Articulated off-road crane chassis

Abstract

The present invention provides an articulated off-road crane chassis, which comprises a vehicle frame, a hydraulic suspension mechanism and a plurality of axles. The plurality of axles are mounted on the vehicle frame through the hydraulic suspension mechanism, and wheels are mounted on the axles. The vehicle frame includes a front vehicle frame and a main vehicle frame, and the front vehicle frame is hinged to the main vehicle frame through a first rotating shaft. The plurality of axles include a front axle and a main axle. The hydraulic suspension mechanism at least includes a front-side hydraulic suspension and an active hydraulic suspension. The front axle is mounted on the front vehicle frame through the front-side hydraulic suspension, wheels are mounted on both sides of the front axle, and an angle sensor is mounted on the front axle. The main axle is mounted on the main vehicle frame through the active hydraulic suspension, and wheels are also mounted on both sides of the main axle. The articulated vehicle frame and the active hydraulic suspension enable the boom and the load to always maintain a horizontal posture during the driving of the crane. Moreover, the articulated vehicle frame can arrange the main weight on the main vehicle frame of the crane, and ensure the horizontal posture of the main vehicle frame through the active hydraulic suspension, reducing the moment of inertia and the longitudinal impact of the crane.

Description

Technical Field

[0001] The present invention relates to an articulated off-road crane chassis. Background Art

[0002] An off-road crane is a new type of crane with off-road functions and the characteristics of traveling with load. Compared with ordinary truck cranes, it has the following advantages: 1) It has a compact structure, light weight, and small external dimensions, and can adapt to the requirements of a variety of different working environments; 2) The current mainstream suspension method for this type of product is a passive oil-gas suspension system, which can achieve manual rigid-flexible conversion of the suspension, and has certain off-road capabilities and the ability to travel with load; 3) Generally, it has all-wheel steering and drive, strong climbing ability, small turning radius, and a wide range of applications; 4) The ground clearance of the whole vehicle is large, the approach angle and departure angle are large, and the off-road passability is strong, and it can travel on road conditions where ordinary engineering vehicles cannot pass. These advantages make the off-road tire crane have unparalleled superiority over other cranes during the engineering construction process, especially in the wild construction site or narrow space.

[0003] The design concept of the off-road crane chassis originates from the truck crane, and there are great limitations in the structure. Its disadvantages are: 1. The chassis structure is integral. When traveling with load, the body cannot maintain a horizontal posture, and there are great safety hazards due to the swinging of the load with the crane; 2. The power system is a mechanical all-wheel drive. The power transmission needs to pass through mechanical devices such as a transmission, a transfer case, and a drive shaft. The mechanical power system is heavy in mass, large in volume, difficult to arrange, and the torque of each wheel is distributed according to a fixed ratio, and the wheel torque cannot be adjusted in real time according to the road conditions, resulting in poor fuel economy and obstacle-crossing performance; 3. The suspension system is a passive oil-gas suspension. When traveling on rough roads, the suspension cannot respond quickly, and the driving wheels cannot always maintain full contact with the ground to obtain sufficient adhesion; 4. The axle system is generally arranged in a 4×4 layout, and the single-axle load is large. It is necessary to select a special off-road axle, which is large in volume and self-weight, difficult to arrange for the whole vehicle, has a high center of gravity resulting in poor stability, and is difficult to manufacture. Only a few foreign manufacturers produce it, and the price is expensive and difficult to purchase. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an articulated off-road crane chassis with a reasonable structure. This articulated off-road crane chassis can improve the vehicle's passability and obstacle-crossing performance, can adapt to various rough roads, and has certain all-terrain vehicle performance.

[0005] To solve the above technical problem, the present invention provides an articulated off-road crane chassis, which includes a frame, a hydraulic suspension mechanism, and a plurality of axles. The plurality of axles are installed on the frame through the hydraulic suspension mechanism, and wheels are installed on the axles;

[0006] The vehicle frame at least includes a front vehicle frame and a main vehicle frame. The front vehicle frame and the main vehicle frame are hinged through a first rotating shaft, and the rotation axis of the first rotating shaft is consistent with the vehicle traveling direction. The several axles at least include a front axle and a main axle. The hydraulic suspension mechanism at least includes a front-side hydraulic suspension and an active hydraulic suspension. The front axle is installed on the front vehicle frame through the front-side hydraulic suspension. Wheels are installed on both sides of the front axle, and an angle sensor is installed on the front axle. The main axle is installed on the main vehicle frame through the active hydraulic suspension, and wheels are also installed on both sides of the main axle;

[0007] The controller of the active hydraulic suspension collects the vehicle speed signal, the rotation angle signal of the front vehicle frame, and the extension amount signal of the suspension cylinder of the front-side hydraulic suspension, and correspondingly controls the extension amount of the suspension cylinder of the active hydraulic suspension to keep the main vehicle frame in a horizontal state.

[0008] After adopting such a structure, the articulated vehicle frame and the active hydraulic suspension enable the boom and the load to always maintain a horizontal posture when the crane is traveling. Moreover, the articulated vehicle frame can arrange the main weight on the main vehicle frame of the crane, and ensure the horizontal posture of the main vehicle frame through the active hydraulic suspension, reducing the moment of inertia and longitudinal impact of the crane; adjust the wheel torque in real time according to the road conditions to improve the obstacle-crossing performance.

[0009] This articulated off-road crane chassis has the following advantages: 1. The chassis structure is a split articulated structure. When traveling with a load, the vehicle body always maintains a horizontal posture, and the load does not sway, avoiding potential safety hazards; 2. The suspension system is an active oil-gas suspension. When traveling on rough roads, the suspension can respond quickly, and the driving wheels always maintain full contact with the ground to obtain sufficient adhesion; 3. The single-axle load is relatively small, and a general-purpose road axle can be selected. It has a small volume and self-weight, is easy to arrange the whole vehicle, has a low center of gravity and good stability, and has a small manufacturing difficulty and can be domestically supported.

[0010] The vehicle frame of this articulated off-road crane chassis further includes a rear vehicle frame. The rear vehicle frame and the main vehicle frame are hinged through a second rotating shaft, and the rotation axis of the second rotating shaft is also consistent with the vehicle traveling direction. The hydraulic suspension mechanism further includes a rear-side hydraulic suspension. The several axles further include a rear axle. The rear axle is installed on the rear vehicle frame through the rear active hydraulic suspension, and wheels are also installed on both sides of the rear axle.

[0011] After adopting such a structure, the axles are arranged in a 6×6 pattern. The single-axle load is relatively small, and a general-purpose road axle can be selected. It has a small volume and self-weight, is easy to arrange the whole vehicle, has a low center of gravity and good stability, and has a small manufacturing difficulty and can be domestically supported.

[0012] The articulated off-road crane chassis further includes a limiting mechanism, which includes a limiting oil cylinder. The cylinder block of the limiting oil cylinder is fixed on the front frame. The limiting oil cylinder is located beside the first rotating shaft. The piston rod of the limiting oil cylinder extends towards the first rotating shaft. One end of the first rotating shaft extends into the main frame and is fixedly connected to the main frame. The other end of the first rotating shaft extends into the front frame and is in bearing fit with the front frame. A limiting groove for cooperating with the end of the piston rod of the limiting oil cylinder is formed on the side wall of the first rotating shaft. When the piston rod of the limiting oil cylinder cooperates with the limiting groove of the first rotating shaft, the main frame remains in a horizontal state.

[0013] The limiting groove of the first rotating shaft of the articulated off-road crane chassis is a two-stage stepped groove, which includes a first stepped groove opening and a second stepped groove opening. The first stepped groove opening is close to the center line position of the first rotating shaft. The inner contour of the first stepped groove opening can only accommodate the piston rod of the limiting oil cylinder. The second stepped groove opening communicates with the first stepped groove opening and the outside. The cross-sectional shape of the second stepped groove opening is fan-shaped.

[0014] After adopting such a structure, when the piston rod of the limiting oil cylinder cooperates with the first stepped groove opening, the angle of the front frame relative to the first rotating shaft is fixed, and the front frame and the main frame are connected into a rigid whole. At this time, the active hydraulic suspension does not actively adjust the body attitude. When the piston rod of the limiting oil cylinder cooperates with the second stepped groove opening, the first rotating shaft is limited to rotate within a corresponding rotation angle range, and each section of the frame can rotate relative to each other. Description of the Drawings

[0015] Figure 1 is the front view of the articulated off-road crane embodiment in the use state.

[0016] Figure 2 is the front view of the articulated off-road crane embodiment.

[0017] Figure 3 is the hydraulic control schematic diagram of the front frame and the main frame of the articulated off-road crane embodiment.

[0018] Figure 4 is the cross-sectional view of the left view of the cooperation between the limiting mechanism and the first rotating shaft in the articulated off-road crane embodiment. Detailed Embodiment

[0019] As Figures 1 to 4 shown (since the first rotating shaft 4 is inside the front frame 1 and the main frame 2, and the second rotating shaft 5 is inside the rear frame 3 and the main frame 2, so Figure 2 the first rotating shaft 4 and the second rotating shaft 5 are shown by dotted lines in

[0020] The articulated off-road crane chassis includes a frame, a hydraulic suspension mechanism, a limiting mechanism and three axles.

[0021] The vehicle frame includes a front vehicle frame 1, a main vehicle frame 2, and a rear vehicle frame 3. The front vehicle frame 1 is located on the front side of the main vehicle frame 2. Major equipment such as the slewing support of the crane, the cab 11, and the boom 12 are all installed on the main vehicle frame 2.

[0022] The front vehicle frame 1 is hinged to the main vehicle frame 2 through a first rotating shaft 4. The rear end of the first rotating shaft 4 extends into the main vehicle frame 2 and is fixedly connected to the main vehicle frame 2. The front end of the first rotating shaft 4 extends into the front vehicle frame 1 and is fitted with the front vehicle frame 1 through a bearing 13. The rotation axis of the first rotating shaft 4 is consistent with the vehicle traveling direction.

[0023] A limiting groove for cooperating with the end of the piston rod 6a of the limiting oil cylinder 6 is formed on the side wall of the first rotating shaft 4. The limiting groove is a two-stage stepped groove. The limiting groove includes a first stepped groove opening 4a and a second stepped groove opening 4b. The first stepped groove opening 4a is close to the center line position of the first rotating shaft 4. The inner contour of the first stepped groove opening 4a can only accommodate the piston rod 6a of the limiting oil cylinder 6. The second stepped groove opening 4b communicates with the first stepped groove opening 4a and the outside. The cross-sectional shape of the second stepped groove opening 4b is fan-shaped. The central angle corresponding to the cross-sectional graph of the second stepped groove opening 4b is 30°.

[0024] A number of axles include a front axle, a main axle, and a rear axle (the front axle, the main axle, and the rear axle can all use the general highway axles in the prior art. Since the technology is mature and does not need to be elaborated, they are not shown in this figure). The hydraulic suspension mechanism includes a front-side hydraulic suspension 8, an active hydraulic suspension 9, and a rear-side hydraulic suspension 10. The front axle is installed on the front vehicle frame 1 through the front-side hydraulic suspension 8. Wheels 7 are installed on both sides of the front axle. An angle sensor 1a is installed on the front vehicle frame 1. The main axle is installed on the main vehicle frame 2 through the active hydraulic suspension 9. Wheels 7 are also installed on both sides of the main axle. The rear vehicle frame 3 is hinged to the main vehicle frame 2 through a second rotating shaft 5. The front end of the second rotating shaft 5 extends into the main vehicle frame 2 and is fixedly connected to the main vehicle frame 2. The rear end of the second rotating shaft 5 extends into the rear vehicle frame 3 and is fitted with the rear vehicle frame 3 through a bearing 13. The rotation axis of the second rotating shaft 5 is also consistent with the vehicle traveling direction. The rear axle is installed on the rear vehicle frame 3 through the rear active hydraulic suspension. Wheels 7 are also installed on both sides of the rear axle.

[0025] The limiting mechanism includes a limiting oil cylinder 6. The cylinder body of the limiting oil cylinder 6 is welded to the front vehicle frame 1. The limiting oil cylinder 6 is located beside the first rotating shaft 4. The piston rod 6a of the limiting oil cylinder 6 extends towards the first rotating shaft 4.

[0026] The controller 9a of the active hydraulic suspension 9 collects the vehicle speed signal β, the rotation angle signal of the front vehicle frame 1, and the extension amount signal α of the suspension cylinder 8a of the front-side hydraulic suspension 8, and correspondingly controls the extension amount of the suspension cylinder 9b of the active hydraulic suspension 9 to keep the main vehicle frame 2 in a horizontal state as much as possible.

[0027] When the rough-terrain crane is traveling on roads and flat ground, the limit oil cylinder 6 of the limit mechanism is fully extended, the piston rod 6a of the limit oil cylinder 6 extends into the first stepped notch 4a of the limit groove, and the angle of the front frame 1 relative to the first rotating shaft 4 is fixed. The front frame 1 and the main frame 2 are connected into a rigid whole. At this time, the active hydraulic suspension 9 does not actively adjust the body attitude, and its function is the same as that of the passive oil-gas suspension. Only the longitudinal acceleration of the vehicle is collected by the body acceleration sensor and the signal is transmitted to the controller 9a. The controller 9a controls the opening size of the electro-hydraulic proportional valve by adjusting the current size, so as to adjust the damping force of the oil-gas suspension and meet the requirements of the riding comfort and handling stability of the crane.

[0028] When the crane is traveling on rough ground, according to the vehicle speed signal β, the rotation angle signal of the front frame 1, and the extension amount signal α of the suspension cylinder 8a of the front-side hydraulic suspension 8, the limit oil cylinder 6 of the limit mechanism retracts a certain length, and the piston rod 6a of the limit oil cylinder 6 is in the second stepped notch 4b of the limit groove. The first rotating shaft 4 is limited to rotate within a corresponding rotation angle range, and each section of the frame can rotate relative to each other. At this time, according to the rotation angle of the front frame 1, the active hydraulic suspension 9 actively adjusts the extension amount of the suspension cylinder 9b through the hydraulic system 9c, so that the body attitude always remains horizontal with the ground.

[0029] When the crane is traveling with a load, the active hydraulic suspension 9 does not actively adjust the body attitude at this time, and its function is the same as that of the passive oil-gas suspension, but it can still adjust the extension amount of the suspension cylinder 9b of the active hydraulic suspension 9 according to the rotation angle of the front frame 1, so that the body and the attitude of the lifted object always remain horizontal with the ground.

[0030] The above operations are all automatically completed by the controller 9a according to the driving conditions. The crane chassis automatically changes the damping value of the hydraulic system, the rigidity of the suspension, and the rotation angle of the articulated mechanism according to the control signal.

[0031] The power system of the chassis of this articulated rough-terrain crane is a hydraulic hub all-wheel drive. The power transmission is directly carried out through a hydraulic pump and a hydraulic motor. It has the advantages of light weight, small volume, and easy layout. The torque of each wheel can be adjusted in real time according to the road conditions, and the fuel economy and obstacle-crossing performance are strong. The hub drive avoids the problems of heavy self-weight and difficult layout of the mechanical power system, and the advantages of the hub drive are more obvious.

[0032] The terrain passed by the crane can be divided into inclusive terrain and non-inclusive terrain. Inclusive terrain refers to the terrain that the crane can pass through by coordinating the suspension attitude, while non-inclusive terrain refers to the terrain that the crane cannot pass through no matter how it adjusts the suspension attitude.

[0033] Rough terrain cranes travel on roads and flat ground in the same way as ordinary wheeled vehicles. When encountering rough ground, they coordinate the postures of the front and rear vehicles through the rotational freedom of the hinge points to adapt to the harsh terrain, without falling and jacking up like ordinary vehicles, causing problems such as drive failure, violent ups and downs of the vehicle, and chassis dragging on the ground. Therefore, they have the advantages of strong off-road capability and simple structure.

[0034] The above is only one embodiment of the present invention. It should be pointed out that a person skilled in the art may make several modifications and improvements without departing from the principle of the present invention, and these should also be regarded as falling within the scope of protection of the present invention.

Claims

1. An articulated off-road crane chassis, comprising a vehicle frame, a hydraulic suspension mechanism and a plurality of axles. The plurality of axles are installed on the vehicle frame through the hydraulic suspension mechanism, and wheels are installed on the axles; It is characterized in that: The frame at least includes a front frame and a main frame. The front frame and the main frame are hinged by a first rotating shaft, and the rotation axis of the first rotating shaft is consistent with the vehicle traveling direction. The plurality of axles at least includes a front axle and a main axle. The hydraulic suspension mechanism at least includes a front-side hydraulic suspension and an active hydraulic suspension. The front axle is mounted on the front frame through the front-side hydraulic suspension. Wheels are mounted on both sides of the front axle, and an angle sensor is mounted on the front axle. The main axle is mounted on the main frame through the active hydraulic suspension, and wheels are also mounted on both sides of the main axle; The controller of the active hydraulic suspension collects the vehicle speed signal, the rotation angle signal of the front frame, and the extension amount signal of the suspension cylinder of the front-side hydraulic suspension, and correspondingly controls the extension amount of the suspension cylinder of the active hydraulic suspension to keep the main frame in a horizontal state; The frame further includes a rear frame. The rear frame and the main frame are hinged by a second rotating shaft, and the rotation axis of the second rotating shaft is also consistent with the vehicle traveling direction. The hydraulic suspension mechanism further includes a rear-side hydraulic suspension. The plurality of axles further includes a rear axle. The rear axle is mounted on the rear frame through the rear-side hydraulic suspension, and wheels are also mounted on both sides of the rear axle; A limiting mechanism is further included. The limiting mechanism includes a limiting oil cylinder. The cylinder body of the limiting oil cylinder is fixed on the front frame. The limiting oil cylinder is beside the first rotating shaft. The piston rod of the limiting oil cylinder extends towards the first rotating shaft. One end of the first rotating shaft extends into the main frame and is fixedly connected with the main frame. The other end of the first rotating shaft extends into the front frame and is in bearing cooperation with the front frame. A limiting groove for cooperating with the end of the piston rod of the limiting oil cylinder is formed on the side wall of the first rotating shaft. When the piston rod of the limiting oil cylinder cooperates with the limiting groove of the first rotating shaft, the main frame is kept in a horizontal state; The limiting groove of the first rotating shaft is two-section stepped groove. The limiting groove includes a first stepped groove opening and a second stepped groove opening. The first stepped groove opening is close to the center line position of the first rotating shaft. The inner contour of the first stepped groove opening can only accommodate the piston rod of the limiting oil cylinder. The second stepped groove opening communicates with the first stepped groove opening and the outside, and the cross-sectional shape of the second stepped groove opening is fan-shaped.

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