Leveling anti-tilting device and method for vehicle

Abstract

The invention relates to the technical field of vehicle safety, in particular to a leveling anti-tilting device and method for a vehicle, a tilt angle sensor is installed on a vehicle chassis, and the tilt angle of the vehicle chassis is detected; adjusting different driving modes of the vehicle according to the detected inclination angle of the vehicle chassis; calculating a target reverse inclination angle of the bearing bracket by taking the resultant force of the gravity and the inertia force as a reference; the angle of the bearing support is dynamically adjusted through the control assembly according to the calculation result, the bearing device is dynamically leveled, so that the anti-tilting capacity is obtained, and the safety in the vehicle transportation process is achieved. By dynamically adjusting the level of the bearing device and the reverse inclination angle of the bearing support, the anti-rollover capacity of the vehicle can be effectively improved under various complex terrain conditions, and stable driving and operation safety of the vehicle are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety, and particularly to a leveling and anti-tipping device and method for a vehicle. Background Art

[0002] When a vehicle operates on a slope, rough ground, or curve, the vehicle is prone to tipping over. Currently, common methods include lowering the center of gravity and expanding the wheel-rail support surface.

[0003] Due to the relatively high center of gravity of the device, in order to lower the overall center of gravity of the operating vehicle, some vehicles have to increase the vehicle's own weight, but the vehicle's own weight should not be increased too much; at the same time, in order to balance passability, the vehicle chassis cannot be too low. Therefore, the degree of reduction in the center of gravity of the vehicle and the device is limited.

[0004] Limited by the road surface, the wheel-rail support surface cannot be infinitely widened or lengthened. Therefore, improving the anti-tipping ability of the vehicle during operation in various road conditions is of great significance for improving vehicle operation safety.

[0005] Problems existing in the current technology: The existing anti-tipping technology cannot well solve the tipping risk of the vehicle during operation on slopes, rough ground, or curves, especially the left and right tipping risks of the vehicle. Summary of the Invention

[0006] In view of the problem that the existing anti-tipping technology cannot well solve the tipping risk of the vehicle during operation on slopes, rough ground, or curves, especially the left and right tipping risks of the vehicle, the present invention is proposed.

[0007] Therefore, the object of the present invention is to provide a leveling and anti-tipping device for a vehicle.

[0008] To solve the above technical problems, the present invention provides the following technical solution: A leveling and anti-tipping device for a vehicle, comprising

[0009] a support assembly, a load-bearing assembly, an inclination detection assembly, and a leveling drive assembly provided on the vehicle chassis; the support assembly includes a load-bearing bracket, a lower bracket bearing connecting the load-bearing bracket and the vehicle chassis, and an upper bracket bearing connecting the load-bearing bracket and the load-bearing assembly; the load-bearing assembly includes a loading platform, a load; wherein the loading platform includes a load-bearing platform, a semi-enclosed carriage, and a fully enclosed carriage; wherein the load includes people, goods, and construction machinery; the inclination detection assembly includes inclination sensors provided on the vehicle chassis, the load-bearing assembly, and the support assembly; the leveling drive assembly includes an upper drive member for the load-bearing assembly to rotate relative to the load-bearing bracket with the upper bracket bearing as the axis; and a lower drive member for the load-bearing bracket to rotate relative to the vehicle chassis with the lower bracket bearing as the axis.

[0010] As a preferred embodiment of a leveling and anti-tilting device for a vehicle according to the present invention, wherein: the leveling and anti-tilting of the device includes a leveling and anti-tilting mode in the left-right direction of the vehicle and a leveling and anti-tilting mode in the front-rear and left-right directions.

[0011] As a preferred embodiment of a leveling and anti-tilting device for a vehicle according to the present invention, wherein: for the leveling and anti-tilting mode in the left-right direction of the vehicle, the lower bearing of the bracket is at least 2 coaxial bearing groups fixed on the front-rear center line of the vehicle chassis; the upper bearing of the bracket is at least 2 coaxial bearing groups parallel to the lower bearing of the bracket and fixed at the lower end of the front-rear center line of the bearing assembly.

[0012] As a preferred embodiment of a leveling and anti-tilting device for a vehicle according to the present invention, wherein: for the leveling and anti-tilting mode in the left-right direction of the vehicle, the lower driving member includes at least 1 rotation execution structure to control the bracket to rotate left and right relative to the vehicle chassis with the lower bearing of the bracket as the axis; the upper driving member includes at least 1 rotation execution structure to control the bearing assembly to rotate left and right relative to the bracket with the upper bearing of the bracket as the axis.

[0013] As a preferred embodiment of a leveling and anti-tilting device for a vehicle according to the present invention, wherein: for the leveling and anti-tilting mode in the front-rear and left-right directions of the vehicle, the lower bearing of the bracket is a cross bearing installed on the front-rear and left-right center lines of the vehicle chassis, and the axes of the cross bearing are in the front-rear direction and the left-right direction respectively; the upper bearing of the bracket has axes in the front-rear direction and the left-right direction parallel to the axes in the front-rear direction and the left-right direction of the lower bearing of the bracket.

[0014] As a preferred embodiment of a leveling and anti-tilting device for a vehicle according to the present invention, wherein: for the leveling and anti-tilting mode in the front-rear and left-right directions of the vehicle, the lower driving member includes at least 1 front-rear rotation execution structure to control the bracket to rotate front and back relative to the vehicle chassis with the lower bearing of the bracket as the axis, and includes at least 1 left-right rotation execution structure to control the bracket to rotate left and right relative to the vehicle chassis with the lower bearing of the bracket as the axis; the upper driving member includes at least 1 front-rear rotation execution structure to control the bearing assembly to rotate front and back relative to the bracket with the upper bearing of the bracket as the axis, and includes at least 1 left-right rotation execution structure to control the bearing assembly to rotate left and right relative to the bracket with the upper bearing of the bracket as the axis.

[0015] A leveling and anti-tilting method for a vehicle includes the above-mentioned leveling and anti-tilting device for a vehicle, and includes the following steps

[0016] Collect and calculate the tilt angle based on the resultant force of gravity and inertia force;

[0017] Dynamically adjust the holding table to keep it in a horizontal state;

[0018] Dynamically adjust the bracket to tilt in the opposite direction to the tilt towards the chassis.

[0019] As a preferred embodiment of a leveling and anti-tipping method for a vehicle according to the present invention, wherein: the bracket tilts in the opposite direction to the tilt towards the chassis, including: eliminating the mode of the center of gravity of the load-bearing component deviating from the center of the wheel-rail, and comprehensively eliminating the mode of the center of gravity of the vehicle deviating from the center of the wheel-rail; in the mode of eliminating the center of gravity of the load-bearing component deviating from the center of the wheel-rail, the center of gravity of the load-bearing component dynamically passes through the center of the ground supporting the vehicle wheel-rail; in the mode of comprehensively eliminating the center of gravity of the vehicle deviating from the center of the wheel-rail, the center of gravity of the vehicle and the load-bearing component dynamically passes through the center of the ground supporting the vehicle wheel-rail.

[0020] As a preferred embodiment of a leveling and anti-tipping method for a vehicle according to the present invention, wherein: in the mode of eliminating the center of gravity of the load-bearing component deviating from the center of the wheel-rail, dynamically adjust θ2 to be equal to or close to the θ2 load-bearing target, specifically as follows:

[0021] θ2 load-bearing target = arcsin(L1 / L2 × sin(θ1))

[0022] Wherein, L1 is the distance from the lower bearing of the bracket to the ground, L2 is the distance from the lower bearing of the bracket to the upper bearing of the bracket, θ1 is the tilt angle of the vehicle chassis, θ2 is the reverse tilt angle of the bracket, and θ2 load-bearing target is the optimal target value of the reverse tilt angle of the bracket in the mode of eliminating the center of gravity of the load-bearing component deviating from the center of the wheel-rail.

[0023] As a preferred embodiment of a leveling and anti-tipping method for a vehicle according to the present invention, wherein: in the mode of comprehensively eliminating the center of gravity of the vehicle deviating from the center of the wheel-rail, dynamically adjust θ2 to be equal to or close to the θ2 comprehensive target, specifically as follows:

[0024] θ2 comprehensive target = arcsin((L1 + H × G1 / G2) / L2 × sin(θ1))

[0025] Wherein, L1 is the distance from the lower bearing of the bracket to the ground, L2 is the distance from the lower bearing of the bracket to the upper bearing of the bracket, H is the height of the center of gravity of the vehicle chassis, G1 is the weight of the vehicle chassis, G2 is the weight of the load-bearing component, θ1 is the tilt angle of the vehicle chassis, θ2 is the reverse tilt angle of the bracket, and θ2 comprehensive target is the optimal target value of the reverse tilt angle of the bracket in the mode of comprehensively eliminating the center of gravity of the vehicle deviating from the center of the wheel-rail.

[0026] The beneficial effects of the present invention: By dynamically adjusting the levelness of the load-bearing component and the angle of the load-bearing bracket, the anti-tipping ability of the vehicle can be effectively improved under various complex terrain conditions, ensuring the stable driving and operation safety of the vehicle. Compared with the prior art, the present invention has the following advantages:

[0027] Strong safety: By monitoring the tilt angles of the chassis, brackets, and holding platforms in real time and making dynamic adjustments, the center of gravity of the load-bearing component or the center of gravity of the vehicle and the load-bearing component is always made to pass through the center of the ground supporting the vehicle's wheel rails, effectively preventing tipping accidents.

[0028] High adaptability: Excellent anti-tipping ability can be obtained without reducing the chassis height or lengthening and widening the vehicle body, making it suitable for various types of vehicles and complex terrain conditions;

[0029] Good comfort: Dynamically adjust the levelness of the load-bearing component, and moreover, the levelness of the resultant force of gravity and inertia force, to meet the comfort requirements of operators in different scenarios. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 Side view schematic diagram of the left-right direction leveling and anti-tipping mode of a freight vehicle for the leveling and anti-tipping device and method for vehicles of the present invention.

[0032] Figure 2 Rear view schematic diagram of the left-right direction leveling and anti-tipping mode of a freight vehicle for the leveling and anti-tipping device and method for vehicles of the present invention.

[0033] Figure 3 Rear view schematic diagram of the front-back and left-right direction leveling and anti-tipping mode of a crawler vehicle for the leveling and anti-tipping device and method for vehicles of the present invention.

[0034] Figure 4 Side view schematic diagram of the front-back and left-right direction leveling and anti-tipping mode of a crawler vehicle for the leveling and anti-tipping device and method for vehicles of the present invention.

[0035] Figure 5 Schematic diagram of the structure of the load-bearing component for the leveling and anti-tipping device and method for vehicles of the present invention.

[0036] Figure 6 Schematic diagram of the mode for eliminating the deviation of the center of gravity of the load-bearing component from the center of the wheel rail for the leveling and anti-tipping device and method for vehicles of the present invention.

[0037] Figure 7 Schematic diagram of the comprehensive mode for eliminating the deviation of the center of gravity of the vehicle from the center of the wheel rail for the leveling and anti-tipping device for vehicles of the present invention.

[0038] Figure 8Schematic flow diagram of a leveling and anti-tilting device and method for a vehicle according to the present invention. Detailed implementation manners

[0039] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following provides a detailed description of the specific implementation manners of the present invention in conjunction with the accompanying drawings of the specification.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0041] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation manner of the present invention. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or selectively exclusive embodiments from other embodiments.

[0042] Furthermore, the present invention is described in detail in conjunction with schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views showing the device structure will be enlarged locally out of the general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0043] Embodiment 1

[0044] Refer to Figure 1 - Figure 5 , which is the first embodiment of the present invention, provides a leveling and anti-tilting device for a vehicle. This device includes a support assembly 2, a load-bearing assembly 3, an inclination detection assembly 4, and a leveling drive assembly 5 provided on the vehicle chassis 1; the support assembly 2 includes a load-bearing bracket 22, a lower bracket bearing 21 connecting the load-bearing bracket 22 and the vehicle chassis 1, and an upper bracket bearing 23 connecting the load-bearing bracket 22 and the load-bearing assembly 3; the load-bearing assembly 3 includes a placement platform 31 and a load; among them, the placement platform 31 includes a load-bearing platform, a semi-closed carriage, and a fully-closed carriage; among them, the load includes people, goods, and construction machinery; the inclination detection assembly 4 includes inclination sensors provided on the vehicle chassis 1, the load-bearing assembly 3, and the support assembly 2; the leveling drive assembly 5 includes an upper drive member 51 that rotates the load-bearing assembly 3 relative to the load-bearing bracket 22 with the upper bracket bearing 23 as the axis; and a lower drive member 52 that rotates the load-bearing bracket 22 relative to the vehicle chassis 1 with the lower bracket bearing 21 as the axis.

[0045] Specifically, the leveling and anti-tilting of the device includes a leveling and anti-tilting mode in the left-right direction relative to the vehicle and a leveling and anti-tilting mode in the front-rear and left-right directions.

[0046] Further, for the leveling and anti-roll mode in the left-right direction of the vehicle, it includes a lower bracket bearing 21, which is at least two coaxial bearing groups fixed on the center line in the front-rear direction of the vehicle chassis 1; and an upper bracket bearing 23, which is at least two coaxial bearing groups parallel to the lower bracket bearing 21 and fixed at the lower end of the center line in the front-rear direction of the load-bearing assembly 3.

[0047] Furthermore, for the leveling and anti-roll mode in the left-right direction of the vehicle, the lower driving member 52 includes at least one rotational execution structure to control the bracket to rotate left and right relative to the vehicle chassis 1 with the lower bracket bearing 21 as the axis; the upper driving member 51 includes at least one rotational execution structure to control the load-bearing assembly 3 to rotate left and right relative to the bracket with the upper bracket bearing 23 as the axis.

[0048] Among them, for the leveling and anti-roll mode in the front-rear, left-right directions of the vehicle, it includes a lower bracket bearing 21, which is a cross bearing installed on the center lines in the front-rear and left-right directions of the vehicle chassis 1, and the axes of the cross bearing are respectively in the front-rear and left-right directions; and an upper bracket bearing 23, whose axes in the front-rear and left-right directions are parallel to the axes in the front-rear and left-right directions of the lower bracket bearing 21 and is installed at the lower end of the center line in the front-rear direction of the load-bearing assembly 3.

[0049] Among them, for the leveling and anti-roll mode in the front-rear, left-right directions of the vehicle, the lower driving member 52 includes at least one front-rear rotational execution structure to control the bracket to rotate front and back relative to the vehicle chassis 1 with the lower bracket bearing 21 as the axis, and includes at least one left-right rotational execution structure to control the bracket to rotate left and right relative to the vehicle chassis 1 with the lower bracket bearing 21 as the axis; the upper driving member 51 includes at least one front-rear rotational execution structure to control the load-bearing assembly 3 to rotate front and back relative to the bracket with the upper bracket bearing 23 as the axis, and includes at least one left-right rotational execution structure to control the load-bearing assembly 3 to rotate left and right relative to the bracket with the upper bracket bearing 23 as the axis.

[0050] During the operation process, first, turn on the vehicle power supply. The control system of the leveling and anti-roll device is automatically initialized, and the inclination sensors start to monitor the inclination angles of the vehicle chassis 1, the support assembly 2, and the load-bearing assembly 3, and transmit the data to the control system in real time. When the vehicle is inclined, the inclination sensors feed back the angle data to the control system, and the system determines whether leveling operation is required according to the preset leveling threshold. If the vehicle is inclined only in the left-right direction, it enters the leveling and anti-roll mode in the left-right direction; if the vehicle is inclined in both the front-rear and left-right directions, it enters the leveling and anti-roll mode in the front-rear, left-right directions.

[0051] In the left - right leveling and anti - tipping mode, the lower driving member 52 is activated, and at least one rotating actuator controls the carrying bracket 22 to rotate left and right relative to the vehicle chassis 1 with the lower bearing 21 of the bracket as the axis, adjusting the horizontal position of the carrying bracket 22; meanwhile, the upper driving member 51 is activated, and at least one rotating actuator controls the carrying assembly 3 to rotate left and right relative to the carrying bracket 22 with the upper bearing 23 of the bracket as the axis, further adjusting the horizontal position of the carrying assembly 3 to ensure that the load remains horizontal. In the front - rear, left - right leveling and anti - tipping mode, the lower driving member 52 simultaneously activates the front - rear and left - right rotating actuators to control the carrying bracket 22 to rotate front - rear and left - right relative to the vehicle chassis 1; the upper driving member 51 also simultaneously activates the front - rear and left - right rotating actuators to control the carrying assembly 3 to rotate front - rear and left - right relative to the carrying bracket 22 to achieve all - around leveling.

[0052] During the leveling process, the inclination sensor continuously monitors the inclination state of the vehicle and feeds the data back to the control system in real - time. The system dynamically adjusts the actions of the driving members according to the feedback data to ensure the accuracy and stability of the leveling operation. When the inclination angles of the vehicle chassis 1, the support assembly 2, and the carrying assembly 3 reach the preset horizontal state, the control system stops the actions of the driving members to complete the leveling operation. During the vehicle's driving or operation, the leveling and anti - tipping device continuously monitors the inclination state of the vehicle. Once a new inclination situation is detected, it immediately automatically starts the leveling operation to ensure that the vehicle is always in a stable state, guaranteeing the stability and safety of the vehicle.

[0053] Embodiment 2

[0054] Refer to Figure 1 - Figure 8 This is the second embodiment of the present invention, which provides a leveling and anti - tipping method for a vehicle, including the following steps:

[0055] S1. By installing an inclination sensor on the vehicle chassis 1, detect the inclination angle of the vehicle chassis 1;

[0056] S2. Adjust the different driving modes of the vehicle according to the detected inclination angle of the vehicle chassis 1;

[0057] S3. Based on the resultant force of gravity and inertia force as a reference, calculate the reverse inclination angle of the carrying bracket 22 to obtain the anti - tipping ability;

[0058] S4. And dynamically adjust the angle of the carrying bracket 22 through the control component according to the calculation result to achieve safety during the vehicle transportation process.

[0059] Specifically, the bracket is inclined in the opposite direction to the inclination of the chassis, including: eliminating the mode of the center of gravity of the load-bearing component 3 deviating from the center of the wheel-rail, and comprehensively eliminating the mode of the center of gravity of the vehicle deviating from the center of the wheel-rail; eliminating the mode of the center of gravity of the load-bearing component 3 deviating from the center of the wheel-rail, the center of gravity of the load-bearing component 3 dynamically passes through the center of the ground supporting the vehicle wheel-rail; comprehensively eliminating the mode of the center of gravity of the vehicle deviating from the center of the wheel-rail, the center of gravity of the vehicle and the load-bearing component 3 dynamically passes through the center of the ground supporting the vehicle wheel-rail.

[0060] Furthermore, in the case of needing to keep the goods stably placed during transportation or ensuring the horizontal state of the device during loading and unloading of goods, it is to eliminate the mode of the center of gravity of the device deviating from the center of the wheel-rail, and dynamically adjust θ2 to be equal to or close to the θ2 load target, specifically as follows:

[0061] θ2 load target = arcsin(L1 / L2 × sin(θ1))

[0062] Wherein, L1 is the distance from the lower bearing of the bracket to the ground, L2 is the distance from the lower bearing of the bracket to the upper bearing of the bracket, θ1 is the inclination angle of the vehicle chassis, θ2 is the inclination angle of the reverse inclination of the bracket, and θ2 load target is the optimal target value of the reverse inclination angle of the bracket in the mode of eliminating the center of gravity of the load-bearing component deviating from the center of the wheel-rail;

[0063] Wherein, when it is detected that the inclination angle between the ground and the vehicle chassis is θ1, the distance of the lower bearing of the bracket deviating from the resultant force of the inertial force and the gravity is L1×sin(θ1); θ2 load target is the optimal target value of the reverse inclination angle of the bracket in the mode of eliminating the center of gravity of the load-bearing component deviating from the center of the wheel-rail, the reverse force of the upper bearing of the bracket relative to the lower bearing of the bracket is L2×sin(θ2), and in the process of eliminating the center of gravity of the device deviating from the center of the wheel-rail, it is necessary to make L1×sin(θ1) = L2×sin(θ2), which requires θ2 = arcsin(L1 / L2 × sin(θ1)). Since it is necessary to dynamically adjust θ2 to be equal to or close to the θ2 load target, it is satisfied that θ2 load target = arcsin(L1 / L2 × sin(θ1)).

[0064] Still further, when the vehicle needs to maintain overall stability under complex terrain conditions, when driving on slopes, rough ground or complex road conditions of curves, or when performing high-intensity construction operations, it is to comprehensively eliminate the mode of the center of gravity of the vehicle deviating from the center of the wheel-rail, and dynamically adjust θ2 to be equal to or close to the θ2 comprehensive target, specifically as follows:

[0065] θ2 comprehensive target = arcsin((L1 + H×G1 / G2) / L2 × sin(θ1))

[0066] Among them, L1 is the distance from the lower bearing of the bracket to the ground, L2 is the distance from the lower bearing of the bracket to the upper bearing of the bracket, H is the height of the center of gravity of the vehicle chassis, G1 is the weight of the vehicle chassis, G2 is the weight of the load-bearing component, θ1 is the inclination angle of the vehicle chassis, θ2 is the reverse inclination angle of the bracket, and the comprehensive target of θ2 is the best target for comprehensively eliminating the reverse inclination angle of the bracket in the mode where the center of gravity of the vehicle deviates from the center of the wheel-rail.

[0067] Among them, by calculating the angle for controlling the reverse inclination of the load-bearing bracket in the mode of eliminating the deviation of the center of gravity of the device from the center of the wheel-rail, the leveling drive component is used to adjust the reverse angle; by calculating the angle of the reverse inclination of the load-bearing bracket in the mode of comprehensively eliminating the deviation of the center of gravity of the vehicle from the center of the wheel-rail, the leveling drive component is used to adjust the reverse angle.

[0068] Among them, if the device of the vehicle is heavy and the influence of the deviation of its center of gravity on the overall stability of the vehicle is large, then priority is given to eliminating the mode of the deviation of the center of gravity of the device from the center of the wheel-rail.

[0069] The considerations are as follows:

[0070] Cargo safety: Ensuring the stability of the center of gravity of the device can effectively prevent the cargo from moving or tipping over during transportation, ensuring the safety of the cargo.

[0071] Operational convenience: In some simple transportation or loading / unloading tasks, only the stability of the device needs to be concerned, without having to consider too much the change of the overall center of gravity of the vehicle. The adjustment process of this mode is relatively simple and the operation is more convenient.

[0072] Among them, if the influence of the overall center of gravity of the vehicle on stability is large, or the use scenario of the vehicle has a high requirement for overall stability, then priority is given to comprehensively eliminating the mode of the deviation of the center of gravity of the vehicle from the center of the wheel-rail.

[0073] The considerations are as follows:

[0074] Overall stability: By comprehensively considering the center of gravity of the vehicle chassis and the device, the overall stability of the vehicle can be effectively improved, the anti-overturning ability can be enhanced, and the safety of the vehicle and its occupants can be ensured.

[0075] Adaptability: This mode can adapt to different load conditions and complex environments, enabling the vehicle to maintain good performance and stability in various use scenarios, and improving the applicability and flexibility of the vehicle.

[0076] The comprehensive consideration is as follows:

[0077] Priority judgment: In practical applications, it is possible to judge which mode is more important based on the main tasks and usage scenarios of the vehicle. If the main task of the vehicle is to ensure the stability of the device, then the mode of eliminating the deviation of the center of gravity of the loading platform from the center of the wheel-rail can be used as the main reference; if the vehicle needs to maintain overall stability under complex terrain conditions, then the comprehensive mode of eliminating the deviation of the vehicle's center of gravity from the center of the wheel-rail is more crucial.

[0078] Combined use: In some cases, the two modes can also be used in combination, taking into account the center of gravity stability of both the loading platform and the vehicle as a whole, in order to achieve a better leveling and anti-tipping effect; for example, during high-intensity construction operations, both the stability of the device and the overall stability of the vehicle need to be ensured, and the two modes can be used simultaneously for adjustment.

[0079] During the operation, in the mode of eliminating the deviation of the center of gravity of the device from the center of the wheel-rail, when the road surface is uneven left and right, first, the loading platform needs to be adjusted to a horizontal state; second, the support needs to be tilted in the opposite direction, so that the position of the bearing on the support deviates from the direction of the resultant force of gravity and inertia force in the opposite direction, canceling the distance of the bearing under the support deviating from the center of the wheel-rail, so that the bearing on the support is at the center of the wheel-rail where the resultant force of gravity and inertia force points to the ground, achieving the effect of eliminating the deviation of the center of gravity of the device from the center of the wheel-rail. When the inclination angle between the ground and the vehicle chassis is detected as θ1, the distance of the bearing under the support deviating from the resultant force of inertia force and gravity is L1×sin(θ1); the reverse inclination angle of the bearing support is θ2, and dynamically adjust θ2 to be equal to or close to the θ2 bearing target. The reverse force of the bearing on the support relative to the bearing under the support is L2×sin(θ2). During the process of eliminating the deviation of the center of gravity of the device from the center of the wheel-rail, it is necessary to make L1×sin(θ1) = L2×sin(θ2); therefore, θ2 = arcsin(L1 / L2×sin(θ1)); this requires that the reverse inclination angle θ2 of the bearing support satisfies: θ2 bearing target = arcsin(L1 / L2×sin(θ1));

[0080] In the comprehensive mode of eliminating the deviation of the vehicle's center of gravity from the center of the wheel-rail, when the road surface is uneven left and right, first, the loading platform needs to be adjusted to a horizontal state; second, the support needs to be tilted in the opposite direction, so that the position of the bearing on the support is opposite to the center of the wheel-rail, canceling the torque generated by the vehicle's own inclination, achieving the effect of comprehensively eliminating the deviation of the vehicle's center of gravity from the center of the wheel-rail; this requires that the reverse inclination angle θ2 of the adjustable bearing support satisfies the following requirements: θ2 comprehensive target = arcsin((L1 + H1×G1 / G2) / L2×sin(θ1));

[0081] After driving the leveling drive assembly to dynamically adjust the bearing support in the front-back and left-right directions according to the calculated reverse adjustment inclination angle, the overall stability of the vehicle can be maintained.

[0082] Embodiment 3

[0083] Reference Figure 1 - Figure 8 , the third embodiment of the present invention provides a leveling and anti-tipping method for a vehicle, including the following

[0084] Specifically, in an elongated vehicle, such as a freight truck or a truck, which is prone to tipping during lateral tilting, by adjusting the tilting angle of the bearing bracket 22 in the left-right direction, the bearing assembly 3 is kept horizontal, thereby eliminating the deviation of the center of gravity of the vehicle during lateral tilting. This is the left-right direction leveling and anti-tipping mode.

[0085] Furthermore, in a vehicle that requires all-round stability, such as a tracked vehicle or a construction machinery, which needs to maintain stability in both the front-rear and left-right directions under complex terrain conditions, through the cross-axis structure of the lower bearing 21 of the bracket and the upper bearing 23 of the bracket, the bearing bracket 22 is adjusted simultaneously in the front-rear and left-right directions. This is the front-rear and left-right direction leveling and anti-tipping mode.

[0086] Among them, by installing an inclination sensor on the placement table 31 of the bearing assembly 3 and an inclination sensor on the bearing bracket 22, the inclination sensors installed on the placement table 31 and the bearing bracket 22 are used to detect whether the angle after the leveling and anti-tipping operation meets the safe driving of the vehicle.

[0087] During the operation process, it includes the following steps:

[0088] 1. Start the leveling and anti-tipping system

[0089] Activate the sensors: First, start the inclination sensors installed on the placement table 31 and the bearing bracket 22 to make them enter the working state and prepare to detect the angle state of the vehicle after the leveling and anti-tipping operation.

[0090] Initialization: Start and load the preset leveling and anti-tipping program, and select the corresponding leveling and anti-tipping mode according to the vehicle type and usage scenario, such as the left-right direction leveling and anti-tipping mode or the front-rear and left-right direction leveling and anti-tipping mode.

[0091] 2. Detect the initial state

[0092] Monitor the vehicle tilting angle: Through the inclination sensors on the placement table 31 and the bearing bracket 22, respectively detect the initial tilting angles of the placement table 31 and the bearing bracket 22 relative to the horizontal plane, and obtain the initial state data of the vehicle in the lateral and front-rear directions.

[0093] Evaluate the leveling requirement: Based on the initial tilt angle detected by the sensor, evaluate whether the vehicle needs to perform a leveling and anti-tipping operation. If the tilt angle of the vehicle exceeds the preset safety threshold, start the leveling and anti-tipping program; if the vehicle is already in a safe horizontal state, maintain the current state and continue monitoring.

[0094] 3. Perform the leveling and anti-tipping operation

[0095] Leveling and anti-tipping mode in the left-right direction:

[0096] Adjust the load-bearing bracket 22: For slender vehicles such as trucks and lorries, calculate the tilt angle of the load-bearing bracket 22 that needs to be adjusted in the left-right direction according to the lateral tilt angle detected by the tilt sensor on the loading platform 31.

[0097] Drive the actuator: By driving the upper drive member 51 and the lower drive member 52 (such as a hydraulic cylinder) on the load-bearing bracket 22, deflect the load-bearing bracket 22 by a corresponding angle in the left-right direction, so that the loading platform 31 remains horizontal and eliminate the deviation of the center of gravity when the vehicle tilts laterally.

[0098] Leveling and anti-tipping mode in the front-back and left-right directions:

[0099] Adjust the front-back and left-right directions simultaneously: For vehicles that require all-round stability, such as tracked vehicles and construction machinery, calculate the tilt angles of the load-bearing bracket 22 that need to be adjusted in the front-back and left-right directions according to the tilt angles detected by the tilt sensor on the loading platform 31 and the tilt sensor on the load-bearing bracket 22.

[0100] Cooperatively drive the actuator: By driving the upper drive member 51 and the lower drive member 52 (such as a hydraulic cylinder) on the load-bearing bracket 22, deflect the load-bearing bracket 22 by corresponding angles simultaneously in the front-back and left-right directions, achieve the stability of the loading platform 31 in all directions, and ensure that the vehicle remains stable under complex terrain conditions.

[0101] 4. Real-time monitoring and feedback adjustment

[0102] Continuously monitor the angle state: During the leveling and anti-tipping operation, the tilt sensors on the loading platform 31 and the load-bearing bracket 22 continuously monitor the tilt angle of the vehicle and obtain the state data of the vehicle in the lateral and front-back directions in real time.

[0103] Feedback adjustment: Compare the angle data monitored in real time with the preset safe angle range. If it is found that the tilt angle of the vehicle still exceeds the safe range, automatically adjust the working parameters of the drive member, such as changing the telescopic speed or direction of the hydraulic cylinder, and perform further fine-tuning on the load-bearing bracket 22 until the tilt angle of the vehicle meets the requirements for safe driving.

[0104] Dynamic adaptation: When the vehicle encounters new terrain changes or the weight of the loading platform 31 changes during driving, the sensor can detect these changes in a timely manner, recalculate the leveling and anti-tipping strategy, and perform dynamic adjustment through the actuator, so that the vehicle can continuously maintain a stable state.

[0105] 5. Complete leveling and anti-tipping

[0106] Reach a safe state: After a series of adjustments and feedback regulations, the loading platform 31 and the bearing bracket 22 finally reach the predetermined safe angle range. The vehicle maintains a stable horizontal state in the lateral and front-back directions, eliminates the risk of center of gravity deviation, and achieves the purpose of leveling and anti-tipping.

[0107] System stable operation: After completing leveling and anti-tipping, the device continues to operate, maintaining real-time monitoring of the vehicle state, ensuring that during subsequent driving and operation, the vehicle can continuously maintain stability, timely respond to various possible situations, and ensure the safe driving of the vehicle.

[0108] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not restrictive. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A leveling and anti-tilt device for a vehicle, characterized in that: The invention comprises a support assembly (2), a bearing assembly (3), an inclination detection assembly (4), and a leveling drive assembly (5) arranged on a vehicle chassis (1); the support assembly (2) comprises a bearing bracket (22), a bracket lower bearing (21) connecting the bearing bracket (22) and the vehicle chassis (1), and a bracket upper bearing (23) connecting the bearing bracket (22) and the bearing assembly (3); the bearing assembly (3) comprises a placing table (31) and a carrying object; wherein the placing table (31) comprises a carrying platform, a semi-enclosed A closed compartment or a fully enclosed compartment; wherein the load-bearing objects include people, goods, and construction machinery; the tilt detection component (4) includes a tilt sensor arranged on the vehicle chassis (1), the load-bearing component (3), and the support component (2); the leveling drive component (5) includes an upper drive component (51) that rotates the load-bearing component (3) relative to the load-bearing bracket (22) with the upper bearing (23) of the bracket as an axis; and a lower drive component (52) that rotates the load-bearing bracket (22) relative to the vehicle chassis (1) with the lower bearing (21) of the bracket as an axis.

2. The leveling and anti-tilting device for a vehicle according to claim 1, characterized in that: The leveling and anti-tilting of the device includes a leveling and anti-tilting mode in the left and right directions relative to the vehicle and a leveling and anti-tilting mode in the front, rear, left and right directions.

3. The leveling and anti-tilting device for a vehicle according to claim 2, in a leveling and anti-tilting mode relative to the left and right directions of the vehicle, is characterized by: The bracket comprises a lower bearing (21) which is fixed on the center line of the vehicle chassis (1) in the front-rear direction, and at least two coaxial bearing groups; and the bracket upper bearing (23) is parallel to the lower bearing (21) of the bracket, and at least two coaxial bearing groups are fixed on the lower end of the center line of the bearing assembly (3) in the front-rear direction.

4. The leveling and anti-tilting device for a vehicle according to claim 2 or 3, in a leveling and anti-tilting mode relative to the left and right directions of the vehicle, is characterized by: The lower driving member (52) includes at least one rotation execution structure to control the bracket to rotate left and right relative to the vehicle chassis (1) with the bracket lower bearing (21) as the axis; the upper driving member (51) includes at least one rotation execution structure to control the bearing component (3) to rotate left and right relative to the bracket with the bracket upper bearing (23) as the axis.

5. The leveling and anti-tilting device for a vehicle according to claim 4, the leveling and anti-tilting mode relative to the front, rear, left, and right directions of the vehicle is characterized by: The bracket comprises a lower bearing (21) which is a cross bearing installed on the center line of the vehicle chassis (1) in the front-to-back direction and the left-to-right direction, and the axes of the cross bearing are in the front-to-back direction and the left-to-right direction respectively; and the bracket comprises an upper bearing (23) whose axes in the front-to-back direction and the left-to-right direction are parallel to the axes of the lower bearing (21) in the front-to-back direction and the left-to-right direction.

6. The leveling and anti-tilting device for a vehicle according to claim 5, in a leveling and anti-tilting mode relative to the front, rear, left, and right directions of the vehicle, is characterized by: The lower driving member (52) comprises at least one forward and backward rotation execution structure to control the bracket to rotate forward and backward relative to the vehicle chassis (1) with the bracket lower bearing (21) as the axis, and comprises at least one left and right rotation execution structure to control the bracket to rotate left and right relative to the vehicle chassis (1) with the bracket lower bearing (21) as the axis; the upper driving member (51) comprises at least one forward and backward rotation execution structure to control the bearing component (3) to rotate forward and backward relative to the bracket with the bracket upper bearing (23) as the axis, and comprises at least one left and right rotation execution structure to control the bearing component (3) to rotate left and right relative to the bracket with the bracket upper bearing (23) as the axis.

7. A method for leveling and anti-tilting a vehicle, comprising the leveling and anti-tilting device for a vehicle according to any one of claims 1 to 6, characterized in that: include, The following steps, Based on the combined force of gravity and inertia, the tilt angle is collected and calculated; Dynamically adjust the holding table to keep it in a horizontal state; The dynamically adjusted bracket tilts in the opposite direction of the chassis tilt.

8. The method for leveling and resisting tilting of a vehicle according to claim 7, characterized in that: The support tilts in the opposite direction of the chassis tilt, including: eliminating the deviation of the center of gravity of the bearing assembly (3) from the wheel-rail center mode, and comprehensively eliminating the deviation of the center of gravity of the vehicle from the wheel-rail center mode; in the elimination of the deviation of the center of gravity of the bearing assembly (3) from the wheel-rail center mode, the center of gravity of the bearing assembly (3) dynamically passes through the center of the wheel-rail ground supporting the vehicle; in the comprehensive elimination of the deviation of the center of gravity of the vehicle from the wheel-rail center mode, the center of gravity of the vehicle and the bearing assembly (3) dynamically passes through the center of the wheel-rail ground supporting the vehicle.

9. The method for leveling and resisting tilting of a vehicle according to claim 8, characterized in that: Eliminate the mode in which the center of gravity of the load-bearing component deviates from the wheel-rail center, and dynamically adjust θ2 to be equal to or close to the θ2 load-bearing target, as follows: θ2 load target = arcsin(L1 / L2×sin(θ1)) Among them, L1 is the distance from the lower bearing of the bracket to the ground, L2 is the distance from the lower bearing of the bracket to the upper bearing of the bracket, θ1 is the inclination angle of the vehicle chassis, θ2 is the reverse inclination angle of the bracket, and the θ2 load-bearing target is the optimal target value of the reverse inclination angle of the bracket in the mode of eliminating the deviation of the center of gravity of the load-bearing component from the wheel-rail center.

10. The method for leveling and resisting tilting of a vehicle according to claim 8 or 9, characterized in that: Comprehensively eliminate the deviation of the vehicle's center of gravity from the wheel-rail center mode, and dynamically adjust θ2 to be equal to or close to the comprehensive target of θ2, as follows: θ2 comprehensive target = arcsin((L1+H×G1 / G2) / L2×sin(θ1)) Among them, L1 is the distance from the lower bearing of the bracket to the ground, L2 is the distance from the lower bearing of the bracket to the upper bearing of the bracket, H is the height of the center of gravity of the vehicle chassis, G1 is the weight of the vehicle chassis, G2 is the weight of the load-bearing component, θ1 is the inclination angle of the vehicle chassis, θ2 is the reverse inclination angle of the bracket, and the comprehensive target of θ2 is the optimal target value of the reverse inclination angle of the bracket under the mode of comprehensively eliminating the deviation of the vehicle center of gravity from the wheel-rail center.

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