Four-wheel independent suspension overhead working truck chassis structure and control system thereof

Abstract

The invention discloses a four-wheel independent suspension overhead working truck chassis structure and a control system thereof.The four-wheel independent suspension overhead working truck chassis structure comprises a chassis, wheels, a front axle and a rear axle, each of the front axle and the rear axle comprises two half axles and is controlled through a hydraulic system, one end of each half axle of the front axle is connected to a wheel axle, each half axle is provided with a cantilever, and the cantilever is connected with the chassis. One end of the cantilever is hinged to the other end of each half bridge, and the other end of the cantilever is hinged to one end of the first suspension oil cylinder; the other end of the first suspension oil cylinder is hinged to the upper part of one end of an axle of each half-axle connecting wheel; the vertical shaft is hinged to the upper part of the cantilever; the front axle drives the overhead working truck to steer through a steering connecting rod and a steering oil cylinder; the other end of each half axle of the rear axle is hinged to the chassis, a second suspension oil cylinder is arranged on each half axle of the rear axle, one end of each second suspension oil cylinder is hinged to the chassis, and the other end of each second suspension oil cylinder is hinged to the top of the end, connected with the corresponding wheel axle, of the corresponding half axle.

Description

Technical Field

[0001] The invention relates to the technical field of aerial work vehicles, and in particular to a chassis structure of an aerial work vehicle with four-wheel independent suspension and a control system thereof. Background Art

[0002] Aerial work vehicles are special vehicles used to transport workers and equipment to the site and perform aerial operations. They play an important role in high-altitude construction operations.

[0003] Existing self-propelled aerial work vehicles mostly use rigid connections or rigid connections and matching shock absorption between the axle and the frame, and the floating range is very limited. When the unevenness of the road exceeds the floating range, the vehicle will tilt greatly, and even the tires will leave the ground, which poses obvious safety hazards. This also means that the vehicle can only travel on relatively flat roads, reducing the vehicle's passability and limiting the scope of vehicle use. Such suspension also makes the vehicle unable to effectively filter the vibration and tilt caused by uneven ground, affecting the operating experience and limiting the driving speed. Summary of the invention

[0004] In order to solve some or all of the technical problems existing in the above-mentioned prior art, the present invention provides a four-wheel independently suspended aerial work vehicle chassis structure and its control system, which can significantly improve the vehicle's passability and operation safety; effectively filter out vibrations and tilts caused by uneven ground, and at the same time meet the demand for rigid support of the chassis during vehicle operation.

[0005] The technical solution of the present invention is as follows:

[0006] In a first aspect, the present invention provides a chassis structure of an aerial work vehicle with four-wheel independent suspension, comprising a chassis, wheels, a front axle and a rear axle, wherein the front axle and the rear axle each comprise two half-bridges, and the two half-bridges of the front axle and the two half-bridges of the rear axle are symmetrically arranged at the front and rear of the chassis, respectively, and the front axle and the rear axle are controlled by a hydraulic system, wherein:

[0007] One end of each half bridge of the front bridge can be detachably connected to the wheel axle, and each half bridge is provided with:

[0008] A cantilever, one end of the cantilever being hinged to the other end of each half bridge, and the other end of the cantilever being hinged to one end of the first suspension cylinder;

[0009] A first suspension cylinder, the other end of which is hingedly connected to the upper portion of one end of each half-bridge connected to the wheel axle;

[0010] A vertical shaft, the vertical shaft is hinged to the upper part of the cantilever;

[0011] The front axle drives the aerial work vehicle to steer via a steering link and a steering cylinder, both ends of the steering link and the steering cylinder are connected to a steering connecting plate, and the steering connecting plate is hingedly connected to the vertical shaft;

[0012] One end of each half bridge of the rear axle can be detachably connected to the axle of the wheel, and the other end of each half bridge is hingedly connected to the chassis. A second suspension cylinder is arranged on each half bridge of the rear axle, one end of the second suspension cylinder is hingedly connected to the chassis, and the other end of the second suspension cylinder is hingedly connected to the top of one end of each half bridge connected to the axle of the wheel;

[0013] During the operation, the hydraulic system and the external control device realize the lifting and lowering of the chassis by controlling the lifting and lowering of the front axle and the rear axle, and realize the steering of the aerial work vehicle by controlling the extension and retraction of the steering cylinder to drive the swing of the steering link.

[0014] Furthermore, in the above-mentioned four-wheel independently suspended aerial work vehicle chassis structure, the number of the steering cylinders includes two, the two steering cylinders are arranged in a straight line, and the two steering cylinders are arranged in parallel with the steering connecting rod.

[0015] Furthermore, in the above-mentioned four-wheel independently suspended aerial work vehicle chassis structure, the cantilever is an arc-shaped structure.

[0016] Furthermore, in the above-mentioned four-wheel independently suspended aerial work vehicle chassis structure, the vertical shaft is vertically arranged on the cantilever.

[0017] In a second aspect, the present invention further provides a control system for a four-wheel independently suspended aerial work vehicle chassis, which is used to realize the lifting and steering control of the above-mentioned four-wheel independently suspended aerial work vehicle chassis structure, and the control system includes:

[0018] An accumulator, wherein the number of the accumulators is set to be multiple;

[0019] A control component, wherein a first control end of the control component is connected to the accumulator, and a second control end of the control component is connected to the first suspension cylinder or the second suspension cylinder.

[0020] A filter, one end of which is connected to the control assembly, and the other end of which is connected to the hydraulic pump;

[0021] A main overflow valve, one end of which is connected to the connecting pipeline connecting the hydraulic pump to the filter, and the other end of which is connected to the oil tank;

[0022] A reversing valve, wherein the first control end of the reversing valve is connected to the rodless chamber of one steering cylinder and the rod chamber of another steering cylinder through a connecting pipeline, and the second control end of the reversing valve is connected to the rod chamber of one steering cylinder and the rodless chamber of another steering cylinder through a connecting pipeline; the oil inlet of the reversing valve is connected to the control component through the third control end of the control component, and the oil outlet of the reversing valve returns oil to the oil tank;

[0023] A steering relief valve is connected to the connecting pipelines of the first control end and the second control end of the reversing valve through a control pipeline, and is arranged in parallel with the reversing valve.

[0024] Furthermore, in the above-mentioned four-wheel independent suspension aerial work vehicle chassis structure control system, a one-way valve is provided on the connecting pipeline connecting the filter to the control component.

[0025] Further, in the above-mentioned four-wheel independent suspension aerial work vehicle chassis structure control system, the control assembly is provided with a plurality of groups of identical control elements connected to the accumulator and the first suspension cylinder or the second suspension cylinder, wherein each group of control elements includes:

[0026] A first electromagnetic poppet valve, one end of the first electromagnetic poppet valve being connected to the rodless chamber of the first suspension oil cylinder or the second suspension oil cylinder as the second control end of the control assembly, and the other end of the first electromagnetic poppet valve being connected to the accumulator as the first control end of the control assembly;

[0027] A proportional reversing valve, wherein the first working oil port of the proportional reversing valve is connected to the rodless chamber of the first suspension oil cylinder or the second suspension oil cylinder as the second control end of the control component, the second working oil port of the proportional reversing valve is connected to the rod chamber of the first suspension oil cylinder or the second suspension oil cylinder as the second control end of the control component, the oil inlet of the proportional reversing valve is connected to the oil inlet of the reversing valve as the third control end of the control component, and the oil outlet of the proportional reversing valve returns oil to the oil tank;

[0028] A hydraulically controlled one-way valve, wherein the hydraulically controlled one-way valve is arranged on a connecting pipeline between the rodless chamber of the first suspension oil cylinder or the second suspension oil cylinder and the first working oil port of the proportional reversing valve, and a control oil circuit of the hydraulically controlled one-way valve is connected to a connecting pipeline between the second working oil port on the proportional reversing valve and the rod chamber of the first suspension oil cylinder or the second suspension oil cylinder;

[0029] In addition, the control component also includes:

[0030] A second electromagnetic poppet valve, one end of the second electromagnetic poppet valve is connected to one end of the filter, and the other end of the second electromagnetic poppet valve is connected to the connecting pipeline connecting the oil inlet of the reversing valve to the oil inlet of the proportional reversing valve;

[0031] A first flow valve, wherein a first interface of the first flow valve is connected to a connecting pipeline connecting the filter to the second electromagnetic poppet valve, and a second interface of the first flow valve is connected to an oil tank;

[0032] A second flow valve, one end of the second flow valve is connected to the connecting pipeline connecting the oil inlet of the reversing valve and the oil inlet of the proportional reversing valve, and the other end of the second flow valve is connected to the connecting pipeline connecting the second interface on the first flow valve to the oil tank.

[0033] Furthermore, in the above-mentioned four-wheel independently suspended aerial work vehicle chassis structure control system, the first solenoid poppet valve includes a two-way shut-off solenoid poppet valve, the second solenoid poppet valve includes a one-way shut-off solenoid poppet valve, the first flow valve includes a three-way flow valve, and the second flow valve includes a constant flow valve.

[0034] Furthermore, in the above-mentioned four-wheel independently suspended aerial work vehicle chassis structure control system, it also includes a throttle valve, one end of the throttle valve is connected to the connecting pipeline connecting the second flow valve to the oil inlet of the reversing valve and the oil inlet of the proportional reversing valve, and the other end of the throttle valve is connected to the third interface of the first flow valve.

[0035] The main advantages of the technical solution of the present invention are as follows:

[0036] The chassis structure of the aerial work vehicle with four-wheel independent suspension of the present invention can significantly improve the vehicle's passability and operation safety; effectively filter the vibration and tilt caused by the uneven ground, and at the same time meet the demand for rigid support of the chassis during vehicle operation. Specifically, when the aerial work vehicle needs to pass through an uneven road surface with a large height difference, the control unit in the hydraulic system controls the extension and contraction of the first suspension cylinder and the second suspension cylinder connected to the front axle and the rear axle, so that the height of the chassis is greater than the height difference of the uneven road surface, so that the aerial work vehicle can pass through the uneven road surface smoothly; and the control unit in the hydraulic system controls the extension and contraction amount of the first suspension cylinder and the second suspension cylinder in real time to adjust the balance of the aerial work vehicle, so that the aerial work vehicle can maintain the stability of the vehicle body when passing through the uneven road surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of the embodiments of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0038] Figure 1 This is a schematic structural diagram of a chassis structure of an aerial work vehicle with four-wheel independent suspension according to an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the hydraulic control principle of a chassis structure control system for an aerial work vehicle with four-wheel independent suspension provided in one embodiment of the present invention.

[0040] Description of reference numerals:

[0041] 1. Front axle; 2. Rear axle; 3. Chassis; 4. Wheels; 5. Cantilever; 6. First suspension cylinder; 7. Vertical shaft; 8. Steering connecting rod; 9. Steering cylinder; 10. Second suspension cylinder; 11. Steering connecting plate;

[0042] 12. Hydraulic-controlled one-way valve; 13. Proportional reversing valve; 14. First solenoid poppet valve; 15. Accumulator; 16. Second solenoid poppet valve; 17. First flow valve; 18. Second flow valve; 19. Steering relief valve; 20. Reversing valve; 21. Filter; 22. Hydraulic pump; 23. Main relief valve; 24. Oil tank. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0044] The technical solution provided by the embodiments of the present invention is described in detail below with reference to the accompanying drawings.

[0045] As attached Figure 1 As shown, an embodiment of the present invention provides a chassis structure of an aerial work vehicle with four-wheel independent suspension, the structure comprising: a chassis 3, wheels 4, a front axle 1 and a rear axle 2, the front axle 1 and the rear axle 2 each comprising two half-bridges, and the two half-bridges of the front axle 1 and the two half-bridges of the rear axle 2 are symmetrically arranged at the front and rear of the chassis 3, respectively, the front axle 1 and the rear axle 2 are controlled by a hydraulic system, wherein:

[0046] One end of each half bridge of the front bridge 1 can be detachably connected to the wheel axle 4, and each half bridge is provided with: a cantilever 5, a first suspension cylinder 6 and a vertical shaft 7. One end of the cantilever 5 is hinged to the other end of each half bridge, and the other end of the cantilever 5 is hinged to one end of the first suspension cylinder 6; the other end of the first suspension cylinder 6 is hinged to the upper part of one end of each half bridge connected to the wheel axle 4; the vertical shaft 7 is hinged to the upper part of the cantilever 5; the front bridge 1 drives the aerial work vehicle to steer through the steering link 8 and the steering cylinder 9. Both ends of the steering link 8 and the steering cylinder 9 are connected to the steering connecting plate 11, and the steering connecting plate 11 is hingedly connected to the vertical shaft 7; one end of each half bridge of the rear axle 2 can be detachably connected to the axle of the wheel 4, and the other end of each half bridge is hingedly connected to the chassis 3, and a second suspension cylinder 10 is arranged on each half bridge of the rear axle 2, one end of the second suspension cylinder 10 is hingedly connected to the chassis 3, and the other end of the second suspension cylinder 10 is hingedly connected to the top of one end of the axle of each half bridge connected to the wheel 4.

[0047] During the operation, the external control device and the hydraulic system control the various control valves and the control unit to connect the first suspension cylinder 6 and the second suspension cylinder 10 through pipelines, control the lifting and lowering of the front axle 1 and the rear axle 2 to realize the lifting and lowering of the chassis 3, and control the extension and retraction of the steering cylinder 9 to drive the swing of the steering link 8 to realize the steering of the aerial work vehicle.

[0048] The lifting and steering principles of the chassis structure of the aerial work vehicle with four-wheel independent suspension of the present invention are as follows:

[0049] Specifically, in the initial state of the chassis structure of the four-wheel independent suspension aerial work vehicle of the present invention, the two half bridges of the front bridge 1 and the cantilever 5 connected thereto are in a compressed or folded state, and the two half bridges of the rear bridge 2 and the chassis 3 connected thereto are in an inclined state. According to the flatness of the road surface, the angle between the two half bridges of the front bridge 1 and the cantilever 5 gradually increases under the action of the first suspension cylinder 6, and the inclination between the two half bridges of the rear bridge 2 and the chassis 3 gradually increases under the action of the second suspension cylinder 10, so that the two half bridges of the rear bridge 2 tend to be in a vertical state, thereby raising the chassis 3. When the aerial work vehicle needs to pass through an uneven road surface with a large height difference, the control unit in the hydraulic system controls the extension and retraction of the first suspension cylinder 6 and the second suspension cylinder 10 connected to the front axle 1 and the rear axle 2, so that the height of the chassis 3 is greater than the height difference of the uneven road surface, so that the aerial work vehicle can pass through the uneven road surface smoothly; and the control unit in the hydraulic system controls the extension and retraction amount of the first suspension cylinder 6 and the second suspension cylinder 10 in real time to adjust the balance of the aerial work vehicle, so that the aerial work vehicle can maintain the stability of the vehicle body when passing through the uneven road surface.

[0050] In summary, the four-wheel independent suspension aerial work vehicle chassis structure of the present invention can significantly improve the vehicle's passability and operation safety; effectively filter out vibrations and tilts caused by uneven ground, and at the same time meet the demand for rigid support of the chassis 3 during vehicle operation.

[0051] Specifically, in the chassis structure of the four-wheel independently suspended aerial work vehicle of the invention, a control device, such as a controller, is also provided. The controller is connected to the control unit of the hydraulic system and is used to receive external control information, monitor the vehicle's driving road surface data or image data, etc. When an external control instruction is received or an uneven driving road surface is detected, the hydraulic system is controlled to lift the aerial work vehicle chassis 3 to prevent the aerial work vehicle chassis 3 from scratching against the uneven ground or causing the aerial work vehicle to be unable to drive, while reducing the tilt and vibration of the aerial work vehicle and improving driving safety and stability.

[0052] In some optional implementations of this embodiment, the above-mentioned hinged connection can adopt structures such as a hinge axis, an optical axis or a circular rod.

[0053] In the chassis structure of the aerial work vehicle with four-wheel independent suspension of the present invention, in order to make the cantilever 5 turn in the same direction and make the steering angles of the two half-bridges located at the front of the chassis 3 consistent, the number of steering cylinders 9 in the present invention is preferably two, and the two steering cylinders 9 are arranged in a straight line, and the two steering cylinders 9 are arranged in parallel with the steering connecting rod 8. Preferably, the two steering cylinders 9 are cross-connected to ensure that the two cantilevers 5 connected to the two half-bridges turn in the same direction.

[0054] Specifically, during the steering process, the two steering cylinders 9 are cross-connected to provide power for the steering link 8. The steering cylinder 9 extends out to drive the steering link 8 to rotate, so that the cantilever 5 on the left rotates around the vertical shaft 7 on the left along the forward direction of the aerial work vehicle, and the cantilever 5 on the left drives the half-bridge on the left to steer, and the cantilever 5 on the right rotates around the vertical shaft 7 on the right, and the cantilever 5 on the right drives the right half-bridge to steer. In this way, the two cantilevers 5 connected by the two half-bridges can be steered in the same direction through the structure of the steering link 8 and the steering cylinder 9, so that the aerial work vehicle can be turned smoothly with high steering accuracy.

[0055] At the same time, in order to make the steering smoother and more accurate, a lubricating medium, such as lubricating oil or grease, can be set at the position of the vertical shaft 7 of the steering; in order to reduce wear during the steering process, the vertical shaft 7 and the parts in contact with it are set to wear-resistant materials, such as wear-resistant steel, etc.; at the same time, in order to overcome the influence of gravity on the rotation accuracy and rotation efficiency during the rotation process, and the influence of stress on the service life and use accuracy of the vertical shaft 7, so that the vertical shaft 7 and the overall structure are simpler, more stable and reliable, the vertical shaft 7 is set in the vertical direction of the cantilever 5, so that when the cantilever 5 rotates around the vertical shaft 7, the contact part between the two is not subject to external forces other than friction. It should be noted that the above setting is an exemplary and most preferred structure, and it is not the only limitation on the structure. According to actual needs, the vertical shaft 7 and the like can be set to a form that matches the structure.

[0056] In some optional implementations of the present embodiment, in order to reduce energy consumption during the lifting of the aerial work vehicle, avoid overcoming unnecessary resistance, improve lifting efficiency, and reduce mechanical wear during the lifting process, in the chassis structure of the four-wheel independent suspension aerial work vehicle of the present invention, the first suspension cylinder 6 and the second suspension cylinder 10 can be arranged in the vertical direction; in this way, only the gravity of the lifting work vehicle can be overcome during the lifting process, and the gravity of the work vehicle can be relied upon during the retraction of the first suspension cylinder 6 and the second suspension cylinder 10, thereby avoiding the consumption and dispersion of the lifting force during the lifting process due to the existence of angles.

[0057] However, it should be noted that the above-mentioned vertical setting method is not the only method, but is only an exemplary description or a preferred and optional implementation method. In the present invention, the purpose is to connect the axle and the chassis through the cylinder, but the cylinder will rotate during the extension and retraction process, and the direction will also change.

[0058] Specifically, in order to allow the cantilever 5 to have a greater height travel during the lifting process and to allow the cantilever 5 to have sufficient strength, in the chassis structure of the four-wheel independent suspension aerial work vehicle of the present invention, the cantilever 5 is an arc-shaped structure.

[0059] At the same time, in order to ensure that the chassis structure of the four-wheel independently suspended aerial work vehicle in the present invention can effectively pass through uneven roads with large height differences while meeting the rigid support requirements, without affecting the operating experience and limiting the driving speed, such as roads with a height difference greater than 50 cm, to reduce the vibration and tilt of the aerial work vehicle when passing through uneven roads, in the present invention, the lifting stroke of the first suspension cylinder 6 is set to be greater than or equal to the sum of the lengths of each cantilever 5 and the half-bridge hingedly connected thereto, and the stroke of the second suspension cylinder 10 is set to be greater than the height difference of the half-bridge of each rear axle 2 from the inclined state to the vertical state.

[0060] Second, as Figure 2As shown, how to achieve the control unit in the hydraulic system to control the extension and contraction amount of the first suspension cylinder 6 and the second suspension cylinder 10 in real time to adjust the balance of the aerial work vehicle, the present invention also provides a control system for the chassis of the aerial work vehicle with four-wheel independent suspension, that is, the hydraulic system in the above-mentioned "the front axle and the rear axle are controlled by the hydraulic system", which is used to achieve the lifting and steering control of the chassis 3 structure of the four-wheel independent suspension aerial work vehicle, and the control system includes an accumulator 15, a control component, a filter 21, a main overflow valve 23, a reversing valve 20 and a steering overflow valve 19, wherein:

[0061] The number of accumulators 15 is set to be multiple; the first control end of the control component is connected to the accumulator 15, the second control end of the control component is connected to the first suspension cylinder 6 or the second suspension cylinder 10, one end of the filter 21 is connected to the control component, and the other end is connected to the hydraulic pump 22; one end of the main overflow valve 23 is connected to the connecting pipeline connecting the hydraulic pump 22 to the filter 21, and the other end of the main overflow valve 23 is connected to the oil tank 24; the first control end of the reversing valve 20 is connected to the rodless chamber of one steering cylinder 9 and the rod chamber of another steering cylinder 9 through a connecting pipeline, and the second control end of the reversing valve 20 is connected to the rod chamber of one steering cylinder 9 and the rodless chamber of another steering cylinder 9 through a connecting pipeline; the oil inlet of the reversing valve 20 is connected to the control component through the third control end of the control component, and the oil outlet of the reversing valve 20 returns oil to the oil tank 24; the steering overflow valve 19 is connected to the connecting pipeline of the first control end and the second control end of the reversing valve 20 through a control pipeline, and is arranged in parallel with the reversing valve 20.

[0062] In some optional implementations of the present embodiment, in order to better detect the tilt angle of the aerial work vehicle during driving and more accurately control the smooth and safe operation of the aerial work vehicle, one or more tilt sensors are arranged on the chassis 3 and the body for detecting the tilt angle of the aerial work vehicle during driving. The tilt sensors are connected to the control device and transmit the tilt data of the aerial work vehicle, and the chassis 3 is lifted and lowered according to the tilt data under the control of the control system of the above-mentioned four-wheel independently suspended aerial work vehicle chassis.

[0063] Specifically, the control device of the aerial work vehicle, such as the controller, pre-stores the inclination data of the vehicle running smoothly. During the driving process of the aerial work vehicle, the inclination sensor transmits the collected data to the control device in real time. The control device compares the transmitted data with the pre-stored data. When the inclination data threshold value is exceeded, the control device controls the hydraulic system to raise the height of the chassis 3. When it is not exceeded, the chassis 3 of the aerial work vehicle is kept at the original height and continues to operate. At the same time, in order to further improve the stability and safety of the aerial work vehicle during operation and avoid large vibration and tilt of the vehicle, according to actual experience and existing data, the vibration data and the tilt angle of the vehicle are set to several levels according to the magnitude of the vibration amplitude and the different tilt angles, such as slight vibration and tilt, moderate vibration and tilt and high vibration and tilt. The control device controls the hydraulic system to raise the chassis 3 to different heights, so as to ensure the safe and stable operation of the aerial work vehicle.

[0064] Therefore, the control system of the chassis of the aerial work vehicle with four-wheel independent suspension of the present invention can control the lifting and lowering of the first suspension cylinder 6 and the second suspension cylinder 10 on the chassis 3 structure under the control of the control elements such as the accumulator 15, the control assembly, the filter 21, the main relief valve 23, the reversing valve 20 and the steering relief valve 19. Specifically, when driving in the retracted state, the four suspended first suspension cylinders 6 and the second suspension cylinders 10 are only connected to their respective accumulators 15 to form an oil-gas suspension system; when the vehicle is operating, the accumulator 15 is cut off, and the opening of the proportional valve is controlled according to the control signal given by the inclination sensor + controller, thereby controlling the extension and retraction of the corresponding cylinder to ensure the horizontal state of the chassis 3 and ensure the safety of vehicle operation.

[0065] Specifically, in the structural control system of the four-wheel independent suspension aerial work vehicle chassis 3 of the present invention, a one-way valve is provided on the connecting pipeline connecting the filter 21 to the control component.

[0066] In this configuration, the hydraulic pump 22 is used to provide pressure oil and is connected to an external hydraulic motor. The filter 21 can ensure that the cleanliness of the hydraulic oil entering the system meets the requirements. Specifically, when adjusting the first suspension cylinder 6 and the second suspension cylinder 10 of the front axle 1 and the rear axle 2, the one-way valve can prevent the medium in the hydraulic system from flowing back, thus playing a protective role. At the same time, by connecting the filter 21 and the hydraulic pump 22, the hydraulic medium output by the hydraulic pump 22 can be controlled in time, and the hydraulic medium can be supplemented and adjusted.

[0067] Specifically, the filter 21 in the present invention is as follows Figure 2As shown, it includes a spring-loaded one-way valve and a filter 21, and the two ends of the filter 21 are connected in parallel to the two ends of the spring-loaded one-way valve to form the filter 21 of the present invention. In combination with practical applications, specifically, the above structure is formed to form a high-pressure filter 21, so that the hydraulic oil pumped out by the hydraulic pump 22 can be filtered, so that the hydraulic pressure in the hydraulic control system is clean and free of impurities, avoiding the problems of clogging of various components in the hydraulic components due to impurities or insensitive adjustment, energy consumption, short response time, etc., so that the leveling accuracy of the aerial work vehicle is higher, and the leveling is more efficient and accurate.

[0068] Specifically, in the structural control system of the four-wheel independent suspension aerial work vehicle chassis 3 of the present invention, the control assembly is provided with a plurality of groups of identical control elements connected to the accumulator 15 and the first suspension cylinder 6 or the second suspension cylinder 10, wherein each group of control elements includes: a first electromagnetic poppet valve 14, a proportional reversing valve 13 and a hydraulically controlled one-way valve 12, wherein:

[0069] One end of the first electromagnetic poppet valve 14 is connected to the rodless cavity of the first suspension cylinder 6 or the second suspension cylinder 10 as the second control end of the control component, and the other end of the first electromagnetic poppet valve 14 is connected to the accumulator 15 as the first control end of the control component; the first working oil port of the proportional reversing valve 13 is connected to the rodless cavity of the first suspension cylinder 6 or the second suspension cylinder 10 as the second control end of the control component, and the second working oil port of the proportional reversing valve 13 is connected to the rodless cavity of the first suspension cylinder 6 or the second suspension cylinder 10 as the second control end of the control component 10 is connected with the rod chamber, the oil inlet of the proportional reversing valve 13 is connected with the oil inlet of the reversing valve 20 as the third control end of the control component, and the oil outlet of the proportional reversing valve 13 returns the oil to the oil tank 24; the hydraulically controlled one-way valve 12 is arranged on the connecting pipeline of the rodless chamber of the first suspension cylinder 6 or the second suspension cylinder 10 and the first working oil port of the proportional reversing valve 13, and the control oil circuit of the hydraulically controlled one-way valve 12 is connected to the connecting pipeline of the second working oil port on the proportional reversing valve 13 connected to the rod chamber of the first suspension cylinder 6 or the second suspension cylinder 10.

[0070] In addition, in the structural control system of the four-wheel independent suspension aerial work vehicle chassis 3 of the present invention, the control assembly includes, in addition to the above-mentioned elements, a second electromagnetic poppet valve 16, a first flow valve 17 and a second flow valve 18, wherein:

[0071] One end of the second solenoid poppet valve 16 is connected to one end of the filter 21, and the other end of the second solenoid poppet valve 16 is connected to the connecting pipeline connecting the oil inlet of the reversing valve 20 and the oil inlet of the proportional reversing valve 13; the first interface of the first flow valve 17 is connected to the connecting pipeline connecting the filter 21 and the second solenoid poppet valve 16, and the second interface of the first flow valve 17 is connected to the oil tank 24; one end of the second flow valve 18 is connected to the connecting pipeline connecting the oil inlet of the reversing valve 20 and the oil inlet of the proportional reversing valve 13, and the other end of the second flow valve 18 is connected to the connecting pipeline connecting the second interface on the first flow valve 17 and the oil tank 24.

[0072] By setting up the first flow valve 17 and the second flow valve 18, the lifting and lowering adjustment process of the four-wheel independent suspension aerial work vehicle can be made more stable, the flow can be accurately controlled, the system can be stabilized, and the components of the entire system can be protected.

[0073] In some optional implementations of this embodiment, such as Figure 2 As shown, the number of accumulators 15 is set to four, and the number of groups of the above-mentioned control elements is set to four, so that each suspension oil tank 24 corresponds to an accumulator 15 and a group of control elements, and precise extension and retraction control of each suspension cylinder is achieved individually, thereby better ensuring the balance of the aerial work vehicle.

[0074] Preferably, the first electromagnetic poppet valve 14 comprises a two-way cutoff electromagnetic poppet valve, the second electromagnetic poppet valve 16 comprises a one-way cutoff electromagnetic poppet valve, the first flow valve 17 comprises a three-way flow valve, and the second flow valve 18 comprises a constant flow valve.

[0075] In the structural control system of the four-wheel independently suspended aerial work vehicle chassis 3 of the present invention, the control component includes a throttle valve in addition to the above-mentioned components, one end of the throttle valve is connected to the connecting pipeline connecting the second flow valve 18 to the oil inlet of the reversing valve 20 and the oil inlet of the proportional reversing valve 13, and the other end of the throttle valve is connected to the third interface of the first flow valve 17.

[0076] Therefore, the two-way cut-off electromagnetic poppet valve can better control the on-off of the oil cylinder and the accumulator 15, thereby preventing the accumulator 15 from being damaged due to excessive pressure and more accurately controlling the lifting and steering of the four-wheel independent suspension aerial work vehicle chassis 3.

[0077] In some optional implementations of the present embodiment, in order to further reduce the hydraulic control process and the energy consumption of the control process and make the control process simpler, the first suspension cylinder 6 and the second suspension cylinder 10 that control the extension and retraction of the front axle 1 and the rear axle 2 do not provide hydraulic power during the retraction process, and the aerial work vehicle with four-wheel independent suspension relies on its own weight to retract.

[0078] At the same time, in the control system of the four-wheel independent suspension aerial work vehicle chassis of the present invention, by using the combination of the one-way valve and the throttle valve with the first flow valve 17, the specific functions of controlling the flow, protecting the components and controlling the valve opening size can be realized. First, the one-way valve is connected to the filter 21 and the hydraulic pump 22, and is arranged in front of the throttle valve and the first flow valve 17, which can protect the throttle valve and the first flow valve 17 from being damaged by the reverse hydraulic impact, thereby playing the role of protecting the components. Secondly, by adjusting the opening size of the throttle valve and the first flow valve 17, the size and speed of the liquid flow can be accurately controlled, and the configuration of the one-way valve can stabilize the liquid flow direction and avoid flow fluctuations, thereby achieving the purpose of controlling the flow. In addition, by setting the throttle valve and the first flow valve 17, the flow, pressure and speed can be smoothly and stably controlled, further ensuring the components of the overall system, as well as the accuracy and stability of the adjustment during the lifting process.

[0079] The control system of the four-wheel independent suspension aerial work vehicle chassis of the present invention controls the lifting and steering of the four-wheel independent suspension aerial work vehicle chassis 3 structure as follows:

[0080] When the tilt sensor detects the tilt angle of the aerial work vehicle and the vehicle's own image detects that the road surface is uneven, the control device controls the hydraulic system to adjust the lifting of the aerial work vehicle chassis 3, so that the aerial work vehicle can pass through the uneven ground and remain stable during the passing process, thereby improving the safety of passing. Specifically, the height of the chassis 3 from the ground is adjusted by controlling the extension of the first suspension cylinder 6 and the second suspension cylinder 10 on the front axle 1 and the rear axle 2. The first suspension cylinder 6 and the second suspension cylinder are extended, and the articulated front axle 1 and the cantilever 5 rotate around the hinge point, so that the distance between the two increases, and the height of the chassis 3 from the ground increases; the first suspension cylinder 6 and the second suspension cylinder 10 are retracted, and the articulated front axle 1 and the cantilever 5 rotate around the hinge point, so that the distance between the two decreases, and the height of the chassis 3 from the ground decreases; wherein, when the control system enters the standby state, each control valve in the control system is not powered on, and the flow of the hydraulic pump 22 can return to the oil tank 24 through the three-way flow valve, and the control system can stand by at low pressure to save energy consumption. When the control system enters the working state, the three-way flow valve is cut off, and the oil flows to each control valve. When the system switches from the working state to the standby state, the constant flow valve can release the pressure in the pipeline to ensure the normal switching operation of the three-way flow valve. The steering relief valve 19 limits the maximum pressure of the steering cylinder 9, the electromagnetic reversing valve 20 controls the vehicle steering, and the main relief valve 23 limits the maximum pressure of the system; on uneven ground, through the inclination sensor on the chassis 3 + the controller of the aerial work vehicle, by controlling the second electromagnetic poppet valve 16 to be energized, the reversing position of the four proportional reversing valves 13 can be controlled, and the extension and retraction of the four suspension cylinders can be adjusted separately in turn to achieve the purpose of adjusting the vehicle to a horizontal state. At the same time, during the installation of the aerial work vehicle, the inclination sensor on the chassis 3 can monitor the horizontal state of the vehicle in real time, and the horizontal state of the chassis 3 can be adjusted in a closed loop through the above control method. If factors such as road subsidence that affect the horizontal state of the vehicle are encountered, when the vehicle tilts more than a certain angle, the controller will control the opening of the four proportional reversing valves 13 separately according to the pre-set program, control the extension or retraction of the suspension cylinder to adjust the chassis 3 to a horizontal state, and ensure the stability of the vehicle. When the vehicle is moving in the retracted state, only four two-way cut-off electromagnetic poppet valves are opened to connect the large chamber of the suspension cylinder and the accumulator 15, and the suspension cylinder enters the oil-gas suspension state. The accumulator 15 can filter the bumps of the road, significantly improving the stability and comfort of the vehicle and improving the road passability of the vehicle.

[0081] At the same time, in order to accurately level the aerial work vehicle in the working state, it is necessary to level the chassis 3 before the aerial work vehicle works, so as to ensure the stability of the chassis 3 when the vehicle is installed in the working state. Therefore, the four electromagnetic poppet valves are always closed at this time, that is, the accumulator 15 and the cylinder are not connected.

[0082] In summary, the chassis 3 structure of the aerial work vehicle with four-wheel independent suspension of the present invention is achieved by setting the front axle 1 and the rear axle 2 as two half-bridges, hinged the two front axles 1 through the cantilever 5 and the vertical shaft 7 on the chassis 3, hinged the rear axle 2 with the chassis 3 through the rear swing arm and the hinge point on the cylinder, and setting the steering cylinder 9 to be able to push the left and right cantilevers 5 to rotate around the vertical shaft 7 to control the steering of the front axle 1, and at the same time, the four half-bridges are all supported by hydraulic cylinders; when the vehicle tilts more than a certain angle, the controller will control the opening of the four proportional reversing valves 13 separately according to the pre-set program, control the extension or retraction of the suspension cylinder to adjust the chassis 3 to a horizontal state, and ensure the stability of the vehicle. When the vehicle is moving in the retracted state, only the four two-way cut-off electromagnetic poppet valves are opened to connect the large chamber of the suspension cylinder and the accumulator 15, and the suspension cylinder enters the oil-gas suspension state. The accumulator 15 can filter the bumps on the road, significantly improving the stability and comfort of the vehicle's travel and the road passability of the vehicle. The inclination angle of the chassis 3 is controlled in a closed loop by adopting the method of inclination sensor + controller + electric proportional valve + cylinder to ensure the levelness of the chassis 3 and realize the safe and stable operation of the four-wheel independent suspension aerial work vehicle.

[0083] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A four-wheel independent suspension aerial work vehicle chassis structure, comprising a chassis, wheels, a front axle and a rear axle, characterized in that: The front axle and the rear axle each include two half-bridges, and the two half-bridges of the front axle and the two half-bridges of the rear axle are symmetrically arranged at the front and rear of the chassis, respectively, and the front axle and the rear axle are controlled by a hydraulic system, wherein: One end of each half bridge of the front bridge can be detachably connected to the wheel axle, and each half bridge is provided with: A cantilever, one end of the cantilever being hinged to the other end of each half bridge, and the other end of the cantilever being hinged to one end of the first suspension cylinder; A first suspension cylinder, the other end of which is hingedly connected to the upper portion of one end of each half-bridge connected to the wheel axle; A vertical shaft, the vertical shaft is hinged to the upper part of the cantilever; The front axle drives the aerial work vehicle to steer via a steering link and a steering cylinder, both ends of the steering link and the steering cylinder are connected to a steering connecting plate, and the steering connecting plate is hingedly connected to the vertical shaft; One end of each half bridge of the rear axle can be detachably connected to the axle of the wheel, and the other end of each half bridge of the rear axle is hingedly connected to the chassis. A second suspension cylinder is arranged on each half bridge of the rear axle, one end of the second suspension cylinder is hingedly connected to the chassis, and the other end of the second suspension cylinder is hingedly connected to the top of one end of each half bridge connected to the axle of the wheel; During the operation, the hydraulic system and the external control device realize the lifting and lowering of the chassis by controlling the lifting and lowering of the front axle and the rear axle, and realize the steering of the aerial work vehicle by controlling the extension and retraction of the steering cylinder to drive the swing of the steering link.

2. The four-wheel independent suspension aerial work vehicle chassis structure according to claim 1 is characterized in that: The number of the steering cylinders includes two, the two steering cylinders are arranged in a straight line, and the two steering cylinders are arranged in parallel with the steering connecting rod.

3. The chassis structure of the aerial work vehicle with four-wheel independent suspension according to claim 1 is characterized in that: The cantilever is an arc-shaped structure.

4. The four-wheel independent suspension aerial work vehicle chassis structure according to claim 1 is characterized in that: The vertical shaft is vertically arranged on the cantilever.

5. A chassis structure control system for an aerial work vehicle with four-wheel independent suspension, characterized in that: Used to realize the lifting and steering control of the chassis structure of the four-wheel independent suspension aerial work vehicle according to any one of claims 1 to 4, comprising: An accumulator, wherein the number of the accumulators is set to be multiple; A control component, wherein a first control end of the control component is connected to the accumulator, and a second control end of the control component is connected to the first suspension cylinder or the second suspension cylinder. A filter, one end of which is connected to the control assembly, and the other end of which is connected to the hydraulic pump; A main overflow valve, one end of which is connected to the connecting pipeline connecting the hydraulic pump to the filter, and the other end of which is connected to the oil tank; A reversing valve, wherein the first control end of the reversing valve is connected to the rodless chamber of one steering cylinder and the rod chamber of another steering cylinder through a connecting pipeline, and the second control end of the reversing valve is connected to the rod chamber of one steering cylinder and the rodless chamber of another steering cylinder through a connecting pipeline; the oil inlet of the reversing valve is connected to the control component through the third control end of the control component, and the oil outlet of the reversing valve returns oil to the oil tank; A steering relief valve is connected to the connecting pipelines of the first control end and the second control end of the reversing valve through a control pipeline, and is arranged in parallel with the reversing valve.

6. The chassis structure control system of the four-wheel independent suspension aerial work vehicle according to claim 5 is characterized in that: A one-way valve is arranged on the connecting pipeline between the filter and the control assembly.

7. The chassis structure control system of the four-wheel independent suspension aerial work vehicle according to claim 5 is characterized in that: The control assembly is provided with a plurality of groups of identical control elements connected to the accumulator and the first suspension cylinder or the second suspension cylinder, wherein each group of control elements comprises: A first electromagnetic poppet valve, one end of the first electromagnetic poppet valve being connected to the rodless chamber of the first suspension oil cylinder or the second suspension oil cylinder as the second control end of the control assembly, and the other end of the first electromagnetic poppet valve being connected to the accumulator as the first control end of the control assembly; A proportional reversing valve, wherein the first working oil port of the proportional reversing valve is connected to the rodless chamber of the first suspension oil cylinder or the second suspension oil cylinder as the second control end of the control component, the second working oil port of the proportional reversing valve is connected to the rod chamber of the first suspension oil cylinder or the second suspension oil cylinder as the second control end of the control component, the oil inlet of the proportional reversing valve is connected to the oil inlet of the reversing valve as the third control end of the control component, and the oil outlet of the proportional reversing valve returns oil to the oil tank; A hydraulically controlled one-way valve, wherein the hydraulically controlled one-way valve is arranged on a connecting pipeline between the rodless chamber of the first suspension oil cylinder or the second suspension oil cylinder and the first working oil port of the proportional reversing valve, and a control oil circuit of the hydraulically controlled one-way valve is connected to a connecting pipeline between the second working oil port on the proportional reversing valve and the rod chamber of the first suspension oil cylinder or the second suspension oil cylinder; In addition, the control component also includes: A second electromagnetic poppet valve, one end of the second electromagnetic poppet valve is connected to one end of the filter, and the other end of the second electromagnetic poppet valve is connected to the connecting pipeline connecting the oil inlet of the reversing valve to the oil inlet of the proportional reversing valve; A first flow valve, wherein a first interface of the first flow valve is connected to a connecting pipeline connecting the filter to the second electromagnetic poppet valve, and a second interface of the first flow valve is connected to an oil tank; A second flow valve, one end of the second flow valve is connected to the connecting pipeline connecting the oil inlet of the reversing valve and the oil inlet of the proportional reversing valve, and the other end of the second flow valve is connected to the connecting pipeline connecting the second interface on the first flow valve to the oil tank.

8. The chassis structure control system of the aerial work vehicle with four-wheel independent suspension according to claim 7 is characterized in that: The first electromagnetic poppet valve comprises a two-way cut-off electromagnetic poppet valve, the second electromagnetic poppet valve comprises a one-way cut-off electromagnetic poppet valve, the first flow valve comprises a three-way flow valve, and the second flow valve comprises a constant flow valve.

9. The chassis structure control system of the aerial work vehicle with four-wheel independent suspension according to claim 7, characterized in that: It also includes a throttle valve, one end of which is connected to the connecting pipeline connecting the second flow valve to the oil inlet of the reversing valve and the oil inlet of the proportional reversing valve, and the other end of the throttle valve is connected to the third interface of the first flow valve.

Images