Hybrid suspension driving system for crane, driving control method and crane

Abstract

The invention discloses a hybrid suspension driving system for a crane, a driving control method and the crane, the hybrid suspension driving system comprises a first axle device and a second axle device, the first axle device adopts a non-independent suspension, and the second axle device adopts a non-independent suspension; the first axle device is arranged on a frame of the crane and located on the front side and / or the rear side of a rotating device of the crane, and the second axle device adopts an independent suspension and is arranged on the frame of the crane and located on the lower side of the rotating device of the crane, namely on a chassis of the crane. The axle device of the non-independent suspension and the axle device of the independent suspension are used in a mixed mode, so that the requirement for the maximum 3m width of the whole vehicle serving as a road vehicle can be met, the height and the gravity center of the whole vehicle are lowered to the maximum extent during heavy-load driving, and meanwhile system simplification, efficiency improvement and cost optimization are achieved to the maximum extent.

Description

Technical Field

[0001] The present invention belongs to the technical field of cranes, and in particular relates to a hybrid suspension travel system for a crane, a travel control method and a crane. Background Art

[0002] Ultra-large all-terrain cranes for wind turbines and special infrastructure construction are increasingly developing in the direction of large-scale development, which results in the crane's driving weight becoming heavier, the center of gravity of the vehicle becoming higher and higher, and the transition scenarios that need to be adapted to become more and more complex.

[0003] In the prior art, the chassis of a crane is generally only configured as a non-independent suspension integral axle, and the non-independent suspension integral axle requires a higher installation height, resulting in a higher center of gravity height of the entire vehicle. In order to ensure stable driving at a higher center of gravity height, the vehicle can only be increased in width, but this will make it difficult to transfer on long-distance roads. The chassis can only be transported by a flatbed truck after disassembling the turntable, boom, legs and other components. This not only reduces work efficiency, but also greatly increases user operating costs. Summary of the invention

[0004] In view of the above-mentioned defects or shortcomings, the present invention provides a hybrid suspension travel system, a travel control method and a crane for a crane, aiming to solve the technical problem that the crane is difficult to transfer on long roads due to the configuration of a non-independent suspension integral axle.

[0005] To achieve the above-mentioned objectives, the first aspect of the present invention provides a hybrid suspension travel system for a crane, wherein the hybrid suspension travel system for a crane comprises a first axle device and a second axle device; the first axle device adopts a non-independent suspension, and the first axle device is arranged on the frame of the crane and is located at the front side and / or the rear side of the slewing device of the crane; the second axle device adopts an independent suspension, and the second axle device is arranged on the frame of the crane and is located at the lower side of the slewing device of the crane.

[0006] In one embodiment of the present invention, the second axle device includes a second suspension cylinder and a disconnect axle, the upper and lower ends of the second suspension cylinder are respectively connected to the frame of the crane and the disconnect axle in a one-to-one correspondence, the second suspension cylinder is provided with a second detection device for detecting the second suspension cylinder, the hybrid suspension driving system also includes a control device communicatively connected to the second detection device, the control device is used to adjust the stroke of the second suspension cylinder according to the detection result of the second detection device, so that the second axle device and the first axle device move in coordination.

[0007] In one embodiment of the present invention, the first axle device includes a first suspension cylinder and an integral axle, the upper and lower ends of the first suspension cylinder are respectively connected to the frame of the crane and the integral axle in a one-to-one correspondence, the first suspension cylinder is provided with a first detection device for detecting the first suspension cylinder, the control device is also communicatively connected to the first detection device, and is further configured as follows:

[0008] comparing the detection result of the second detection device with the detection result of the first detection device;

[0009] The stroke of the second suspension cylinder is adjusted according to the comparison result so that the movement of the second axle device is coordinated with that of the first axle device.

[0010] In one embodiment of the present invention, before comparing the detection result of the second detection device with the detection result of the first detection device, the method further includes:

[0011] The detection data of the first detection device on the first axle device at the front and rear ends of the crane are averaged, and the average calculation result is used as the detection result of the first detection device.

[0012] In one embodiment of the present invention, comparing the detection result of the second detection device with the detection result of the first detection device includes:

[0013] determining a comparison interval according to a detection result of the first detection device;

[0014] The detection result of the second detection device is compared with the comparison interval.

[0015] In one embodiment of the present invention, the first detection device and the second detection device both include a pressure sensor and a stroke sensor, the pressure sensor and the stroke sensor are used to detect the working oil pressure and the working stroke of the corresponding suspension cylinder respectively, and adjusting the stroke of the second suspension cylinder according to the comparison result includes:

[0016] When the detection result of the pressure sensor in the second detection device is not in the pressure comparison interval and / or the detection result of the stroke sensor in the second detection device is not in the stroke comparison interval, the second suspension cylinder is controlled to perform stroke adjustment, wherein the pressure comparison interval and the stroke comparison interval are respectively determined based on the detection results of the pressure sensor and the stroke sensor in the first detection device.

[0017] In one embodiment of the present invention, the first suspension oil cylinder and the second suspension oil cylinder are both arranged with their piston rod ends facing upwards, and when the detection result of the pressure sensor in the second detection device is not in the pressure comparison interval and / or the detection result of the stroke sensor in the second detection device is not in the stroke comparison interval, controlling the second suspension oil cylinder to adjust the stroke includes:

[0018] When the detection result of the pressure sensor in the second detection device is less than the minimum threshold value of the pressure comparison interval, and / or the detection result of the stroke sensor in the second detection device is greater than the maximum threshold value of the stroke comparison interval, controlling the oil inlet of the rod chamber of the second suspension oil cylinder;

[0019] When the detection result of the pressure sensor in the second detection device is greater than the maximum threshold of the pressure comparison interval, and / or the detection result of the stroke sensor in the second detection device is less than the minimum threshold of the stroke comparison interval, the rodless chamber of the second suspension cylinder is controlled to flow oil.

[0020] In one embodiment of the present invention, the number of second suspension cylinders in the second axle device is two, and the two second suspension cylinders are respectively arranged on the left and right sides of a slewing bearing box frame protruding downward from the frame. The disconnected axle includes a first swing arm, a second swing arm and two wheel-side reducers. The lower ends of the two second suspension cylinders are respectively connected to the upper ends of the two wheel-side reducers in a one-to-one correspondence, and the ends of the first swing arm and the second swing arm that are relatively far away from each other are respectively hinged to the lower ends of the two wheel-side reducers in a one-to-one correspondence, and the ends of the first swing arm and the second swing arm that are relatively close to each other are respectively hinged to the lower side of the slewing bearing box frame.

[0021] In one embodiment of the present invention, the second axle device also includes a mounting bracket arranged on the lower side of the slewing bearing box frame, the mounting bracket includes a connecting vertical plate and a mounting horizontal plate, the upper and lower ends of the connecting vertical plate are respectively connected to the lower side of the slewing bearing box frame and the mounting horizontal plate, the left and right ends of the mounting horizontal plate are both extended out of the mounting vertical plate, and the left and right ends of the mounting horizontal plate are both provided with mounting openings, the ends of the first swing arm and the second swing arm that are relatively close to each other are respectively placed in the mounting openings at the left and right ends of the mounting horizontal plate, and are respectively hinged to the mounting horizontal plate.

[0022] To achieve the above object, the second aspect of the present invention provides a hybrid suspension travel control method, wherein the hybrid suspension travel control method is applied to the hybrid suspension travel system for a crane as described above, and comprises:

[0023] comparing an operating parameter of a second suspension cylinder in the second axle arrangement with an operating parameter of a first suspension cylinder in the second axle arrangement;

[0024] determining whether the first axle device and the second axle device move in coordination according to the comparison result;

[0025] When it is determined that the first axle device and the second axle device are in uncoordinated motion, the stroke of the second suspension cylinder is adjusted.

[0026] To achieve the above object, a third aspect of the present invention provides a crane, wherein the crane comprises the hybrid suspension travel system for the crane as described above.

[0027] Through the above technical solution, the hybrid suspension travel system for a crane provided by the embodiment of the present invention has the following beneficial effects:

[0028] When the crane uses the above-mentioned hybrid suspension travel system, since it includes the first axle device and the second axle device, the first axle device adopts a non-independent suspension, and the first axle device is arranged on the frame of the crane and located at the front side and / or the rear side of the slewing device of the crane, and the second axle device adopts an independent suspension, and the second axle device is arranged on the frame of the crane and located at the lower side of the slewing device of the crane, that is, on the chassis of the crane, the axle device of the non-independent suspension and the axle device of the independent suspension are mixed, and at the same time, since the lower installation height of the frame at the installation position of the slewing device is the smallest, the second axle device adopts an independent suspension with a lower installation height requirement, and It is configured on the lower side of the crane's slewing device, which can lower the center of gravity height of the vehicle, thereby eliminating the need to increase the vehicle's outer width to achieve stable driving. In addition, the frame has a large installation height at the lower part of the front and rear sides of the slewing device, which can meet the requirements of the first axle device with a non-independent suspension. The non-independent suspension not only has a simple structure and low manufacturing cost, but also has excellent passability and load-bearing capacity, so as to meet the needs of the crane in complex terrain and heavy loads, thereby taking into account the maximum vehicle width requirement of 3m as a road vehicle and the maximum reduction in the height and center of gravity of the vehicle when traveling with heavy loads, while achieving maximum system simplification, efficiency improvement and cost optimization.

[0029] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative work. In the accompanying drawings:

[0031] Figure 1 is a schematic structural diagram of a second vehicle axle device on a vehicle frame according to an embodiment of the present invention;

[0032] Figure 2 is a schematic structural diagram of a disconnected axle according to an embodiment of the present invention;

[0033] Figure 3 is a partial flow chart of a hybrid suspension driving control method according to an embodiment of the present invention;

[0034] Figure 4is a detailed flow chart of a hybrid suspension driving control method according to an embodiment of the present invention.

[0035] Description of Reference Numerals

[0036] 100 Frame 110 Slewing bearing box frame

[0037] 120 Mounting bracket 121 Connecting vertical plate

[0038] 122 Installing the cross plate 200 Second axle device

[0039] 210 Second suspension cylinder 220 Disconnect axle

[0040] 221 First swing arm 222 Second swing arm

[0041] 223 Wheel reducer DETAILED DESCRIPTION

[0042] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0043] The hybrid suspension travel system for a crane, the travel control method, and the crane of the present invention will be described below with reference to the accompanying drawings.

[0044] like Figure 1 As shown, the present invention provides a hybrid suspension travel system for a crane, wherein the hybrid suspension travel system for a crane comprises:

[0045] A first axle device, the first axle device adopts a non-independent suspension, and the first axle device is arranged on the frame 100 of the crane and is located at the front side and / or the rear side of the slewing device of the crane;

[0046] The second axle device 200 adopts an independent suspension, and the second axle device 200 is arranged on the frame 100 of the crane and is located at the lower side of the slewing device of the crane.

[0047] When the crane uses the above-mentioned hybrid suspension travel system, since it includes the first axle device and the second axle device 200, the first axle device adopts a non-independent suspension, and the first axle device is arranged on the frame 100 of the crane and is located at the front side and / or the rear side of the slewing device of the crane, specifically, the first axle device can be arranged on both the front and rear sides, and the second axle device 200 adopts an independent suspension, and the second axle device 200 is arranged on the frame 100 of the crane and is located at the lower side of the slewing device of the crane, that is, on the chassis of the crane, the axle device of the non-independent suspension and the axle device of the independent suspension are mixed, and at the same time, since the lower installation height of the frame 100 at the installation position of the slewing device is the smallest, the second axle device 200 adopts The independent suspension has a lower requirement for installation height and is configured on the lower side of the crane's slewing device, so that the center of gravity height of the entire vehicle can be lowered, thereby eliminating the need to increase the vehicle's outer width to achieve stable driving. In addition, the frame 100 has a larger installation height at the lower portion of the front and rear sides of the slewing device, which can meet the requirements of the first axle device using a non-independent suspension. The non-independent suspension not only has a simple structure and low manufacturing cost, but also has excellent passability and load-bearing capacity, so as to meet the needs of the crane in complex terrain and heavy loads, thereby taking into account the maximum vehicle width requirement of 3m as a road vehicle and the maximum reduction in the height and center of gravity of the vehicle when traveling with heavy loads, while achieving maximum system simplification, efficiency improvement and cost optimization.

[0048] It should be particularly noted that, in order to meet load-bearing requirements, the crane frame 100 generally protrudes downward to provide a support box frame, especially at the position where the slewing device is installed. Since the slewing device and the boom need to be supported, the size of the slewing support box frame provided at this position of the frame 100 will be larger, and the height will be higher, that is, the distance from the ground will be smaller, resulting in the minimum lower installation height at this position.

[0049] In one embodiment of the present invention, the second axle device 200 includes a second suspension cylinder 210 and a disconnecting axle 220, the upper and lower ends of the second suspension cylinder 210 are respectively connected to the crane frame 100 and the disconnecting axle 220 in a one-to-one correspondence, the second suspension cylinder 210 is provided with a second detection device for detecting the second suspension cylinder 210, and the hybrid suspension travel system further includes a control device that is communicatively connected to the second detection device, and the control device is used to adjust the stroke of the second suspension cylinder 210 according to the detection result of the second detection device, so that the second axle device 200 and the first axle device can coordinate their movements. By feedback-adjusting the second suspension cylinder 210, the movement coordination of the whole vehicle can be achieved. Specifically, the second detection device may include at least one of a pressure sensor and a stroke sensor, that is, the detection result of the second detection device may include at least one of the detection data of the pressure sensor and the detection data of the stroke sensor, and the control device may pre-store ideal data of the pressure sensor and / or the stroke sensor in the second detection device, and the ideal data is defined as supporting the second axle device 200 to achieve motion coordination with the first axle device under the current driving conditions.

[0050] In one embodiment of the present invention, the first axle device includes a first suspension cylinder and an integral axle, the upper and lower ends of the first suspension cylinder are respectively connected to the frame 100 of the crane and the integral axle in a one-to-one correspondence, the first suspension cylinder is provided with a first detection device for detecting the first suspension cylinder, the control device is also communicatively connected to the first detection device, and is further configured as follows:

[0051] comparing the detection result of the second detection device with the detection result of the first detection device;

[0052] The stroke of the second suspension cylinder 210 is adjusted according to the comparison result, so that the second axle device 200 and the first axle device move in coordination.

[0053] It can be understood that adding a first detection device to the first suspension cylinder, comparing the detection results of the first detection device and the second detection device in real time, and adjusting the stroke of the second suspension cylinder 210 according to the comparison results can make the adjustment closer to the actual driving condition and further improve the movement coordination of the whole vehicle.

[0054] In one embodiment of the present invention, before comparing the detection result of the second detection device with the detection result of the first detection device, the method further includes:

[0055] The detection data of the first detection device on the first axle device at the front and rear ends of the crane are averaged, and the average calculation result is used as the detection result of the first detection device.

[0056] Specifically, the number of first axle devices on the crane can be multiple, and the second axle device 200 is located between two adjacent first axle devices among the multiple first axle devices. Then, on the crane chassis, there is a first axle device located at the front end of the crane, and another first axle device located at the rear end of the crane. It is possible to choose to set the first detection device only on the first suspension cylinder of the first axle device at the front end and the rear end, so as to reduce the production cost. At the same time, the first axle device at the front end and the rear end has a total of four first suspension cylinders. The detection data of the first detection devices on the four first suspension cylinders are averaged, and the average calculation result is used as the detection result of the first detection device, so that the detection result of the determined first detection device can be more real and effective. Of course, the present invention is not limited to this, and it is also possible to select only one of the first suspension cylinders on the first axle device to be installed with the first detection device, or all the first suspension cylinders on the first axle devices are installed with the first detection device.

[0057] In one embodiment of the present invention, comparing the detection result of the second detection device with the detection result of the first detection device includes:

[0058] determining a comparison interval according to a detection result of the first detection device;

[0059] The detection result of the second detection device is compared with the comparison interval.

[0060] Specifically, by setting the comparison interval, when the detection result of the second detection device falls within the comparison interval, it is not necessary to adjust the stroke of the second suspension cylinder 210, so as to avoid frequent adjustments caused by small differences. More specifically, the maximum threshold of the comparison interval is equal to the detection result of the first detection device plus the first adjustment value, and the minimum threshold of the comparison interval is equal to the detection result of the first detection device minus the second adjustment value. The first adjustment value and the second adjustment value can be set equal or unequal.

[0061] In one embodiment of the present invention, the first detection device and the second detection device both include a pressure sensor and a stroke sensor, the pressure sensor and the stroke sensor are used to detect the working oil pressure and the working stroke of the corresponding suspension cylinder respectively, and adjusting the stroke of the second suspension cylinder 210 according to the comparison result includes:

[0062] When the detection result of the pressure sensor in the second detection device is not in the pressure comparison interval and / or the detection result of the stroke sensor in the second detection device is not in the stroke comparison interval, the second suspension cylinder 210 is controlled to perform stroke adjustment, wherein the pressure comparison interval and the stroke comparison interval are respectively determined according to the detection results of the pressure sensor and the stroke sensor in the first detection device.

[0063] It can be understood that by configuring both the first detection device and the second detection device to include a pressure sensor and a stroke sensor, and when the detection result of at least one of the second detection devices is not within the corresponding comparison interval, the stroke adjustment of the second suspension cylinder 210 is implemented, so that when one of them fails, the other can still adjust and control the second suspension cylinder 210, thereby improving the reliability of the coordinated movement of the entire vehicle.

[0064] Furthermore, the maximum threshold of the pressure comparison interval is equal to the detection result of the pressure sensor in the first detection device plus the first pressure adjustment value, the minimum threshold of the pressure comparison interval is equal to the detection result of the pressure sensor in the first detection device minus the second pressure adjustment value, and the first pressure adjustment value and the second pressure adjustment value can be set equal or unequal. At the same time, the maximum threshold of the stroke comparison interval is equal to the detection result of the stroke sensor in the first detection device plus the first stroke adjustment value, and the minimum threshold of the stroke comparison interval is equal to the detection result of the stroke sensor in the first detection device minus the second stroke adjustment value, and the first stroke adjustment value and the second stroke adjustment value can be set equal or unequal.

[0065] In one embodiment of the present invention, the first suspension oil cylinder and the second suspension oil cylinder 210 are both arranged with the piston rod end facing upward, that is, the rodless cavity is arranged downward, and the effective action area of ​​the rodless cavity is greater than the effective action area of ​​the rod cavity, which can enhance the support effect of the suspension oil cylinder on the vehicle frame 100. When the detection result of the pressure sensor in the second detection device is not in the pressure comparison interval and / or the detection result of the stroke sensor in the second detection device is not in the stroke comparison interval, controlling the second suspension oil cylinder 210 to adjust the stroke includes:

[0066] When the detection result of the pressure sensor in the second detection device is less than the minimum threshold of the pressure comparison interval, and / or the detection result of the stroke sensor in the second detection device is greater than the maximum threshold of the stroke comparison interval, the rod chamber of the second suspension oil cylinder 210 is controlled to flow oil;

[0067] When the detection result of the pressure sensor in the second detection device is greater than the maximum threshold of the pressure comparison interval, and / or the detection result of the stroke sensor in the second detection device is less than the minimum threshold of the stroke comparison interval, the rodless chamber of the second suspension cylinder 210 is controlled to flow oil.

[0068] It can be understood that if the detection result of the pressure sensor in the second detection device is less than the minimum threshold of the pressure comparison interval, and / or the detection result of the stroke sensor in the second detection device is greater than the maximum threshold of the stroke comparison interval, it can be explained that the piston rod end of the second suspension cylinder 210 is extended more than the piston rod end of the first suspension cylinder, that is, the second suspension cylinder 210 is in an uncoordinated extension state, and the oil inlet of the rod chamber of the second suspension cylinder 210 can be controlled to drive the piston rod end of the second suspension cylinder 210 to move in the retracting direction, thereby ensuring the coordinated movement of the first axle device and the second axle device 200. In addition, when the detection result of the pressure sensor in the second detection device is greater than the maximum threshold of the pressure comparison interval, and / or the detection result of the stroke sensor in the second detection device is less than the minimum threshold of the stroke comparison interval, it can be explained that the piston rod end of the second suspension oil cylinder 210 is more retracted than the piston rod end of the first suspension oil cylinder, that is, the second suspension oil cylinder 210 is in an uncoordinated retraction state, and the rodless chamber of the second suspension oil cylinder 210 can be controlled to flow oil to drive the piston rod end of the second suspension oil cylinder 210 to move in the extension direction, thereby ensuring the coordinated movement of the first axle device and the second axle device 200. Of course, the present invention is not limited to this, and the first suspension oil cylinder and the second suspension oil cylinder 210 can also be arranged with the piston rod end facing downward.

[0069] More specifically, the second suspension cylinder 210 has an electrically controlled hydraulic valve, and the oil inlet and outlet directions of the second suspension cylinder 210 can be controlled by the electrically controlled hydraulic valve.

[0070] See also Figure 1 and Figure 2 In one embodiment of the present invention, the number of the second suspension oil cylinders 210 in the second axle device 200 is two, and the two second suspension oil cylinders 210 are respectively arranged on the left and right sides of the slewing bearing box frame 110 protruding downward from the frame 100. The disconnected axle 220 includes a first swing arm 221, a second swing arm 222 and two wheel-side reducers 223. The lower ends of the two second suspension oil cylinders 210 are respectively connected to the upper ends of the two wheel-side reducers 223 in a one-to-one correspondence. The ends of the first swing arm 221 and the second swing arm 222 that are relatively far from each other are respectively hinged to the lower ends of the two wheel-side reducers 223 in a one-to-one correspondence. The ends of the first swing arm 221 and the second swing arm 222 that are relatively close to each other are respectively hinged to the lower side of the slewing bearing box frame 110. By the above arrangement, the second axle device 200 can be reliably installed in the air on the frame 100.

[0071] In one embodiment of the present invention, the second axle device 200 further includes a mounting bracket 120 disposed at the lower side of the slewing bearing frame 110, the mounting bracket 120 includes a connecting vertical plate 121 and a mounting horizontal plate 122, the upper and lower ends of the connecting vertical plate 121 are respectively connected to the lower side of the slewing bearing frame 110 and the mounting horizontal plate 122, the left and right ends of the mounting horizontal plate 122 are both extended out of the mounting vertical plate, and the left and right ends of the mounting horizontal plate 122 are both provided with mounting openings, the ends of the first swing arm 221 and the second swing arm 222 that are relatively close to each other are respectively placed in the mounting openings at the left and right ends of the mounting horizontal plate 122, and are respectively hinged to the mounting horizontal plate 122. By adding the mounting bracket 120, the first swing arm 221 and the second swing arm 222 can be easily assembled and disassembled on the slewing bearing frame 110. Specifically, the number of the first swing arm 221 and the second swing arm 222 can be two, the two first swing arms 221 are arranged on the left side of the mounting cross plate 122 and are inclined to gradually move away from each other in the direction from left to right, the two second swing arms 222 are arranged on the right side of the mounting cross plate 122 and are inclined to gradually move away from each other in the direction from right to left, and right mounting openings are opened at the four corners of the mounting cross plate 122 for the two first swing arms 221 and the two second swing arms 222 to be arranged one by one.

[0072] In one embodiment of the present invention, a steering device may be provided on the first axle device and / or the second axle device 200 .

[0073] Compared with the prior art, the hybrid suspension travel system for a crane provided by the present invention has the following advantages:

[0074] 1. Based on the vehicle configuration requirements and the characteristics of the main structural parts such as the frame, a hybrid system of non-independent suspension integral axles and independent suspension disconnect axles is configured at different bridge positions, taking into account the maximum vehicle width requirement of 3m as a road vehicle and the maximum reduction of the vehicle height and center of gravity when heavy-loaded, while achieving maximum system simplification, efficiency improvement and cost optimization.

[0075] 2. The non-independent suspension integral axle configured in the whole vehicle is used as the standard axle, and a pressure sensor and / or a stroke sensor is installed in the suspension cylinder connected to the standard axle. At the same time, a pressure sensor and / or a stroke sensor is also installed in the suspension cylinder connected to the independent suspension disconnected axle. When the vehicle is driving, the readings of the pressure sensor and / or the stroke sensor in the suspension cylinder of the standard axle are used as a reference. By comparing the readings of the pressure sensor and / or the stroke sensor in the independent suspension cylinder, the state of the independent suspension disconnected axle and its motion coordination with the non-independent vehicle axle are judged, and the stroke is adjusted by controlling the independent suspension cylinder to finally achieve the motion coordination of the whole vehicle.

[0076] In addition, if Figure 3As shown, the present invention also provides a hybrid suspension travel control method, wherein the hybrid suspension travel control method is applied to the hybrid suspension travel system for the crane according to the above, and comprises:

[0077] In step S100 , the working parameters of the second suspension cylinder 210 in the second axle device 200 are compared with the working parameters of the first suspension cylinder in the second axle device 200 .

[0078] Specifically, the working parameters of the first suspension cylinder and the second suspension cylinder 210 include at least one of the working oil pressure and the working stroke. The working oil pressure can be detected by setting a pressure sensor on the corresponding suspension cylinder, and the working stroke can be detected by setting a stroke sensor on the corresponding suspension cylinder.

[0079] More specifically, the comparison interval may be determined first according to the working parameters of the first suspension cylinder, and then the working parameters of the second suspension cylinder 210 may be compared with the comparison interval.

[0080] Step S200 , determining whether the first axle device and the second axle device 200 move in a coordinated manner based on the comparison result.

[0081] It can be understood that if the working parameters of the second suspension cylinder 210 are not much different from the working parameters of the first suspension cylinder in the second axle device 200, it can be determined that the first axle device and the second axle device 200 move in a coordinated manner, and if the working parameters of the second suspension cylinder 210 are greatly different from the working parameters of the first suspension cylinder in the second axle device 200, it can be determined that the first axle device and the second axle device 200 move in an uncoordinated manner. Specifically, if the working parameters of the second suspension cylinder 210 are within the comparison interval, it can be determined that the first axle device and the second axle device 200 move in a coordinated manner, and if the working parameters of the second suspension cylinder 210 are not within the comparison interval, it can be determined that the first axle device and the second axle device 200 move in an uncoordinated manner.

[0082] Step S300 , when it is determined that the first axle device and the second axle device 200 are in an uncoordinated motion, the stroke of the second suspension cylinder 210 is adjusted.

[0083] When the crane uses the above-mentioned hybrid suspension driving control method, since the axle device of the non-independent suspension and the axle device of the independent suspension are mixed on the crane chassis, and since the lower installation height of the frame 100 at the installation position of the slewing device is the smallest, the second axle device 200 adopts an independent suspension with lower installation height requirements and is configured on the lower side of the slewing device of the crane, which can lower the center of gravity height of the whole vehicle, thereby eliminating the need to increase the outer width of the vehicle to achieve stable driving. In addition, the first axle device can be used as a standard axle, and by comparing the working parameters of the suspension cylinder of the second axle device 200, the state of the second axle device 200 using the independent suspension and the motion coordination of the second axle device 200 with the first axle device using the non-independent suspension can be judged, and the working stroke of the second suspension cylinder 210 of the second axle device 200 can be adjusted to finally achieve the motion coordination of the whole vehicle.

[0084] Specifically, see Figure 4 The detailed steps of the hybrid suspension driving control method provided by the present invention may be:

[0085] (1) Control vehicle start;

[0086] (2) detecting the suspension states of all the first axle devices and the second axle devices;

[0087] (3) judging whether the suspension is in an initial setting state according to the detection result of the suspension state, and the initial setting state may be that the piston rod end of the suspension cylinder is extended to the middle position;

[0088] (4) If the suspension is not in the initial setting state, the display screen prompts you to adjust the suspension to the initial setting state;

[0089] (5) after all the suspensions are in an initial setting state and the vehicle travel speed is not equal to zero, respectively obtaining the detection results of the first detection device on the first suspension cylinder and the second detection device on the second suspension cylinder;

[0090] (6) determining a comparison interval according to the detection result of the first detection device;

[0091] (7) comparing the detection result of the second detection device with the comparison interval;

[0092] (8) The stroke of the second suspension cylinder is adjusted according to the comparison result so that the movement of the second axle device is coordinated with that of the first axle device.

[0093] In addition, the present invention provides a crane, wherein the crane comprises the hybrid suspension travel system for the crane described above. Since the crane adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0094] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0095] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0097] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A hybrid suspension travel system for a crane, characterized in that: The hybrid suspension travel system for the crane comprises: A first axle device, wherein the first axle device adopts a non-independent suspension, and the first axle device is arranged on a frame (100) of the crane and is located at the front side and / or the rear side of a slewing device of the crane; A second axle device (200), wherein the second axle device (200) adopts an independent suspension, and the second axle device (200) is arranged on the frame (100) of the crane and is located at the lower side of the slewing device of the crane.

2. The hybrid suspension travel system for a crane according to claim 1, characterized in that: The second axle device (200) comprises a second suspension cylinder (210) and a disconnecting axle (220), wherein the upper and lower ends of the second suspension cylinder (210) are respectively connected to the frame (100) of the crane and the disconnecting axle (220) in a one-to-one correspondence, and the second suspension cylinder (210) is provided with a second detection device for detecting the second suspension cylinder (210). The hybrid suspension travel system further comprises a control device communicatively connected to the second detection device, wherein the control device is used to adjust the stroke of the second suspension cylinder (210) according to the detection result of the second detection device, so that the second axle device (200) and the first axle device move in coordination.

3. The hybrid suspension travel system for a crane according to claim 2, characterized in that: The first axle device comprises a first suspension cylinder and an integral axle, the upper and lower ends of the first suspension cylinder are respectively connected to the frame (100) of the crane and the integral axle in a one-to-one correspondence, the first suspension cylinder is provided with a first detection device for detecting the first suspension cylinder, the control device is also communicatively connected to the first detection device, and is further configured as follows: comparing the detection result of the second detection device with the detection result of the first detection device; The stroke of the second suspension cylinder (210) is adjusted according to the comparison result, so that the second axle device (200) moves in coordination with the first axle device.

4. The hybrid suspension travel system for a crane according to claim 3, characterized in that: Before comparing the detection result of the second detection device with the detection result of the first detection device, the method further includes: The detection data of the first detection device located on the first axle device at the front and rear ends of the crane are averaged, and the average calculation result is used as the detection result of the first detection device.

5. The hybrid suspension travel system for a crane according to claim 3, characterized in that: The comparing the detection result of the second detection device with the detection result of the first detection device comprises: determining a comparison interval according to the detection result of the first detection device; The detection result of the second detection device is compared with the comparison interval.

6. The hybrid suspension travel system for a crane according to claim 3, characterized in that: The first detection device and the second detection device both comprise a pressure sensor and a stroke sensor, the pressure sensor and the stroke sensor being used to detect the working oil pressure and the working stroke of the corresponding suspension oil cylinder respectively, and the stroke adjustment of the second suspension oil cylinder (210) according to the comparison result comprises: When the detection result of the pressure sensor in the second detection device is not within the pressure comparison interval and / or the detection result of the stroke sensor in the second detection device is not within the stroke comparison interval, the second suspension cylinder (210) is controlled to perform stroke adjustment, wherein the pressure comparison interval and the stroke comparison interval are determined according to the detection results of the pressure sensor and the stroke sensor in the first detection device, respectively.

7. The hybrid suspension travel system for a crane according to claim 6, characterized in that: The first suspension oil cylinder and the second suspension oil cylinder (210) are both arranged with their piston rod ends facing upwards, and when the detection result of the pressure sensor in the second detection device is not within the pressure comparison interval and / or the detection result of the stroke sensor in the second detection device is not within the stroke comparison interval, controlling the second suspension oil cylinder (210) to adjust the stroke comprises: When the detection result of the pressure sensor in the second detection device is less than the minimum threshold value of the pressure comparison interval, and / or the detection result of the stroke sensor in the second detection device is greater than the maximum threshold value of the stroke comparison interval, controlling the oil inlet of the rod chamber of the second suspension oil cylinder (210); When the detection result of the pressure sensor in the second detection device is greater than the maximum threshold of the pressure comparison interval, and / or the detection result of the stroke sensor in the second detection device is less than the minimum threshold of the stroke comparison interval, the rodless chamber of the second suspension cylinder (210) is controlled to flow oil.

8. The hybrid suspension travel system for a crane according to any one of claims 2 to 7, characterized in that: The number of the second suspension cylinders (210) in the second axle device (200) is two, and the two second suspension cylinders (210) are respectively arranged on the left and right sides of a slewing bearing box frame (110) protruding downward from the frame (100). The disconnected axle (220) comprises a first swing arm (221), a second swing arm (222) and two wheel-side reducers (223). The lower ends of the two second suspension cylinders (210) are respectively connected to the upper ends of the two wheel-side reducers (223) in a one-to-one correspondence, and the ends of the first swing arm (221) and the second swing arm (222) that are relatively far away from each other are respectively hinged to the lower ends of the two wheel-side reducers (223) in a one-to-one correspondence, and the ends of the first swing arm (221) and the second swing arm (222) that are relatively close to each other are respectively hinged to the lower side of the slewing bearing box frame (110).

9. The hybrid suspension travel system for a crane according to claim 8, characterized in that: The second axle device (200) further comprises a mounting bracket (120) arranged at the lower side of the slewing bearing box frame (110), the mounting bracket (120) comprising a connecting vertical plate (121) and a mounting horizontal plate (122), the upper and lower ends of the connecting vertical plate (121) are respectively connected to the lower side of the slewing bearing box frame (110) and the mounting horizontal plate (122), the left and right ends of the mounting horizontal plate (122) both extend out of the mounting vertical plate, and the left and right ends of the mounting horizontal plate (122) are both provided with mounting openings, the ends of the first swing arm (221) and the second swing arm (222) that are relatively close to each other are respectively placed in the mounting openings at the left and right ends of the mounting horizontal plate (122) in a one-to-one correspondence, and are respectively hinged to the mounting horizontal plate (122).

10. A hybrid suspension driving control method, characterized in that: The hybrid suspension travel control method is applied to the hybrid suspension travel system for a crane according to any one of claims 1 to 9, and comprises: comparing the working parameters of the second suspension cylinder (210) in the second axle device (200) with the working parameters of the first suspension cylinder in the second axle device (200); Determining whether the first axle device and the second axle device (200) move in a coordinated manner according to the comparison result; When it is determined that the first axle device and the second axle device (200) are in uncoordinated motion, the stroke of the second suspension cylinder (210) is adjusted.

11. A crane, characterized in that: The crane includes the hybrid suspension travel system for a crane according to any one of claims 1 to 9.

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