Omni-directional mobile chassis suspension hydraulic system and control method thereof
By adopting a single-support point multi-suspension hydraulic communication structure in the omnidirectional mobile chassis suspension system, the load distribution of McNum wheels is ensured to be evenly distributed, solving the virtual leg problem and improving the driving accuracy and stability of the chassis.
Patent Information
- Application Number
- CN202411377847.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2024-12-17
AI Technical Summary
Traditional suspension systems are difficult to ensure that the load distribution of McNum wheels during movement is evenly distributed, resulting in a false leg phenomenon, affecting the driving performance and movement accuracy of the chassis.
The single-support point multi-suspension hydraulic communication structure is adopted. Through the design of hydraulic cylinders and hydraulically controlled reversing valves, the grounding pressure of multiple sets of wheels at each support point is ensured to be consistent, and the occurrence of virtual legs is prevented.
It realizes high accuracy, smoothness, safety and reliability of the chassis when moving in any continuous trajectory, improves travel performance and stability, and extends service life.
Smart Images
Figure CN119142092A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of vehicle suspension, and more specifically, to an omnidirectional mobile chassis suspension hydraulic system and a control method thereof. Background Art
[0002] The omnidirectional mobile chassis is mainly composed of multiple key parts, including the frame, omnidirectional mobile wheel system, suspension hydraulic system, control system, power supply and distribution system, etc. These components work together to enable the chassis to achieve a full range of mobile functions, including axial movement, lateral movement and yaw adjustment.
[0003] Specifically, an omnidirectional mobile wheel train is usually composed of multiple sets of Mecanum wheels. Mecanum wheels are specially designed wheels that can achieve three degrees of freedom in a plane. This means that they can not only perform two horizontal motion components, but also a rotation component of their own posture. The uniqueness of this wheel is that it can generate an axial force component relative to the wheel body. By precisely adjusting the direction and speed of each wheel drive motor, a combined force can be formed at a certain angle to the ground fixed coordinate system, thereby achieving omnidirectional movement of the entire wheel train.
[0004] However, in practical applications, it is often difficult for traditional suspension systems to ensure that the ground contact pressure of each set of Mecanum wheels is completely equal at any time. This uneven load distribution can lead to the so-called "virtual leg" problem. The so-called "virtual leg" problem refers to the phenomenon that some Mecanum wheels slip or hang in the air during movement, which is mainly caused by overloading or insufficient adhesion of individual wheels. When this happens, the driving performance and movement accuracy of the entire chassis will be seriously affected, and it may even cause the entire vehicle to be unable to move normally. Therefore, in order to ensure the efficient and stable operation of the omnidirectional mobile chassis, the problem of uneven load distribution of the Mecanum wheels must be solved. Summary of the invention
[0005] In order to solve the technical problem of virtual legs in the existing omnidirectional mobile chassis Mecanum wheels, the present invention innovatively provides an omnidirectional mobile chassis suspension hydraulic system and control method thereof, which adopts a single-support-point multi-suspension hydraulic connection structure to ensure that the ground contact pressure ratios of multiple sets of wheels at the same support point remain consistent at any time, thereby effectively avoiding the virtual legs phenomenon of the Mecanum wheels. High precision, smoothness, safety and reliability are achieved when the chassis moves along any continuous trajectory on a plane.
[0006] In order to achieve the above technical objectives, the embodiment of the present invention discloses an omnidirectional mobile chassis suspension hydraulic system, including a hydraulic oil source, a multi-way valve group, a suspension valve block assembly, a hydraulically controlled reversing valve and a suspension oil cylinder. The hydraulic oil source is installed on the frame, the output end of the hydraulic oil source is connected to the input end of the multi-way valve group, the output end of the multi-way valve group is connected to the input end of the suspension valve block assembly, the output end of the suspension valve block assembly is connected to the positive cavity and the reverse cavity of the suspension oil cylinder, and a check valve is provided in the suspension valve block assembly. The suspension cylinders are installed in groups at the support points of the vehicle frame, the number of suspension cylinders in each group is set to at least two, the suspension cylinders in the group are connected to the suspension valve block assembly in parallel, the piston ball seat of each suspension cylinder is connected to the Mecanum wheel through the wheel axle, a hydraulically controlled reversing valve is provided between the positive cavity and the negative cavity of each suspension cylinder, the hydraulic control port of the hydraulically controlled reversing valve is connected to the multi-way valve group, and the on-off control of the positive cavity and the negative cavity of the suspension cylinder is realized by controlling the on-off of the hydraulically controlled reversing valve by the multi-way valve group.
[0007] Furthermore, the present invention provides an omnidirectional mobile chassis suspension hydraulic system, wherein all the hydraulically controlled reversing valves connected to the hydraulic cylinders are integrated in a hydraulically controlled reversing valve block assembly, the hydraulic control ports of all the hydraulically controlled one-way valves are interconnected and aggregated to the hydraulically controlled reversing valve block assembly to form a common hydraulic control port, and the hydraulically controlled reversing valve block assembly is connected to a multi-way valve group via the common hydraulic control port.
[0008] Furthermore, the present invention provides an omnidirectional mobile chassis suspension hydraulic system, wherein the hydraulically controlled reversing valve is a two-position two-way hydraulically controlled reversing valve, the hydraulic control port of the two-position two-way hydraulically controlled reversing valve is connected to the common hydraulic control port of the hydraulically controlled reversing valve block assembly, and the two-position two-way hydraulically controlled reversing valve is in a conducting state in a natural state; when the suspension cylinder needs to be extended, the two-position two-way hydraulically controlled reversing valve is adjusted to the conducting state through the multi-way valve group; when the suspension cylinder needs to be retracted, the two-position two-way hydraulically controlled reversing valve is adjusted to the shut-off state through the multi-way valve group; when the suspension cylinder is adjusted, the two-position two-way hydraulically controlled reversing valve remains in the conducting state through the multi-way valve group.
[0009] Furthermore, the present invention provides an omnidirectional mobile chassis suspension hydraulic system, wherein the hydraulic oil source includes a hydraulic pump and an oil tank, the multi-way valve group includes a hydraulically controlled reversing element, the hydraulically controlled reversing element includes a working oil port, an oil inlet port and an oil return port, the working oil port of the hydraulically controlled reversing element is connected to the common hydraulic control port of the hydraulically controlled reversing valve block assembly, the oil inlet port of the hydraulically controlled reversing element is connected to the output end of the hydraulic pump, the oil return port of the hydraulically controlled reversing element is connected to the oil tank, and in a natural state, the working oil port of the hydraulically controlled reversing element and the common hydraulic control port of the hydraulically controlled reversing valve block assembly are not connected, and when the hydraulically controlled reversing element is reversed, the working oil port of the hydraulically controlled reversing element and the common hydraulic control port of the hydraulically controlled reversing valve block assembly are connected.
[0010] Furthermore, the present invention provides an omnidirectional mobile chassis suspension hydraulic system, wherein the suspension cylinders are arranged into four groups, namely, left front, right front, left rear and right rear, the four groups of suspension cylinders are distributed on four supporting points of the frame, each group of the suspension cylinders is connected to a suspension valve block assembly, and the suspension valve block assembly and the four groups of hydraulic cylinders form four independent oil supply and return circuits.
[0011] Furthermore, the present invention provides an omnidirectional mobile chassis suspension hydraulic system, wherein the suspension valve block assembly includes four oil supply and return pipelines, the four oil supply and return pipelines are connected to four groups of suspension cylinders in a one-to-one correspondence, each of the oil supply and return pipelines includes a positive cavity pipeline and a reverse cavity pipeline, one end of the positive cavity pipeline is connected to the multi-way valve group, and the other end of the positive cavity pipeline is connected to the positive cavity of all suspension cylinders in the same group, one end of the reverse cavity pipeline is connected to the multi-way valve group, and the other end of the reverse cavity pipeline is connected to the reverse cavity of all suspension cylinders in the same group.
[0012] Furthermore, the present invention provides an omnidirectional mobile chassis suspension hydraulic system, wherein the non-return element includes a one-way valve arranged on each reverse cavity pipeline and a hydraulic lock arranged on each positive cavity pipeline, the oil inlet of the one-way valve is connected to the output end of the multi-way valve group, and the oil outlet of the one-way valve is connected to the reverse cavity of the corresponding hydraulic cylinder; the oil inlet of the hydraulic lock is connected to the output end of the multi-way valve group, the oil outlet of the hydraulic lock is connected to the positive cavity of the corresponding hydraulic cylinder, and the hydraulic control port of the hydraulic lock is connected to the reverse cavity pipeline at the oil inlet of the one-way valve on the same oil supply and return pipeline.
[0013] Furthermore, the present invention provides an omnidirectional mobile chassis suspension hydraulic system, wherein each of the positive cavity pipelines is provided with a high-pressure ball valve, the oil inlet of the high-pressure ball valve is connected to the positive cavity pipeline between the suspension cylinder and the hydraulic lock, and the oil outlet of the high-pressure ball valve is connected to the oil tank through the oil drain pipeline.
[0014] Furthermore, the present invention provides an omnidirectional mobile chassis suspension hydraulic system, wherein the multi-way valve group also includes a four-way directional control element, each of the directional control elements includes an oil inlet, an oil return port, a first working oil port and a second working oil port; the oil inlet of the directional control element is connected to the hydraulic pump, the oil return port of the directional control element is connected to the oil tank, the first working oil port of the directional control element is connected to the corresponding positive cavity pipeline, and the second working oil port of the directional control element is connected to the corresponding reverse cavity pipeline.
[0015] The embodiment of the present invention also discloses a control method for a hydraulic system of an omnidirectional mobile chassis suspension, the control method comprising a suspension adjustment step and a posture maintaining step;
[0016] The suspension adjustment step includes a suspension pitch adjustment step, a suspension left tilt adjustment step, a suspension right tilt adjustment step, a suspension lowering adjustment step, a suspension pitching adjustment step or a suspension raising adjustment step;
[0017] The posture maintaining step includes keeping the hydraulically controlled reversing valve in a conducting state after the suspension adjustment is completed, so that the positive cavity and the negative cavity of the suspension hydraulic cylinder in the same group are connected.
[0018] The difference between the present invention and the prior art is that the present invention uses an innovative single-support-point multi-suspension hydraulic interconnection architecture to accurately ensure that the ground pressure ratio of multiple sets of wheels under each support point is balanced at any time point, fundamentally preventing the virtual leg problem that the Mecanum wheel may encounter. This not only improves the high-precision control of the chassis moving along any continuous path on a plane, but also greatly enhances the smoothness of travel, operational safety, and long-term reliability. This design has demonstrated excellent performance in various complex environments or high-demand operating scenarios, not only ensuring the smooth progress of work, but also effectively extending the service life by reducing the impact caused by changing ground conditions or load fluctuations. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 The present invention is a structural schematic diagram of an omnidirectional mobile chassis suspension hydraulic system. DETAILED DESCRIPTION
[0020] The following is a detailed explanation and description of an omnidirectional mobile chassis suspension hydraulic system of the present invention in conjunction with the accompanying drawings.
[0021] like Figure 1 As shown, an embodiment of the present invention discloses an omnidirectional mobile chassis suspension hydraulic system, including a hydraulic oil source 1, a multi-way valve group 2, a suspension valve block assembly 3, a hydraulically controlled reversing valve 4 and a suspension cylinder 5. The hydraulic oil source 1 is installed on the vehicle frame, and its output end is connected to the input end of the multi-way valve group 2. The output end of the multi-way valve group 2 is connected to the input end of the suspension valve block assembly 3, and the output end of the suspension valve block assembly 3 is connected to the positive cavity 51 and the negative cavity 52 of the suspension cylinder 5. Inside the suspension valve block assembly 3, a non-return element 6 is also provided to ensure the unidirectional flow of the hydraulic oil and realize the long-term pressure maintenance and position maintenance of the suspension cylinder 5. The suspension cylinders 5 are installed in groups at the support points of the vehicle frame, and the number of each group of suspension cylinders 5 is set to at least two. These suspension cylinders 5 are connected to the suspension valve block assembly 3 in parallel, forming a single-support point multi-suspension hydraulic communication structure. The piston ball seat of each suspension oil cylinder 5 is connected to the Mecanum wheel through the wheel axle. In addition, a hydraulic control reversing valve 4 is provided between the positive cavity 51 and the negative cavity 52 of each suspension oil cylinder 5, and the hydraulic control port of the hydraulic control reversing valve 4 is connected to the multi-way valve group 2.
[0022] In actual use, after the suspension is adjusted, the hydraulic control reversing valve 4 is controlled by the multi-way valve group 2, so that the positive chamber 51 and the negative chamber 52 of the multiple suspension oil cylinders 5 in the same group are connected to each other. During the movement of the omnidirectional mobile chassis, the hydraulic oil can flow between the positive and negative chambers 52 of the multiple oil cylinders in the same group, so that the loads between the suspension oil cylinders 5 in the same group remain equal. In this way, it can ensure that the ground contact pressure of multiple sets of wheels at the same support point is equal, effectively prevent the phenomenon of slipping and hanging in the air due to serious uneven load of each set of Mecanum wheels, and avoid the "virtual leg" problem of Mecanum wheels. Through this setting method, high precision, smoothness, safety and reliability can be achieved when the chassis moves along any continuous trajectory on the plane. This hydraulic system not only improves the movement performance of the chassis, but also ensures stability and reliability under complex road conditions. In addition, the positive and negative chambers 52 of the multiple suspension oil cylinders 5 at the same support point are connected to each other, so that the hydraulic oil can flow freely in the positive and negative chambers 52 of each suspension oil cylinder 5 in the same group, thereby playing a vibration reduction role during the movement. The use of a multi-way valve to accurately control the four-way suspension can achieve high-precision posture adjustment functions such as lifting, pitching and rolling of the frame.
[0023] In one embodiment of the present invention, all hydraulic cylinders are connected to the hydraulic control reversing valve 4 block assembly through the hydraulic control reversing valve 4. These hydraulic control reversing valves 4 are integrated in a valve block assembly, making the control of the entire system more centralized and efficient. The hydraulic control ports of the hydraulic control check valve 62 are interconnected, and these interconnected hydraulic control ports are finally aggregated to the hydraulic control reversing valve 4 block assembly to form a unified common hydraulic control port. The hydraulic control reversing valve 4 block assembly is connected to the multi-way valve group 2 through this common hydraulic control port, thereby realizing centralized control of all hydraulic control reversing valves 4.
[0024] Specifically, the hydraulically controlled reversing valve 4 adopts a two-position two-way structure, and the hydraulic control ports of these two-position two-way hydraulically controlled reversing valves 4 are connected to the common hydraulic control ports of the hydraulically controlled reversing valve 4 assembly. In the natural state, these hydraulically controlled reversing valves 4 are in a conducting state, allowing the hydraulic oil to flow freely. However, when the suspension cylinder needs to be retracted (the suspension correspondingly descends), the two-position two-way hydraulically controlled reversing valve 4 is adjusted to a closed state through the multi-way valve group 2, thereby blocking the flow of hydraulic oil, so that the positive cavity 51 and the reverse cavity 52 of the suspension cylinder 5 are not connected. When the suspension cylinder 5 needs to be extended (the suspension correspondingly rises), the two-position two-way hydraulically controlled reversing valve 4 is adjusted to a conducting state through the multi-way valve group 2, so that the positive cavity 51 and the reverse cavity 52 of the suspension cylinder 5 are connected. Once the suspension cylinder 5 is adjusted, the hydraulically controlled reversing valve 4 is switched back to the conducting state again through the operation of the multi-way valve group 2, so that the positive cavity 51 and the reverse cavity 52 of each suspension cylinder 5 remain connected. Such a design ensures that after the suspension is adjusted, the Mecanum wheels connected to each suspension cylinder 5 will not have a virtual leg phenomenon, thereby ensuring stability and reliability.
[0025] The specific connection structure between the multi-way valve group 2 and the four-block assembly of the hydraulically controlled reversing valve is as follows: the hydraulic oil source 1 is composed of a hydraulic pump 11 and an oil tank 12. The multi-way valve group 2 includes a series of hydraulically controlled reversing elements 21, each of which has a working oil port, an oil inlet port and an oil return port. The working oil port of the hydraulically controlled reversing element 21 is connected to the common hydraulic control port of the four-block assembly of the hydraulically controlled reversing valve, and the oil inlet port of the hydraulically controlled reversing element 21 is connected to the output end of the hydraulic pump 11. The oil return port of the hydraulically controlled reversing element 21 is connected to the oil tank 12. In the natural state, the working oil port of the hydraulically controlled reversing element 21 is not connected to the common hydraulic control port of the four-block assembly of the hydraulically controlled reversing valve. However, when the hydraulically controlled reversing element 21 undergoes a reversing action, its working oil port will be connected to the common hydraulic control port of the four-block assembly of the hydraulically controlled reversing valve. This setting method has obvious advantages over other hydraulic systems. The hydraulic control reversing element 21 can be an electromagnetic reversing valve, and the type of the electromagnetic reversing valve can be a normally closed two-position two-way electromagnetic reversing valve, a normally closed three-position four-way electromagnetic reversing valve, etc., thereby providing the system with more flexibility and adaptability. Through this integrated design, the control of the hydraulic system becomes more precise and efficient, while also simplifying the complexity of the system and reducing maintenance costs.
[0026] In one embodiment of the present invention, the suspension cylinders 5 are arranged into four groups, namely, left front, right front, left rear and right rear. The four groups of suspension cylinders 5 are distributed on four supporting points of the frame. Each group of suspension cylinders 5 is connected to the suspension valve block assembly 3. The suspension valve block assembly 3 and the four groups of hydraulic cylinders form four independent oil supply and return circuits.
[0027] The suspension valve block assembly 3 includes four oil supply and return pipelines, which are connected to four groups of suspension cylinders 5 in a one-to-one correspondence. Each oil supply and return pipeline includes a positive chamber 51 pipeline 31 and a reverse chamber 52 pipeline 32. One end of the positive chamber 51 pipeline 31 is connected to the multi-way valve group 2, and the other end of the positive chamber 51 pipeline 31 is communicated with the positive chamber 51 of all suspension cylinders 5 in the same group. One end of the reverse chamber 52 pipeline 32 is connected to the multi-way valve group 2, and the other end of the reverse chamber 52 pipeline 32 is communicated with the reverse chamber 52 of all suspension cylinders 5 in the same group.
[0028] The suspension cylinders 5 in the suspension system are arranged in four groups, which are located at the four supporting points of the frame, namely the left front (A), right front (B), left rear (D) and right rear (C). The four groups of suspension cylinders 5 are evenly distributed at the four key supporting points of the frame, ensuring the stability and balance of the vehicle. Each group of suspension cylinders 5 is connected to the suspension valve block assembly 3 through its own connecting pipe. The suspension valve block assembly 3 controls and adjusts the flow direction of the hydraulic oil to ensure that the hydraulic oil can flow smoothly between the four groups of suspension cylinders 5. The four groups of suspension cylinders 5 form four independent oil supply and return circuits with the four groups of hydraulic cylinders through the suspension valve block assembly 3, and each oil supply and return circuit has independent control capabilities. This design enables the four oil supply and return circuits to act synchronously or asynchronously, thereby realizing the ability to finely adjust the suspension system. This flexibility ensures that the suspension system can adjust the vehicle's posture according to different road conditions and driving requirements, and provide optimal handling stability.
[0029] The specific connection between the suspension valve block assembly 3 and each suspension cylinder 5 is achieved through four internal oil supply and return pipelines. Each oil supply and return pipeline includes a positive chamber 51 pipeline 31 and a reverse chamber 52 pipeline 32, which are responsible for the supply and return of hydraulic oil respectively. One end of the positive chamber 51 pipeline 31 is connected to the multi-way valve group 2, and the other end is connected to the positive chamber 51 of all suspension cylinders 5 in the same group, ensuring that the hydraulic oil can be evenly distributed to the positive chamber 51 of each suspension cylinder 5. Similarly, one end of the reverse chamber 52 pipeline 32 is also connected to the multi-way valve group 2, and the other end is connected to the reverse chamber 52 of all suspension cylinders 5 in the same group, ensuring that the hydraulic oil can smoothly return from the reverse chamber 52 of the suspension cylinder 5. In this way, each oil supply and return pipeline can be connected to multiple suspension cylinders 5. Compared with the traditional single connection method, this design not only improves the reliability and response speed of the system, but also greatly enhances the overall performance and adjustment flexibility of the suspension system.
[0030] In one embodiment of the present invention, the non-return element 6 includes a one-way valve 62 and a hydraulic lock 61. The one-way valve 62 is arranged on each anti-cavity 52 pipeline 32, and the hydraulic lock 61 is arranged on each positive cavity 51 pipeline 31. The oil inlet of the one-way valve 62 is connected to the output end of the multi-way valve group 2 to ensure that the hydraulic oil can smoothly enter the one-way valve 62. The oil outlet of the one-way valve 62 is connected to the anti-cavity 52 of the corresponding hydraulic cylinder, so that the hydraulic oil can smoothly flow into the anti-cavity 52 of the suspension cylinder 5. At the same time, the oil inlet of the hydraulic lock 61 is also connected to the output end of the multi-way valve group 2 to ensure that the hydraulic oil can smoothly enter the hydraulic lock 61. The oil outlet of the hydraulic lock 61 is connected to the positive cavity 51 of the corresponding hydraulic cylinder, so that the hydraulic oil can smoothly flow into the positive cavity 51 of the suspension cylinder 5. In addition, the hydraulic control port of the hydraulic lock 61 is connected to the reverse chamber 52 pipeline 32 at the oil inlet of the one-way valve 62 of the same oil supply and return pipeline to control the opening and closing of the hydraulic lock 61. In actual use, when it is necessary to supply hydraulic oil to the positive chamber 51 of the suspension cylinder 5, the hydraulic control reversing valve 4 must be in a conducting state, and the hydraulic oil flowing out from the output end of the multi-way valve group 2 flows through the positive chamber 51 pipeline 31, the input end of the hydraulic lock 61, and the output end of the hydraulic lock 61 in sequence, and finally flows into the positive chamber 51 of the suspension cylinder 5, while the hydraulic oil in the reverse chamber 52 of the suspension cylinder 5 flows into the positive chamber 51 of the suspension cylinder 5 through the hydraulic control reversing valve 4; when it is necessary to supply hydraulic oil to the reverse chamber 52 of the suspension cylinder 5, The hydraulic control reversing valve 4 needs to be in the off state, and the hydraulic oil flowing out from the output end of the multi-way valve group 2 flows through the reverse chamber 52 pipeline 32, the input end of the one-way valve 62, and the output end of the one-way valve 62 in sequence, and finally flows into the reverse chamber 52 of the suspension cylinder 5. When the hydraulic oil continues to flow into the reverse chamber 52 of the suspension cylinder 5, the oil circuit pressure increases and reaches the valve opening pressure of the hydraulic control port of the hydraulic lock 61. The hydraulic lock 61 is turned on. At this time, the hydraulic oil in the positive chamber 51 of the suspension cylinder 5 flows back to the oil tank 12 through the positive chamber 51 pipeline 31. Through this design, the suspension hydraulic system uses a hydraulic lock 61 in the positive chamber 51 and a one-way valve 62 in the reverse chamber 52. This configuration enables the chassis suspension system to maintain pressure for a long time, ensure that the vehicle body height remains constant, and avoid sinking. In order to further enhance the safety and emergency handling capabilities of the system, a high-pressure ball valve 7 is also provided on each positive chamber 51 pipeline 31. The oil inlet of the high-pressure ball valve 7 is connected to the pipeline 31 of the positive cavity 51 between the suspension oil cylinder 5 and the hydraulic lock 61, ensuring that the hydraulic oil can pass smoothly under normal working conditions. The oil outlet of the high-pressure ball valve 7 is connected to the oil tank 12 through the oil drain pipeline 8, so that in an emergency, the high-pressure ball valve 7 can be manually operated to quickly discharge the hydraulic oil in the suspension oil cylinder 5 into the oil tank 12, realizing the emergency manual lowering function of the suspension oil cylinder 5. This design not only improves the safety of the system, but also facilitates the rapid handling of vehicles in emergency situations.By rationally configuring the check element 6, including the one-way valve 62 and the hydraulic lock 61, and providing a high-pressure ball valve 7 on the pipeline 31 of the positive cavity 51, the suspension hydraulic system can achieve long-term pressure maintenance, ensure a constant vehicle height, and have an emergency manual lowering function, thereby improving stability and safety.
[0031] In one embodiment of the present invention, the multi-way valve group 2 also includes a four-way directional control element 22, and each directional control element 22 includes four main interfaces, namely, an oil inlet, an oil return port, a first working oil port, and a second working oil port. Specifically, the oil inlet of the directional control element 22 is directly connected to the hydraulic pump 11 to ensure that the hydraulic oil pumped out by the hydraulic pump 11 can flow in smoothly. The oil return port of the directional control element 22 is connected to the oil tank 12, so that the hydraulic oil can be smoothly returned to the oil tank 12 for recycling after completing the task. The first working oil port of the directional control element 22 is connected to the corresponding positive cavity 51 pipeline 31, which is responsible for transporting the hydraulic oil to the positive cavity 51 to drive the relevant components to move forward, or to return the hydraulic oil to the oil tank 12 through the positive cavity 51 pipeline 31. Relatively speaking, the second working oil port of the directional control element 22 is connected to the corresponding reverse cavity 52 pipeline 32, which is used to transport the hydraulic oil to the reverse cavity 52 to achieve reverse movement. Through the independent control of each directional control element 22, precise operation of an oil supply and return pipeline can be achieved. It is through this design that the multi-way valve group 2 enables the output of a hydraulic pump 11 to control multiple different hydraulic circuits, thereby realizing a one-to-many reversing control function. This design greatly improves the flexibility and efficiency of the hydraulic system, allowing multiple hydraulic actuators to work independently or collaboratively as needed. There are many ways to implement the directional control element 22. One common choice is to use an electromagnetic reversing valve similar to a three-position four-way electromagnetic reversing valve. This electromagnetic reversing valve can achieve fast and accurate reversing operations through the action of electromagnetic force, ensuring the response speed and control accuracy of the hydraulic system.
[0032] In one embodiment of the present invention, a pressure sensor is installed in the pipeline 31 of the positive cavity 51, and its main function is to monitor the pressure change of the pipeline 31 of the positive cavity 51 of the suspension cylinder 5 in real time. The load weighing function is realized by combining the data of the pressure value and the inner diameter of the suspension cylinder 5 with a specific program algorithm. Each group of suspension cylinders 5 is composed of a cylinder with a displacement sensor and a cylinder without a displacement sensor. The displacement sensor is responsible for detecting the real-time telescopic length of the same group of cylinders, and can monitor the displacement data of the four groups of suspension cylinders 5 in real time. The displacement signal fed back by the displacement sensor cooperates with the multi-way valve to realize the precise control of the four groups of suspensions, thereby completing the high-precision posture adjustment functions such as lifting, pitching, and rolling of the frame.
[0033] In the above embodiment, the positive cavity 51 refers to a cavity without a rod, and the negative cavity 52 refers to a cavity with a rod.
[0034] The embodiment of the present invention also provides a control method for an omnidirectional mobile chassis suspension hydraulic system, the control method comprising a suspension adjustment step and a posture maintaining step;
[0035] The suspension adjustment step includes a suspension pitch adjustment step, a suspension left tilt adjustment step, a suspension right tilt adjustment step, a suspension lowering adjustment step, a suspension pitching adjustment step or a suspension raising adjustment step;
[0036] The steps for adjusting the suspension pitch include:
[0037] The hydraulically controlled reversing valve 4 on each suspension cylinder 5 is controlled to be in the off state through the hydraulically controlled reversing element 21 of the multi-way valve group 2;
[0038] Hydraulic oil is supplied to the reverse chamber 52 of the suspension oil cylinder 5 in the left front group and the right front group through the direction control element 22 of the multi-way valve group 2, so that the suspension oil cylinder 5 in the left front group and the right front group descends simultaneously;
[0039] The steps for adjusting the suspension to the left include:
[0040] The hydraulically controlled reversing valve 4 on each suspension cylinder 5 is controlled to be in the off state through the hydraulically controlled reversing element 21 of the multi-way valve group 2;
[0041] Hydraulic oil is supplied to the reverse chamber 52 of the suspension cylinder 5 in the left front group and the left rear group through the direction control element 22 of the multi-way valve group 2, so that the suspension cylinder 5 in the left front group and the left rear group descends simultaneously;
[0042] The steps for adjusting the suspension right tilt include:
[0043] The hydraulically controlled reversing valve 4 on each suspension cylinder 5 is controlled to be in the off state through the hydraulically controlled reversing element 21 of the multi-way valve group 2;
[0044] Hydraulic oil is supplied to the reverse chamber 52 of the suspension cylinder 5 in the right front group and the right rear group through the direction control element 22 of the multi-way valve group 2, so that the suspension cylinder 5 in the right front group and the right rear group descend simultaneously;
[0045] The steps for adjusting the suspension drop include:
[0046] The hydraulically controlled reversing valve 4 on each suspension cylinder 5 is controlled to be in the off state through the hydraulically controlled reversing element 21 of the multi-way valve group 2;
[0047] Hydraulic oil is supplied into the reverse chamber 52 of the suspension oil cylinder 5 in the right front group, the right rear group, the left front group and the left rear group through the direction control element 22 of the multi-way valve group 2, so that the suspension oil cylinder 5 in the right front group, the right rear group, the left front group and the left rear group descends simultaneously;
[0048] The steps for adjusting the suspension setback include:
[0049] The hydraulically controlled reversing valve 4 on each suspension cylinder 5 is controlled to be in a conducting state through the hydraulically controlled reversing element 21 of the multi-way valve group 2 (that is, the hydraulically controlled reversing element 21 does not act, and the hydraulically controlled reversing valve 4 is in a conducting state);
[0050] Hydraulic oil is supplied to the positive chambers 51 of the suspension cylinders 5 in the left rear group and the right rear group through the direction control element 22 of the multi-way valve group 2, so that the suspension cylinders 5 in the left rear group and the right rear group rise simultaneously;
[0051] The steps for adjusting the suspension rise include:
[0052] The hydraulically controlled reversing valve 4 on each suspension cylinder 5 is controlled to be in a conducting state through the hydraulically controlled reversing element 21 of the multi-way valve group 2;
[0053] Hydraulic oil is supplied into the positive chambers 51 of the suspension cylinders 5 in the right front group, the right rear group, the left front group and the left rear group through the direction control element 22 of the multi-way valve group 2, so that the suspension cylinders 5 in the right front group, the right rear group, the left front group and the left rear group rise simultaneously;
[0054] When the suspension needs to increase its pitch angle, the suspension pitch adjustment step is performed while the suspension pitch adjustment step is performed;
[0055] When the suspension needs to increase its rearward tilt angle, the suspension pitch adjustment step is performed while the suspension rearward tilt adjustment step is performed;
[0056] When the suspension needs to increase the left tilt angle, hydraulic oil is supplied to the positive chamber 51 of the suspension cylinder 5 in the right front group and the right rear group while executing the suspension left tilt adjustment step;
[0057] When the suspension needs to increase the right tilt angle, hydraulic oil is supplied to the positive chamber 51 of the suspension cylinder 5 in the left front group and the left rear group while executing the right tilt adjustment step of the suspension;
[0058] The posture maintaining step includes keeping the hydraulically controlled reversing valve 4 in a conducting state after the suspension adjustment is completed, so that the positive chamber 51 and the negative chamber 52 of the suspension hydraulic cylinder in the same group are connected.
[0059] The method provides a method for flexibly adjusting the suspension posture, which can be adjusted in real time during the vehicle's movement. This adjustment mechanism ensures that the suspension system can maintain the best working state whether the vehicle is moving or stationary. In addition, the method also specially designs measures to prevent the Mecanum wheel virtual leg phenomenon, ensuring that the suspension system can work stably and reliably under any circumstances.
[0060] Reference Figure 1 Combined with Table 1, the posture of the suspension can be adaptively adjusted.
[0061] Table 1 Suspension hydraulic system control timing diagram
[0062]
[0063] Note: + gets power; - gets power off
[0064] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0065] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and simple improvements made to the essential contents of the present invention should be included in the protection scope of the present invention.
Claims
1. An omnidirectional mobile chassis suspension hydraulic system, Features: It includes a hydraulic oil source, a multi-way valve group, a suspension valve block assembly, a hydraulically controlled reversing valve and a suspension cylinder. The hydraulic oil source is installed on a vehicle frame, an output end of the hydraulic oil source is connected to an input end of the multi-way valve group, an output end of the multi-way valve group is connected to an input end of the suspension valve block assembly, an output end of the suspension valve block assembly is connected to a positive cavity and a negative cavity of a suspension cylinder, a non-return element is arranged in the suspension valve block assembly, the suspension cylinders are arranged in groups at a supporting point of the vehicle frame, the number of each group of suspension cylinders is at least two, the suspension cylinders in the group are connected to the suspension valve block assembly in parallel, a piston ball seat of each suspension cylinder is connected to a Mecanum wheel through a wheel axle, a hydraulically controlled reversing valve is arranged between the positive cavity and the negative cavity of each suspension cylinder, a hydraulically controlled port of the hydraulically controlled reversing valve is connected to the multi-way valve group, and the on-off control of the positive cavity and the negative cavity of the suspension cylinder is realized by controlling the on-off of the hydraulically controlled reversing valve by the multi-way valve group.
2. The omnidirectional mobile chassis suspension hydraulic system according to claim 1, Features: All the hydraulically controlled reversing valves connected to the hydraulic cylinders are integrated in the hydraulically controlled reversing valve block assembly, the hydraulic control ports of all the hydraulically controlled one-way valves are interconnected and aggregated to form a common hydraulic control port on the hydraulically controlled reversing valve block assembly, and the hydraulically controlled reversing valve block assembly is connected to the multi-way valve group via the common hydraulic control port.
3. The omnidirectional mobile chassis suspension hydraulic system according to claim 2, Features: The hydraulically controlled reversing valve is a two-position, two-way hydraulically controlled reversing valve, the hydraulic control port of which is connected to the common hydraulic control port of the hydraulically controlled reversing valve block assembly, and the two-position, two-way hydraulically controlled reversing valve is in a conducting state in a natural state; when the suspension cylinder needs to be extended, the two-position, two-way hydraulically controlled reversing valve is adjusted to the conducting state through the multi-way valve group; when the suspension cylinder needs to be retracted, the two-position, two-way hydraulically controlled reversing valve is adjusted to the off state through the multi-way valve group; when the suspension cylinder is adjusted, the two-position, two-way hydraulically controlled reversing valve is kept in the conducting state through the multi-way valve group.
4. The omnidirectional mobile chassis suspension hydraulic system according to claim 3, Features: The hydraulic oil source includes a hydraulic pump and an oil tank, the multi-way valve group includes a hydraulically controlled reversing element, the hydraulically controlled reversing element includes a working oil port, an oil inlet port and an oil return port, the working oil port of the hydraulically controlled reversing element is connected to the common hydraulic control port of the hydraulically controlled reversing valve block assembly, the oil inlet port of the hydraulically controlled reversing element is connected to the output end of the hydraulic pump, the oil return port of the hydraulically controlled reversing element is connected to the oil tank, and in a natural state, the working oil port of the hydraulically controlled reversing element and the common hydraulic control port of the hydraulically controlled reversing valve block assembly are not connected. When the hydraulically controlled reversing element is reversed, the working oil port of the hydraulically controlled reversing element and the common hydraulic control port of the hydraulically controlled reversing valve block assembly are connected.
5. The omnidirectional mobile chassis suspension hydraulic system according to claim 4, Features: The suspension cylinders are arranged in four groups, namely, left front, right front, left rear and right rear. The four groups of suspension cylinders are distributed on four supporting points of the frame. Each group of suspension cylinders is connected to a suspension valve block assembly. The suspension valve block assembly and the four groups of hydraulic cylinders form four independent oil supply and return circuits.
6. The omnidirectional mobile chassis suspension hydraulic system according to claim 5, Features: The suspension valve block assembly includes four oil supply and return pipelines, and the four oil supply and return pipelines are connected to four groups of suspension cylinders in a one-to-one correspondence. Each of the oil supply and return pipelines includes a positive cavity pipeline and a reverse cavity pipeline. One end of the positive cavity pipeline is connected to the multi-way valve group, and the other end of the positive cavity pipeline is connected to the positive cavity of all suspension cylinders in the same group. One end of the reverse cavity pipeline is connected to the multi-way valve group, and the other end of the reverse cavity pipeline is connected to the reverse cavity of all suspension cylinders in the same group.
7. The omnidirectional mobile chassis suspension hydraulic system according to claim 6, Features: The non-return element includes a one-way valve arranged on each reverse cavity pipeline and a hydraulic lock arranged on each positive cavity pipeline. The oil inlet of the one-way valve is connected to the output end of the multi-way valve group, and the oil outlet of the one-way valve is communicated with the reverse cavity of the corresponding hydraulic cylinder; the oil inlet of the hydraulic lock is connected to the output end of the multi-way valve group, the oil outlet of the hydraulic lock is communicated with the positive cavity of the corresponding hydraulic cylinder, and the hydraulic control port of the hydraulic lock is communicated with the reverse cavity pipeline at the oil inlet of the one-way valve of the same oil supply and return pipeline.
8. The omnidirectional mobile chassis suspension hydraulic system according to claim 7, Features: Each of the positive cavity pipelines is provided with a high-pressure ball valve, the oil inlet of the high-pressure ball valve is communicated with the positive cavity pipeline between the suspension cylinder and the hydraulic lock, and the oil outlet of the high-pressure ball valve is communicated with the oil tank through the oil drain pipeline.
9. The omnidirectional mobile chassis suspension hydraulic system according to claim 8, Features: The multi-way valve group also includes a four-way directional control element, each of which includes an oil inlet, an oil return port, a first working oil port and a second working oil port; the oil inlet of the directional control element is connected to the hydraulic pump, the oil return port of the directional control element is connected to the oil tank, the first working oil port of the directional control element is connected to the corresponding positive cavity pipeline, and the second working oil port of the directional control element is connected to the corresponding reverse cavity pipeline.
10. The control method of the hydraulic system of the omnidirectional mobile chassis suspension according to claim 9, Features: The control method includes a suspension adjustment step and a posture maintaining step; The suspension adjustment step includes a suspension pitch adjustment step, a suspension left tilt adjustment step, a suspension right tilt adjustment step, a suspension lowering adjustment step, a suspension pitch adjustment step or a suspension raising adjustment step; The posture maintaining step includes keeping the hydraulically controlled reversing valve in a conducting state after the suspension adjustment is completed, so that the positive cavity and the negative cavity of the suspension hydraulic cylinder in the same group are connected.