Axle load leveling method for a work machine and work machine

Abstract

The application discloses a shaft load leveling method for a working machine and the working machine. The shaft load leveling method can be applied to shaft load leveling of a working machine such as a hybrid full ground crane. The shaft load leveling method comprises the following steps: determining a leveling compensation load according to a driving shaft down load and a driven shaft down load; determining a driven shaft leveling up load according to the leveling compensation load and a driving shaft up load; determining a leveling compensation angle of a driven shaft suspension cylinder according to the leveling up load; and adjusting an installation angle of the driven shaft suspension cylinder relative to a vertical direction according to the leveling compensation angle. The shaft load leveling method increases the driving shaft up load by adjusting the installation angle of the driven shaft suspension cylinder relative to the vertical direction, and then makes the single shaft load of the driven shaft equal to the single shaft load of the driving shaft, thereby making up for the difference between the driving shaft down load and the driven shaft down load, and maximizing the shaft load of the driven shaft, and improving the working performance of the working machine.

Description

Technical Field

[0001] This invention belongs to the field of suspension system technology, specifically relating to a method for axle load leveling for working machinery and the working machinery itself. Background Technology

[0002] Based on current development trends in engineering vehicles, hybrid all-terrain cranes have already achieved a certain scale due to their advantages of good driving stability and off-road performance. Therefore, the optimized and improved technical solution of this paper is also suitable for hybrid all-terrain cranes. The crane has a suspension system. The upper load of the suspension system includes the frame and other components on the frame, while the lower load includes the axles, wheels, and power steering cylinders and thrust rods mounted on the axles. The crane's drive axle and driven axle are used to bear the upper and lower loads respectively, and the single axle load of the drive axle and driven axle has an upper limit according to design specifications.

[0003] Existing cranes typically adjust the upper load of each shaft to be equal when leveling axle loads, ignoring the differences in lower loads between each shaft. Since the lower load of the drive shaft usually includes the transmission structure, the lower load of the drive shaft is greater than that of the driven shaft. When the upper loads of the drive and driven shafts are leveled, the single-shaft load of the drive shaft is greater than that of the driven shaft. The axle load design of the driven shaft cannot reach its upper limit, affecting the lifting performance of the crane. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies, the present invention provides a method for leveling axle loads for operating machinery and the operating machinery itself, aiming to solve the technical problem that the single-axis load of the drive shaft is greater than the single-axis load of the driven shaft, and the axle load design of the driven shaft cannot reach the upper limit of the bearing capacity, thus affecting the lifting performance of the crane.

[0005] To achieve the above objectives, the present invention provides a method for leveling axle loads in working machinery, the method comprising:

[0006] Determine the leveling compensation load based on the underload of the drive shaft and the underload of the driven shaft;

[0007] The leveling load of the driven shaft is determined based on the leveling compensation load and the load on the drive shaft.

[0008] The leveling compensation angle of the driven shaft suspension cylinder is determined based on the leveling load.

[0009] The installation angle of the driven shaft suspension cylinder relative to the vertical direction is adjusted according to the leveling compensation angle.

[0010] In this embodiment of the invention, determining the leveling load of the driven shaft suspension cylinder based on the leveling compensation load and the load on the drive shaft suspension cylinder includes:

[0011] The upper load of the drive shaft suspension cylinder is determined based on the number of drive shafts, the number of driven shafts, the lower load of the drive shaft suspension cylinder, the lower load of the driven shaft suspension cylinder, and the total load of the suspension system.

[0012] The sum of the leveling compensation load and the load on the drive shaft suspension cylinder is determined as the leveling load.

[0013] In this embodiment of the invention, determining the leveling load on the driven shaft based on the leveling compensation load and the load on the drive shaft includes:

[0014] Determine the load on the drive shaft;

[0015] The sum of the leveling compensation load and the load on the drive shaft is determined as the leveling load.

[0016] In this embodiment of the invention, determining the load on the drive shaft includes:

[0017] The number of drive shafts, the number of driven shafts, the lower load of the drive shaft, the lower load of the driven shaft, and the total load are substituted into the first calculation formula to calculate the upper load of the drive shaft. The first calculation formula is as follows:

[0018] F 总 =(n 驱 +n 从 )F 上 +(n 驱 ×F 驱下 )+(n 从 ×F 从下 ),

[0019] In the formula, F 总 Let n be the total load. 驱 Let n be the number of drive axes. 从 Let F be the number of the driven shafts. 上 Let F be the load on the drive shaft. 驱下 Let F be the underload of the drive shaft. 从下 Let the load be the load on the driven shaft.

[0020] In this embodiment of the invention, determining the leveling compensation angle of the driven shaft suspension cylinder based on the leveling load includes:

[0021] The hydraulic pressure of the drive shaft suspension cylinder is determined based on the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder, and the installation angle.

[0022] The leveling compensation angle is determined based on the oil pressure, working area, installation angle, and leveling load of the drive shaft suspension cylinder. The oil pressure of the drive shaft suspension cylinder is equal to the oil pressure of the driven shaft suspension cylinder, and the working area of ​​the drive shaft suspension cylinder is equal to the working area of ​​the driven shaft suspension cylinder.

[0023] In this embodiment of the invention, determining the leveling compensation angle based on the hydraulic pressure, effective area, installation angle, and leveling load of the drive shaft suspension cylinder includes:

[0024] The hydraulic pressure, effective area, installation angle, and leveling load of the drive shaft suspension cylinder are substituted into the second calculation formula to obtain the leveling compensation angle. The second calculation formula is as follows:

[0025] F 补 =F 调 -F 上 =2PA[cos(α-Δα)-cos(α)],

[0026] In the formula, F 补 Set as the leveling compensation load, F 调 Set as the leveling load, F 上 Let P be the load on the drive shaft, A be the hydraulic pressure of the drive shaft suspension cylinder, α be the effective area of ​​the drive shaft suspension cylinder, and Δα be the installation angle of the drive shaft suspension cylinder.

[0027] In this embodiment of the invention, determining the hydraulic pressure of the drive shaft suspension cylinder based on the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder, and the installation angle includes:

[0028] The load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder, and the installation angle are substituted into the third calculation formula to calculate the hydraulic pressure of the drive shaft suspension cylinder. The third calculation formula is as follows:

[0029] F 上 =2PAcos(α).

[0030] In this embodiment of the invention, the diameter of the drive shaft suspension cylinder is substituted into the fourth calculation formula to calculate the effective area of ​​the drive shaft suspension cylinder, wherein the fourth calculation formula is:

[0031] A = π(D) 2 / 4),

[0032] In the formula, D is set as the diameter of the drive shaft suspension cylinder.

[0033] In this embodiment of the invention, determining the leveling compensation load based on the underload of the drive shaft and the underload of the driven shaft includes:

[0034] The difference between the underload on the drive shaft and the underload on the driven shaft is determined as the leveling compensation load.

[0035] In this embodiment of the invention, adjusting the installation angle of the driven shaft suspension cylinder relative to the vertical direction according to the leveling compensation angle includes:

[0036] The difference between the installation angle of the drive shaft suspension cylinder and the leveling compensation angle is determined as the leveling installation angle of the driven shaft suspension cylinder.

[0037] The installation angle of the driven shaft suspension cylinder relative to the vertical direction is adjusted to the leveling installation angle.

[0038] To achieve the above objectives, the present invention also provides a working machine, which includes a drive shaft and a driven shaft, wherein the sum of the upper load and the lower load of the drive shaft is equal to the sum of the upper load and the lower load of the driven shaft.

[0039] In this embodiment of the invention, the working machinery also includes a suspension system, which includes a drive shaft suspension cylinder and a driven shaft suspension cylinder. The drive shaft suspension cylinder is mounted on the drive shaft, and the driven shaft suspension cylinder is mounted on the driven shaft. The installation angle of the driven shaft suspension cylinder relative to the vertical direction is set as the leveling installation angle, which is equal to the difference between the installation angle of the drive shaft suspension cylinder and the leveling compensation angle.

[0040] Through the above technical solutions, the axle load leveling method and the working machinery provided by the embodiments of the present invention have the following beneficial effects:

[0041] In the technical solution of this invention, the axle load leveling method increases the upper load of the driven shaft by adjusting the installation angle of the driven shaft suspension cylinder relative to the vertical direction, thereby making the single-shaft load of the driven shaft equal to the single-shaft load of the drive shaft. This balances the upper and lower loads, compensates for the difference between the lower load of the drive shaft and the lower load of the driven shaft, achieves axle load leveling, and maximizes the use of design specifications to increase the axle load of the driven shaft, thereby improving the working performance of the machine.

[0042] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0043] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings:

[0044] Figure 1 This is a flowchart illustrating the first embodiment of the axle load leveling method according to the present invention;

[0045] Figure 2 This is a flowchart illustrating step S20 in the first embodiment of the axle load leveling method according to the present invention;

[0046] Figure 3 This is a flowchart illustrating step S30 in the first embodiment of the axle load leveling method according to the present invention;

[0047] Figure 4 This is a flowchart illustrating step S40 in the first embodiment of the axle load leveling method according to the present invention;

[0048] Figure 5 This is a flowchart illustrating the second embodiment of the axle load leveling method according to the present invention;

[0049] Figure 6 This is a schematic diagram of the working machinery according to an embodiment of the present invention from one perspective;

[0050] Figure 7 This is a schematic diagram of the working machinery according to an embodiment of the present invention from another perspective;

[0051] Figure 8 This is a structural schematic diagram of a suspension system in a working machine according to an embodiment of the present invention.

[0052] Explanation of reference numerals in the attached figures

[0053] 100 Suspension System 30 Shut-off Valve

[0054] 10 Drive shaft suspension cylinder 200 Operating machinery

[0055] 20 Driven Axle Suspension Cylinder Detailed Implementation

[0056] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0057] The axle load leveling method for working machinery of the present invention is described below with reference to the accompanying drawings.

[0058] This invention provides an axle load leveling method for construction machinery. This method can be applied to level the axle loads of the drive shaft and driven shaft in construction machinery 200. It should be noted that the construction machinery 200 is an engineering machine with a suspension system 100. The upper load of the suspension system 100 includes the frame and other components on the frame, while the lower load includes the axle, wheels, and power steering cylinders and thrust rods mounted on the axle. The suspension system 100 includes a drive shaft suspension cylinder 10 and a driven shaft suspension cylinder 20. The upper end of the drive shaft suspension cylinder 10 is connected to the vehicle... The frame is connected, and the lower end of the drive axle suspension cylinder 10 is connected to the drive shaft in the axle. The upper end of the driven axle suspension cylinder 20 is connected to the frame, and the lower end of the driven axle suspension cylinder 20 is connected to the driven shaft in the axle. Both the drive axle suspension cylinder 10 and the driven axle suspension cylinder 20 can drive the corresponding axle to rise and fall relative to the frame. Both the drive axle suspension cylinder 10 and the driven axle suspension cylinder 20 are inclined relative to the vertical direction. In this embodiment of the invention, the work machinery 200 is only described as a hybrid all-terrain crane. The invention does not limit the type of work machinery 200.

[0059] Reference Figure 1 This is a flowchart illustrating the first embodiment of the axle load leveling method of the present invention. The axle load leveling method for working machinery includes:

[0060] Step S10: Determine the leveling compensation load based on the underload of the drive shaft and the underload of the driven shaft.

[0061] Specifically, since the underload of the drive shaft includes transmission structures such as transmission gears and transmission half shafts, the underload of the drive shaft is greater than that of the driven shaft. The leveling compensation load can be determined based on the difference between the underload of the drive shaft and the underload of the driven shaft.

[0062] Step S20: Determine the leveling load of the driven shaft based on the leveling compensation load and the load on the drive shaft.

[0063] Specifically, before the shaft load is leveled, the load on the driven shaft is equal to the load on the drive shaft. Therefore, the leveling load on the driven shaft can be determined based on the sum of the load on the drive shaft and the leveling compensation load. That is, when the load on the driven shaft is adjusted to be equal to the leveling load, the sum of the upper and lower loads on the driven shaft is equal to the sum of the upper and lower loads on the drive shaft, which means that the shaft load of the driven shaft is equal to the shaft load of the drive shaft.

[0064] Step S30: Determine the leveling compensation angle of the driven shaft suspension cylinder 20 based on the leveling load.

[0065] Specifically, the leveling compensation angle of the driven shaft is determined by calculation, looking up a mapping table, or experimentation.

[0066] Step S40: Adjust the installation angle of the driven shaft suspension cylinder 20 relative to the vertical direction according to the leveling compensation angle;

[0067] Specifically, the installation angle of the driven shaft suspension cylinder 20 is adjusted to the vertical direction to achieve a leveling compensation angle, making the installation angle of the driven shaft suspension cylinder 20 smaller than that of the drive shaft suspension cylinder 10. This increases the load on the driven shaft, making the shaft load equal to the shaft load of the drive shaft, thus achieving shaft load leveling. Furthermore, the shaft load of the driven shaft can reach the upper limit specified in the design, improving the lifting performance of the crane.

[0068] In the first embodiment of the axle load leveling method of the present invention, the axle load leveling method increases the upper load of the driven shaft by adjusting the installation angle of the driven shaft suspension cylinder 20 relative to the vertical direction, thereby making the single-shaft load of the driven shaft equal to the single-shaft load of the drive shaft. This balances the upper and lower loads, compensates for the difference between the lower load of the drive shaft and the lower load of the driven shaft, achieves axle load leveling, and maximizes the use of design specifications to increase the axle load of the driven shaft, thereby improving the lifting performance of the crane.

[0069] Reference Figure 2 Based on the first embodiment described above, step S20, determining the leveling load of the driven shaft according to the leveling compensation load and the load on the drive shaft, includes:

[0070] Step S21: Determine the load on the drive shaft;

[0071] Specifically, the total load of the working machinery 200 is equal to the sum of the upper load and the lower load of the suspension system 100. That is, the total load of the working machinery 200 is equal to the sum of the axle loads of all drive shafts and the axle loads of all driven shafts. The axle load of the drive shaft is equal to the sum of the upper load and the lower load of the drive shaft, and the axle load of the driven shaft is equal to the sum of the upper load and the lower load of the driven shaft. Thus, the upper load of the drive shaft and the upper load of the driven shaft before leveling can be determined based on the number of drive shafts, the number of driven shafts, the lower load of the drive shaft, the lower load of the driven shaft, and the total load.

[0072] Step S22: The sum of the leveling compensation load and the upper load of the drive shaft is determined as the leveling upper load.

[0073] Specifically, the leveling compensation load is the difference between the lower load of the drive shaft and the lower load of the driven shaft. By determining the sum of the leveling compensation load and the upper load of the drive shaft as the leveling upper load, and adjusting the upper load of the driven shaft to the leveling upper load, the shaft load of the driven shaft can be made equal to the shaft load of the drive shaft, thus compensating for the difference in the lower loads of the drive shaft and the driven shaft. This is beneficial for making full use of the design specifications and increasing the shaft load of the driven shaft.

[0074] Further, step S21, determining the load on the drive shaft includes:

[0075] Step S211: Substitute the number of drive shafts, the number of driven shafts, the lower load of the drive shaft, the lower load of the driven shaft, and the total load into the first calculation formula to calculate and obtain the upper load of the drive shaft. The first calculation formula is:

[0076] F 总 =(n 驱 +n 从 )F 上 +(n 驱 ×F 驱下 )+(n 从 ×F 从下 ),

[0077] In the formula, F 总 Let n be the total load. 驱 Let n be the number of drive axes. 从 Let F be the number of the driven shafts. 上 Let F be the load on the drive shaft. 驱下 Let F be the underload of the drive shaft. 从下 Let the load be the load on the driven shaft.

[0078] Specifically, (n 驱 ×F 驱下 (n) represents the sum of the underloads on all drive shafts. 从 ×F 从下 (n) represents the sum of the loads on all driven shafts. 驱 ×F 驱下 )+(n 从 ×F 从下 The load on the suspension system 100 is the lower load. The difference between the total load and the lower load on the suspension system 100 is the upper load on the suspension system 100. Before leveling the axle load, the upper load on the drive shaft is equal to the upper load on the driven shaft. (n) 驱 +n 从 (n) is the sum of the number of driving shafts and the number of driven shafts. 驱 +n 从 ) and the load F on the drive shaft 上 The product of these values ​​represents the load on the suspension system 100. Therefore, the load on the drive shaft can be determined according to the first calculation formula. Furthermore, the leveling load can be determined based on the leveling compensation load and the load on the drive shaft. By adjusting the load on the drive shaft to the leveling load, the shaft load of the driven shaft can be made equal to the shaft load of the drive shaft, thus compensating for the difference in load between the drive shaft and the driven shaft. This is beneficial for making full use of the design specifications to increase the shaft load of the driven shaft.

[0079] Reference Figure 3Based on the first embodiment described above, step S30, determining the leveling compensation angle of the driven shaft suspension cylinder 20 according to the leveling load, includes:

[0080] Step S31: Determine the oil pressure of the drive shaft suspension cylinder 10 based on the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder 10, and the installation angle.

[0081] Specifically, on the one hand, a calculation formula can be constructed using the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder 10, the installation angle, and the oil pressure. By substituting the corresponding parameters into the calculation formula, the oil pressure of the drive shaft suspension cylinder 10 can be obtained. On the other hand, a mapping table can be established by setting the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder 10, and the installation angle as variables. The oil pressure of the drive shaft suspension cylinder 10 can be determined by looking up the mapping table.

[0082] Step S32: Determine the leveling compensation angle based on the oil pressure, working area, installation angle, and leveling load of the drive shaft suspension cylinder 10. The oil pressure of the drive shaft suspension cylinder 10 is equal to the oil pressure of the driven shaft suspension cylinder 20, and the working area of ​​the drive shaft suspension cylinder 10 is equal to the working area of ​​the driven shaft suspension cylinder 20.

[0083] Specifically, when the hydraulic pressure of the driven shaft suspension cylinder 20 is equal to that of the drive shaft suspension cylinder 10, and the effective area of ​​the driven shaft suspension cylinder 20 is equal to that of the drive shaft suspension cylinder 10, the leveling compensation angle can be obtained by calculation or by looking up a mapping table based on the hydraulic pressure, effective area, installation angle, and leveling load of the drive shaft suspension cylinder 10. By adjusting the installation angle of the driven shaft suspension cylinder 20 towards the vertical direction, the installation angle of the driven shaft suspension cylinder 20 is made smaller than that of the drive shaft suspension cylinder 10, thereby increasing the load on the driven shaft. This makes the axle load of the driven shaft equal to that of the drive shaft, achieving axle load leveling. Furthermore, the axle load of the driven shaft can reach the upper limit specified in the design, improving the lifting performance of the crane.

[0084] Further, in step S32, determining the leveling compensation angle based on the oil pressure, working area, installation angle, and leveling load of the drive shaft suspension cylinder 10 includes:

[0085] Step S321: Substitute the hydraulic pressure, effective area, installation angle, and leveling load of the drive shaft suspension cylinder 10 into the second calculation formula to calculate and obtain the leveling compensation angle. The second calculation formula is as follows:

[0086] F 补 =F 调 -F 上 =2PA[cos(α-Δα)-cos(α)],

[0087] In the formula, F 补 Set as the leveling compensation load, F 调 Set as the leveling load, F 上 Let P be the load on the drive shaft, P be the hydraulic pressure of the drive shaft suspension cylinder 10, A be the effective area of ​​the drive shaft suspension cylinder 10, α be the installation angle of the drive shaft suspension cylinder 10, and Δα be the leveling compensation angle.

[0088] Specifically, according to step S22, the leveling load is equal to the sum of the leveling compensation load and the load on the drive shaft, i.e., F. 补 =F 调 -F 上 The load on the drive shaft is Leveling load is F 调 =2PAcos(α-Δα), so the leveling compensation angle can be determined according to the second calculation formula, and then the installation angle of the driven shaft suspension cylinder 20 can be adjusted according to the leveling compensation angle, so that the load on the driven shaft increases and the lifting performance of the crane is improved.

[0089] Further, step S31, determining the hydraulic pressure of the drive shaft suspension cylinder 10 based on the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder 10, and the installation angle includes:

[0090] Step S311: Substitute the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder 10, and the installation angle into the third calculation formula to calculate and obtain the oil pressure of the drive shaft suspension cylinder 10. The third calculation formula is: F 上 =2PAcos(α);

[0091] Specifically, each end of the drive shaft is equipped with a corresponding drive shaft suspension cylinder 10, and the drive shaft suspension cylinder 10 is installed at an angle relative to the vertical direction. Therefore, the oil pressure of the drive shaft suspension cylinder 10 can be determined according to the third calculation formula. Furthermore, the hydraulic pressure P of the drive shaft suspension cylinder 10, i.e. the pressure of the suspension system 100, can be determined based on the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder 10, and the installation angle, thereby controlling the pressure F. 补 Substituting P, A, and α into the second calculation formula determines the leveling compensation angle Δα. This allows for adjustment of the installation angle of the driven shaft suspension cylinder 20 based on the leveling compensation angle, thereby increasing the load on the driven shaft and improving the crane's lifting performance.

[0092] In one embodiment of the axle load leveling method of the present invention, the diameter of the drive axle suspension cylinder 10 is substituted into the fourth calculation formula to calculate and obtain the effective area of ​​the drive axle suspension cylinder 10, wherein the fourth calculation formula is: A=π(D 2 / 4), where D is the diameter of the drive axle suspension cylinder 10; specifically, the effective area of ​​the drive axle suspension cylinder 10 is the cross-sectional area of ​​the drive axle suspension cylinder 10. Therefore, the effective area of ​​the drive axle suspension cylinder 10 can be determined by substituting the diameter of the drive axle suspension cylinder 10 into the fourth calculation formula, and then by substituting F... 上 Substituting A and α into the third calculation formula, the oil pressure P of the drive shaft suspension cylinder 10 is determined, and the calculation result is highly accurate.

[0093] In one embodiment of the shaft load leveling method of the present invention, based on the first embodiment described above, step S10, determining the leveling compensation load according to the underload of the driving shaft and the underload of the driven shaft, includes:

[0094] Step S11: The difference between the underload of the drive shaft and the underload of the driven shaft is determined as the leveling compensation load.

[0095] Specifically, since the underload of the drive shaft includes transmission structures such as transmission gears and transmission half shafts, the underload of the drive shaft is greater than that of the driven shaft. Therefore, the leveling compensation load can be determined based on the difference between the underload of the drive shaft and the underload of the driven shaft. By adding the leveling compensation load to the upper load of the driven shaft, the shaft load of the driven shaft can be increased to be equal to the shaft load of the drive shaft, thus achieving shaft load leveling and making full use of the shaft load design specifications, thereby improving the lifting performance of the crane.

[0096] Reference Figure 4 Based on the first embodiment described above, step S40, adjusting the installation angle of the driven shaft suspension cylinder 20 relative to the vertical direction according to the leveling compensation angle, includes:

[0097] Step S41: The difference between the installation angle of the drive shaft suspension cylinder 10 and the leveling compensation angle is determined as the leveling installation angle of the driven shaft suspension cylinder 20.

[0098] Step S42, adjust the installation angle of the driven shaft suspension cylinder 20 relative to the vertical direction to the leveling installation angle;

[0099] Specifically, reducing the installation angle of the driven shaft suspension cylinder 20 relative to the vertical direction increases the load on the driven shaft. Before adjusting the installation angle of the driven shaft suspension cylinder 20, the installation angle of the driven shaft suspension cylinder 20 is equal to the installation angle of the drive shaft suspension cylinder 10. When adjusting the leveling compensation angle of the driven shaft suspension cylinder 20 towards the vertical direction, the driven shaft suspension cylinder 20 is adjusted to the leveling installation angle, making the load on the driven shaft greater than the load on the drive shaft, and the axle load of the driven shaft is leveled to be equal to the axle load of the drive shaft. This balances the load on the upper and lower parts of the suspension system 100, compensates for the difference between the axle load of the driven shaft and the axle load of the drive shaft, and maximizes the use of design specifications to increase the axle load of the driven shaft, thereby improving the lifting performance of the crane.

[0100] Reference Figure 5 This is a flowchart illustrating the second embodiment of the axle load leveling method of the present invention. The axle load leveling method includes:

[0101] Step S11: The difference between the underload of the drive shaft and the underload of the driven shaft is determined as the leveling compensation load.

[0102] Step S211: Substitute the number of drive shafts, the number of driven shafts, the lower load of the drive shaft, the lower load of the driven shaft, and the total load into the first calculation formula to calculate and obtain the upper load of the drive shaft.

[0103] Step S22: The sum of the leveling compensation load and the upper load of the drive shaft is determined as the leveling upper load.

[0104] Step S311: Substitute the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder 10, and the installation angle into the third calculation formula to calculate and obtain the oil pressure of the drive shaft suspension cylinder 10.

[0105] Step S321: Substitute the oil pressure, working area, installation angle, and leveling load of the drive shaft suspension cylinder 10 into the second calculation formula to calculate and obtain the leveling compensation angle.

[0106] Step S41: The difference between the installation angle of the drive shaft suspension cylinder 10 and the leveling compensation angle is determined as the leveling installation angle of the driven shaft suspension cylinder 20.

[0107] Step S42, adjust the installation angle of the driven shaft suspension cylinder 20 relative to the vertical direction to the leveling installation angle.

[0108] Specifically, the crane has two driven shafts and three driven shafts spaced apart along the length of the frame. The first and third are designated as driven shafts, and the second, fourth, and fifth are designated as drive shafts. The two and three driven shafts are grouped according to the wheelbase arrangement, with the first driven shaft and the second drive shaft forming one group, and the third driven shaft, the fourth drive shaft, and the fifth drive shaft forming another group. Figures 6 to 8 As shown, each driven shaft has a driven shaft suspension cylinder 20 at both ends, and each drive shaft has a drive shaft suspension cylinder 10 at both ends. The hydraulic pipes are connected in series within the group to ensure that the oil pressure of the driven shaft suspension cylinder 20 is equal to that of the drive shaft suspension cylinder 10, thus making the upper load on the driven shaft equal to that on the drive shaft. The upper loads of the two groups can be adjusted to be equal by adjusting the center return position and wheelbase. However, because the lower load on the drive shaft includes the transmission gears, half-shafts, and other transmission structures, the lower load on the drive shaft is greater than the lower load on the driven shaft. The load on the driven shaft is less than that on the drive shaft. Furthermore, the axle load design specifications have an upper limit. When the drive shaft's axle load reaches the upper limit, the driven shaft's axle load is far below it, resulting in the driven shaft's axle load design failing to fully utilize the design specifications. This reduces the crane's lifting performance by at least 10%. Current technology typically adjusts the axle load by adjusting the center-return position or wheelbase. However, adjusting the center-return position increases the crane's front overhang, directly affecting the turning diameter and overall passability. Adjusting the wheelbase increases the total wheelbase, similarly affecting the turning diameter and overall passability.

[0109] In the second embodiment of the shaft load leveling method of the present invention, the diameter D of the drive shaft suspension cylinder 10 is 90mm, the installation angle α of the drive shaft suspension cylinder 10 is 15°, and the number of driven shafts n 从 =2, the number of drive shafts n 驱 =3, the total load F of the crane 总 = 600000N, the lower load F on the driven shaft 从下 =13000N, the lower load F on the drive shaft 驱下 =17000N;

[0110] The leveling compensation load F can be determined according to step S11. 补 =F 驱下 -F 从下 =17000-13000=4000N;

[0111] The load on the drive shaft can be determined according to step S211.

[0112]

[0113] According to step S22, the leveling load F can be determined. 调 =F补 +F 上 =4000 + 104600 = 108600 N;

[0114] The oil pressure of the drive shaft suspension cylinder 10 can be determined according to step S311.

[0115]

[0116] According to step S321, the leveling compensation angle Δα = 5° can be determined.

[0117] According to step S41, the leveling installation angle can be determined as α-Δα=15°-5°=10°;

[0118] According to step S42, adjusting the installation angle of the driven shaft suspension cylinder 20 relative to the vertical direction to a leveling installation angle of 10° will make the single-shaft load of the driven shaft equal to the single-shaft load of the drive shaft. This balances the upper and lower loads, compensates for the difference between the lower load of the drive shaft and the lower load of the driven shaft, achieves shaft load leveling, and maximizes the use of design specifications to increase the shaft load of the driven shaft, thereby improving the lifting performance of the crane.

[0119] Furthermore, such as Figure 8 As shown, by using a shut-off valve 30 to connect all driven shaft suspension cylinders 20 and drive shaft suspension cylinders 10, the load on the driven shaft and the load on the drive shaft can be adjusted to be equal. Then, by adjusting the driven shaft suspension cylinder 20 to the leveling installation angle, the shaft load of the driven shaft can be adjusted to be equal to the shaft load of the drive shaft. This achieves the leveling of the shaft load of the whole machine without adjusting the center return position, wheelbase, or affecting the overall passability. The structural modification is small and the adjustment is convenient and quick.

[0120] Furthermore, the present invention also provides a working machine 200, which can be configured as a hybrid all-terrain crane. The working machine 200 includes a drive shaft and a driven shaft, and the sum of the upper and lower loads of the drive shaft is equal to the sum of the upper and lower loads of the driven shaft. Specifically, the single-shaft load of the drive shaft is equal to the sum of the upper and lower loads of the drive shaft, and the single-shaft load of the driven shaft is equal to the sum of the upper and lower loads of the driven shaft. The sum of the upper and lower loads of the drive shaft is equal to the sum of the upper and lower loads of the driven shaft, that is, the single-shaft load of the drive shaft is equal to the single-shaft load of the driven shaft, which realizes the leveling of the shaft load and can maximize the use of design specifications to increase the shaft load of the driven shaft, thereby improving the lifting performance of the crane.

[0121] Furthermore, such as Figure 6 and Figure 7As shown, the working machinery also includes a suspension system 100, which includes a drive shaft suspension cylinder 10 and a driven shaft suspension cylinder 20. The drive shaft suspension cylinder 10 is mounted on the drive shaft, and the driven shaft suspension cylinder 20 is mounted on the driven shaft.

[0122] In one embodiment of the present invention, the installation angle of the driven shaft suspension cylinder 20 relative to the vertical direction is set as the leveling installation angle, which is equal to the difference between the installation angle of the drive shaft suspension cylinder 10 and the leveling compensation angle. Specifically, both the driven shaft suspension cylinder 20 and the drive shaft suspension cylinder 10 are inclined relative to the vertical direction. Based on this, the leveling compensation angle of the driven shaft suspension cylinder 20 is adjusted towards the vertical direction so that the installation angle of the driven shaft suspension cylinder 20 is adjusted from being equal to the installation angle of the drive shaft suspension cylinder 10 to the leveling installation angle. This increases the load on the driven shaft and makes the axle load of the driven shaft equal to the axle load of the drive shaft, thus completing the axle load leveling. Furthermore, this leveling compensation angle is determined based on the above-described axle load leveling method. That is, the working machine 200 performs axle load leveling based on the above-described axle load leveling method. Since the determination of the leveling installation angle of the driven shaft suspension cylinder 20 of the working machine 200 adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here.

[0123] In another embodiment of the present invention, the diameter of the driven shaft suspension cylinder 20 is set as the leveling diameter, which is equal to the sum of the diameter of the drive shaft suspension cylinder 10 and the leveling compensation dimension. Specifically, the difference between the lower load of the drive shaft and the lower load of the driven shaft is determined as the leveling compensation load; the number of drive shafts, the number of driven shafts, the lower load of the drive shaft, the lower load of the driven shaft, and the total load are substituted into the first calculation formula to calculate and obtain the upper load of the drive shaft; the sum of the leveling compensation load and the upper load of the drive shaft is determined as the leveling upper load; the upper load of the drive shaft, the effective area of ​​the drive shaft suspension cylinder 10, and the installation angle are substituted into the third calculation formula to calculate and obtain the hydraulic pressure of the drive shaft suspension cylinder 10.

[0124] The hydraulic pressure, diameter, and leveling load of the drive shaft suspension cylinder 10 are substituted into the fifth calculation formula to calculate and obtain the leveling compensation dimensions. The fifth calculation formula is as follows:

[0125] F 补 =F 调 -F 上 =2P[π(D+d)] 2 -D 2 ] / 4,

[0126] In the formula, F 补 Set as the leveling compensation load, F 调 Set as the leveling load, F 上Let P be the load on the drive shaft, P be the hydraulic pressure of the drive shaft suspension cylinder 10, D be the diameter of the drive shaft suspension cylinder 10, and d be the leveling compensation dimension.

[0127] The sum of the diameter of the drive shaft suspension cylinder 10 and the leveling compensation dimension is determined as the leveling diameter of the driven shaft suspension cylinder 20. Setting the diameter of the driven shaft suspension cylinder 20 as the leveling diameter increases the single-shaft load of the driven shaft, making the single-shaft load of the driven shaft equal to the single-shaft load of the drive shaft. This balances the upper and lower loads, compensates for the difference between the lower load of the drive shaft and the lower load of the driven shaft, achieves shaft load leveling, and maximizes the use of design specifications to increase the shaft load of the driven shaft, thereby improving the lifting performance of the crane.

[0128] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0129] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0130] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0131] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for leveling axle loads in working machinery, characterized in that, The axle load leveling method includes: Determine the leveling compensation load based on the underload of the drive shaft and the underload of the driven shaft; The leveling load of the driven shaft is determined based on the leveling compensation load and the load on the drive shaft. The leveling compensation angle of the driven shaft suspension cylinder (20) is determined based on the leveling load. The mounting angle of the driven shaft suspension cylinder (20) relative to the vertical direction is adjusted according to the leveling compensation angle; The adjustment of the installation angle of the driven shaft suspension cylinder (20) relative to the vertical direction according to the leveling compensation angle includes: The difference between the installation angle of the drive shaft suspension cylinder (10) and the leveling compensation angle is determined as the leveling installation angle of the driven shaft suspension cylinder (20). The mounting angle of the driven shaft suspension cylinder (20) relative to the vertical direction is adjusted to the leveling mounting angle; Determining the leveling load of the driven shaft based on the leveling compensation load and the load on the drive shaft includes: Determine the load on the drive shaft; The sum of the leveling compensation load and the load on the drive shaft is determined as the leveling load.

2. The axle load leveling method for working machinery according to claim 1, characterized in that, Determining the load on the drive shaft includes: The upper load of the drive shaft is calculated by substituting the number of drive shafts, the number of driven shafts, the lower load of the drive shaft, the lower load of the driven shaft, and the total load into the first calculation formula. The first calculation formula is: ， In the formula, Set as the total load. Set to the number of drive axes. Let this be the number of the driven axis. Let the load be the load on the drive shaft. Let the load be the underload of the drive shaft. Let the load be the load on the driven shaft.

3. The axle load leveling method for working machinery according to claim 1, characterized in that, The determination of the leveling compensation angle of the driven shaft suspension cylinder (20) based on the leveling load includes: The oil pressure of the drive shaft suspension cylinder (10) is determined based on the load on the drive shaft, the working area of ​​the drive shaft suspension cylinder (10), and the installation angle. The leveling compensation angle is determined based on the oil pressure, working area, installation angle of the drive shaft suspension cylinder (10) and the leveling load, wherein the oil pressure of the drive shaft suspension cylinder (10) is equal to the oil pressure of the driven shaft suspension cylinder (20), and the working area of ​​the drive shaft suspension cylinder (10) is equal to the working area of ​​the driven shaft suspension cylinder (20).

4. The axle load leveling method for working machinery according to claim 3, characterized in that, The determination of the leveling compensation angle based on the oil pressure, working area, installation angle of the drive shaft suspension cylinder (10) and the leveling load includes: The hydraulic pressure, working area, installation angle of the drive shaft suspension cylinder (10), and the leveling load are substituted into the second calculation formula to calculate and obtain the leveling compensation angle. The second calculation formula is as follows: ， In the formula, Set as a leveling compensation load. Set as leveling load. Let the load be the load on the drive shaft. Let the hydraulic pressure of the drive shaft suspension cylinder (10) be set. Let the effective area of ​​the drive shaft suspension cylinder (10) be defined. Let the installation angle of the drive shaft suspension cylinder (10) be set. Set as the leveling compensation angle.

5. The axle load leveling method for working machinery according to claim 4, characterized in that, The process of determining the oil pressure of the drive shaft suspension cylinder (10) based on the load on the drive shaft, the effective area of ​​the drive shaft suspension cylinder (10), and the installation angle includes: The upper load of the drive shaft, the effective area of ​​the drive shaft suspension cylinder (10), and the installation angle are substituted into the third calculation formula to calculate and obtain the oil pressure of the drive shaft suspension cylinder (10). The third calculation formula is as follows: 。 6. The axle load leveling method for working machinery according to claim 4, characterized in that, The diameter of the drive shaft suspension cylinder (10) is substituted into the fourth calculation formula to calculate the effective area of ​​the drive shaft suspension cylinder (10). The fourth calculation formula is as follows: ， In the formula, Let the diameter of the drive shaft suspension cylinder (10) be set.

7. The method for leveling axle loads for working machinery according to any one of claims 1 to 6, characterized in that, The determination of the leveling compensation load based on the underload of the drive shaft and the underload of the driven shaft includes: The difference between the underload of the drive shaft and the underload of the driven shaft is determined as the leveling compensation load.

8. A type of operating machinery, characterized in that, The working machinery performs axle load leveling based on the axle load leveling method according to any one of claims 1 to 7. The working machinery (200) includes a drive shaft and a driven shaft, and the sum of the upper load and lower load of the drive shaft is equal to the sum of the upper load and lower load of the driven shaft.

9. The operating machinery according to claim 8, characterized in that, The working machinery (200) also includes a suspension system (100), which includes a drive shaft suspension cylinder (10) and a driven shaft suspension cylinder (20). The drive shaft suspension cylinder (10) is mounted on the drive shaft, and the driven shaft suspension cylinder (20) is mounted on the driven shaft. The installation angle of the driven shaft suspension cylinder (20) relative to the vertical direction is set as the leveling installation angle, which is equal to the difference between the installation angle of the drive shaft suspension cylinder (10) and the leveling compensation angle.

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