference signal and the current position. Hydraulic fluid from the hydraulic pressure source 62 via the hydraulic pressure supply pipe 21A to the hydraulic cylinder in the guide wheel device so that the difference between the hydraulic cylinder and the guide wheel position becomes zero. It returns to the hydraulic power source 62 via 22A.

Further, in the vehicle body movement control during traveling, the vehicle body posture conversion function is turned off, and the suspension control device 56 which receives the vehicle body movement signal from the vehicle body movement signal detector 61.
A control signal for suppressing vehicle body vibration is applied to the servo valve 13 of each hydraulic / pneumatic suspension unit 1 via the suspension servo amplifier 57 and the command signal line 20, and a rolling wheel displacement signal of the rolling wheel displacement gauge 17 and a suspension pressure gauge are applied. The suspension pressure from the engine is fed back to the suspension controller 56, the flow rate of the servo valve 13 is controlled, and the suspension hydraulic cylinder 4 in the hydraulic suspension unit is controlled via the hydraulic supply pipe 21 so as to suppress the vehicle body vibration. 62 from the hydraulic pressure source 6 or the hydraulic oil in the suspension hydraulic cylinder 4 through the hydraulic oil return pipe 22.
Return to 2.

During these vehicle body posture conversion control and vehicle body swing control, the weight of the tracked vehicle is fixed to the concave portion of the piston 5 which is connected to the wheel arm 9 and receives the weight of the tracked vehicle and the vehicle body side casing 18. Suspended accumulator part 1 having accumulator chamber in piston formed between guide part 6 and
Since it is partially supported by 0, it is possible to reduce the power consumption of the hydraulic power source 62.

FIG. 3 shows a hydraulic / pneumatic suspension unit according to a second embodiment of the present invention. In this figure, the same parts as those in FIG. The hydraulic / pneumatic suspension unit 27 includes a roller arm 9 and a sub suspension accumulator 2
The suspension hydraulic cylinder 30, the variable attenuator 12, and the suspension accumulator unit 36 are provided. The sub-suspension accumulator 2, the suspension hydraulic cylinder 30, the suspension accumulator section 3 are provided in the casing 18 of the hydraulic / pneumatic suspension unit 27.
6 and a valve block 11 provided with a variable attenuator 12 and a hydraulic oil passage.

The suspension hydraulic cylinder 30 has the suspension hydraulic cylinder 4 shown in FIG. 2 in which the position for introducing the working oil and the position for enclosing the nitrogen gas are exchanged, and the piston 5 slidable with respect to the inner wall of the cylinder is used. And a recess formed inside the cylindrical protrusion 5A of the piston 5 (the piston internal hydraulic chamber 3).
The inner peripheral surface of the portion 8) is slidably fitted to the guide portion 6. The hydraulic oil 14 is introduced into the piston hydraulic chamber 38 surrounded by the concave portion inside the cylindrical protruding portion 5A and the guide portion 6 to form the suspension hydraulic cylinder 30. 38 and one chamber partitioned by the free piston 3 of the sub-suspension accumulator 2 are connected by the hydraulic oil passage formed in the valve block 11 and the variable attenuator 12. Further, the nitrogen gas 1 is supplied from the nitrogen gas filling port 42 into the accumulator chamber surrounded by the piston 5 around the piston hydraulic chamber and the cylinder inner wall.
The suspension accumulator portion 36 in which the nitrogen gas 15 is filled is formed by injecting 5 and then closing the filling port 42.

When the hydraulic wheel suspension unit 27 of FIG. 3 is used to attach the rolling wheels 24 as shown in FIG. 1, the piston 5 that receives the weight of the tracked vehicle and the accumulator chamber enclosed by the inner wall of the cylinder are sealed. The suspension accumulator section 36 that it has can partially support the weight of the tracked vehicle, and can reduce the power consumption of the hydraulic power source.
In the same manner as described in the first embodiment, the vehicle body attitude conversion control during maneuvering and the vehicle body shaking control during traveling can be executed.

4 and 5 show a third embodiment of the present invention, in which the same parts as those in FIGS. 1 and 2 are designated by the same reference numerals and the description thereof is omitted. FIG. 4 shows the configuration of one side of the vehicle body in the third embodiment of the present invention, and 26 is the vehicle body of a tracked vehicle. Rolling wheels 24 are provided and supported, and crawler belts 25 are stretched around them. Each of the wheels 24 is attached to the vehicle body 26 by the hydraulic suspension unit 63. The hydraulic suspension unit 63 has a casing 79 as shown in FIG.
Also serves as a wheel arm that pivotally supports the wheel shaft 86 of the wheel 24, and the structure of the internal cylinder and accumulator has the same structure as in FIG. The casing 79
Is mounted so as to swing around a rotation fulcrum shaft 80 provided on the bracket 100 on the vehicle body 26 side, and the piston 5 of the suspension hydraulic cylinder 30 is attached to an anchor 70 fixed to the vehicle body 26 via a connecting rod 7. They are connected (however, both ends of the connecting rod 7 are pivotally attached by pins). Inside the casing 79, the sub-suspension accumulator 2, the suspension hydraulic cylinder 30, the suspension accumulator unit 3 are provided.
6 and a valve block 11 provided with a variable attenuator 12 and a hydraulic oil passage. The suspension hydraulic cylinder 30 includes a piston 5 that is slidable with respect to the inner wall of the cylinder, and the inner periphery of a recess (a portion that becomes the piston internal hydraulic chamber 98) formed inside the cylindrical protrusion 5A of the piston 5. The surface is slidably fitted to the guide portion 6. Then, the hydraulic oil 14 is introduced into the piston hydraulic chamber 98 to form the suspension hydraulic cylinder 30, and one chamber partitioned by the piston hydraulic chamber 98 and the free piston 3 of the sub suspension accumulator 2 is provided. Are connected to each other through a hydraulic oil passage formed in the valve block 11 and the variable attenuator 12. In addition, the piston 5 around the hydraulic chamber in the piston
The suspension accumulator section 36 is configured by enclosing the nitrogen gas 15 in the accumulator chamber surrounded by the cylinder inner wall.

In the construction of the third embodiment described above, the casing 79 of the hydraulic / pneumatic suspension unit 63 rotates about the rotation fulcrum shaft 80 when the wheel 24 rides on the protrusion during traveling. In this case, The rotation fulcrum shaft 80 is fixed to the vehicle body side, and one end of the connecting rod 7 is attached to the vehicle body 2
6 and the fulcrum of the connecting rod 7 is eccentric with respect to the rotation fulcrum shaft 80, the piston 5 and the cylinder chamber of the suspension hydraulic cylinder 30 move relative to each other, and the suspension hydraulic cylinder The hydraulic oil 14 on the 30 side moves through the variable attenuator 12 to the sub suspension accumulator 2 side, and pushes the free piston 3 to compress the nitrogen gas 15 and act as a spring. Further, the variable attenuator 12 attenuates the vibration. At the same time, the nitrogen gas 15 in the suspension accumulator section 36 is also compressed. As a result, the suspension accumulator portion 36 can share and support a part of the vehicle weight.

Further, in the same manner as described in the first embodiment, the vehicle body attitude conversion control during maneuvering and the vehicle body swaying control during traveling can be executed. At that time, the suspension accumulator unit 36 partially reduces the weight of the tracked vehicle. Since the bearing is supported, it is possible to reduce the power consumption of the hydraulic power source.

In the third embodiment, the suspension hydraulic cylinder and suspension accumulator portion of the hydraulic suspension unit 63 may have the same structure as in FIG.

[0028]

As described above, according to the hydraulic / pneumatic traveling suspension control device for a tracked vehicle of the present invention, since the vehicle body swing control is performed using the hydraulic / pneumatic suspension unit, the vehicle body during traveling and shooting is controlled. Stabilization can be achieved. Further, by supporting the weight of the vehicle by the suspension accumulator section in the hydraulic suspension unit, the power required for vehicle body attitude control is reduced, and the vehicle body attitude is changed (or Constant ground clearance control) can also be easily performed.

[Brief description of drawings]

FIG. 1 is a configuration diagram of one side of a vehicle, which is a first embodiment of an oil pressure traveling suspension control device for a tracked vehicle according to the present invention.

FIG. 2 is a front sectional view showing an oil pressure suspension unit used in the first embodiment.

FIG. 3 is a front sectional view showing an oil pressure suspension unit according to a second embodiment of the present invention.

FIG. 4 is a configuration diagram of one side of the vehicle according to the third embodiment of the present invention.

FIG. 5 is a front sectional view showing an oil pressure suspension unit used in a third embodiment.

[Explanation of symbols]

 1, 27, 63 Hydraulic pressure suspension unit 2 Sub suspension accumulator 3 Free piston 4,30 Suspension hydraulic cylinder 5 Piston 6 Guide part 7 Connecting rod 8 Small arm 9 Rolling arm 10, 36 Suspension accumulator part 11 Valve block 12 Variable attenuator 13 Servo Valve 14 Hydraulic Oil 15 Nitrogen Gas 16A, 16B, 42 Nitrogen Gas Filling Port 17 Rolling Wheel Displacement Meter 18, 79 Casing 19 Mounting Bolt 20, 20A Command Signal Line 21, 21A Hydraulic Supply Pipe 22, 22A Hydraulic Oil Return Pipe 23 Oil seal 24 Rolling wheel 25 Crawler track 26 Vehicle body 38,98 Hydraulic chamber in piston 53 Starting wheel 54 Induction wheel 55 Attitude reference signal generator 56 Suspension control device 57 Suspension servo amplifier 58 Induction wheel control device 59 Induction wheel servo amplifier, 60 Induction wheel Device 60A induction wheel Position meter and a pressure gauge 61 body perturbation signal detector 62 hydraulic pressure source 70 the anchor 80 rotation support shaft 86 Utatewajiku 100 Bracket

Claims (4)

[Claims] 1. A crawler belt is stretched between a starting wheel, a guide wheel, and a plurality of rolling wheels respectively provided on both sides of the vehicle body, and each rolling wheel is attached to the vehicle body by an hydraulic pressure suspension unit. In a hydraulic / pneumatic traveling suspension control device for a tracked vehicle that supplies hydraulic pressure to the hydraulic / pneumatic suspension unit from a hydraulic source via a servo valve added to the unit, the hydraulic / pneumatic suspension unit includes a piston that receives vibration of the rolling wheels. It has a suspension hydraulic cylinder which has a hydraulic fluid supply from the hydraulic pressure source via the servo valve, and first and second chambers partitioned by a free piston. Hydraulic oil from a suspension hydraulic cylinder is introduced through a damper, and a gas is enclosed in a sub-suspension accumulator in which the second chamber is filled with gas and a chamber utilizing a part of the piston of the suspension hydraulic cylinder. A suspension accumulator unit, wherein the power consumption of the hydraulic power source is reduced by partially supporting the weight of the tracked vehicle by the suspension accumulator unit. apparatus. 2. The gas is enclosed in a closed chamber in which the suspension accumulator section is formed by a guide section fixed to the casing side of the hydraulic-pressure suspension unit and a concave section of the piston fitted into the guide section. The hydraulic / pneumatic traveling suspension control device for a tracked vehicle according to claim 1, which is configured as described above. 3. The hydraulic oil is introduced into a chamber in which the suspension hydraulic cylinder is formed by a guide portion fixed to the casing side of the hydraulic / pneumatic suspension unit and a concave portion of the piston fitted to the guide portion. 2. The tracked vehicle according to claim 1, wherein the suspension accumulator section is a configuration in which the gas is enclosed in a closed chamber formed by the piston and a cylinder inner wall on the casing side of the hydraulic / pneumatic suspension unit. Hydraulic and pneumatic suspension control system. 4. The hydraulic / pneumatic traveling suspension control device for a tracked vehicle according to claim 1, 2 or 3, wherein the casing of said hydraulic / pneumatic suspension unit also serves as a rolling wheel arm for pivotally supporting said rolling wheel.