Hybrid suspension travel system for a crane, travel control method and crane

Abstract

The application discloses a mixed suspension driving system for a crane, a driving control method and the crane. The mixed suspension driving system comprises a first axle device and a second axle device. The first axle device adopts a dependent suspension, and is arranged on a frame of the crane and located at the front side and / or the rear side of a slewing device of the crane. The second axle device adopts an independent suspension, and is arranged on the frame of the crane and located at the lower side of the slewing device of the crane, i.e. on the chassis of the crane. The axle device with the dependent suspension and the axle device with the independent suspension are mixedly used, so that the maximum 3m vehicle width requirement of the whole vehicle as a road vehicle and the maximum reduction of the whole vehicle height and the gravity center during heavy load driving can be considered, and the system is simplified to the maximum extent, the efficiency is improved, and the cost is optimized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cranes, and particularly relates to a hybrid suspension running system for a crane, a running control method and the crane. BACKGROUND

[0002] Large-scale all-terrain cranes for wind turbines and special infrastructure are increasingly developing towards large-scale, which leads to the running self-weight of the crane being increasingly large, the gravity center of the whole vehicle being increasingly high, and the transfer scene needing to be adapted being increasingly complex.

[0003] In the prior art, the chassis of the crane is generally configured as a non-independent suspension integral axle, and the non-independent suspension integral axle needs to have a high installation height, which leads to the gravity center height of the whole vehicle being high. In order to ensure stable running at the high gravity center height, the vehicle outer width needs to be increased, but this leads to difficulty in long-distance road transfer. The crane can only be transferred by disassembling the upper vehicle turntable, boom, supporting leg and other components and then transferring the chassis by a flat car, which not only reduces the work efficiency, but also greatly increases the user operation cost. SUMMARY

[0004] In view of the above defects or deficiencies, the present application provides a hybrid suspension running system for a crane, a running control method and the crane, and aims to solve the technical problem that the crane is difficult to perform long-distance road transfer due to the configuration of a non-independent suspension integral axle.

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

[0006] In an embodiment of the present application, the second axle device comprises a second suspension oil cylinder and a disconnectable axle, the upper and lower ends of the second suspension oil cylinder are connected to the vehicle frame of the crane and the disconnectable axle one by one, a second detection device for detecting the second suspension oil cylinder is arranged on the second suspension oil cylinder, the hybrid suspension running system further comprises a control device in communication connection with the second detection device, and the control device is used for adjusting the stroke of the second suspension oil cylinder according to the detection result of the second detection device, so that the second axle device and the first axle device move coordinately.

[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 connected to the crane frame and the integral axle in a one-to-one correspondence, respectively. 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 second axle device and the first axle device move in coordination.

[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 located 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 being used to detect the working oil pressure and the working stroke of the corresponding suspension cylinder, respectively. Adjusting the stroke of the second suspension cylinder based on the comparison results includes:

[0016] 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 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 cylinder and the second suspension cylinder are both arranged with their piston rod ends facing upward. When a detection result of a pressure sensor in the second detection device is not within a pressure comparison range and / or a detection result of a stroke sensor in the second detection device is not within a stroke comparison range, controlling the second suspension cylinder to adjust its 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 oil flow into the rod chamber of the second suspension 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 oil supply to the rodless chamber of the second suspension cylinder is controlled.

[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 support 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 support 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 support 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 support box frame and the mounting horizontal plate, the left and right ends of the mounting horizontal plate are both extended out of the connecting 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-mentioned object, a 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 according to the above-mentioned method, 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 a coordinated manner based on 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, the third aspect of the present invention provides a crane, wherein the crane includes the hybrid suspension travel system for the crane as described above.

[0027] By the technical solution, the mixed suspension running system for the crane has the following beneficial effects:

[0028] When the crane uses the mixed suspension running system, the first axle device adopts the dependent suspension, and the first axle device is arranged on the frame of the crane and located at the front side and / or rear side of the slewing device of the crane, the second axle device adopts the 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 dependent suspension and the axle device of the independent suspension are mixed, and at the same time, the lower installation height of the frame at the installation position of the slewing device is minimum, the second axle device adopts the independent suspension with lower installation height requirement, and is arranged at the lower side of the slewing device of the crane, so that the gravity center height of the whole vehicle is reduced, and the stable running is realized without increasing the vehicle outer width, in addition, the lower installation height of the frame at the front and rear sides of the slewing device is larger, and the first axle device of the dependent suspension is arranged, the dependent suspension has simple structure, lower manufacturing cost, excellent passing performance and carrying capacity, and can meet the requirements of the crane in complex terrain and heavy load, and the maximum vehicle width requirement of the whole vehicle as a road vehicle and the maximum reduction of the height and gravity center of the whole vehicle during heavy load running are considered, and the system is simplified to the maximum, the efficiency is improved, and the cost is optimized.

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

[0030] The accompanying drawings are included to provide a further understanding of the embodiments of the application, and constitute a part of the specification, and are used together with the following detailed description to explain the embodiments of the application, but do not constitute a limitation of the embodiments of the application. For those skilled in the art, other drawings can be obtained from the structures shown in the drawings without creative labor. In the drawings:

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

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

[0033] Figure 3 is a partial flowchart of the mixed suspension running control method according to an embodiment of the present application;

[0034] Figure 4is a detailed flowchart of a hybrid suspension travel control method according to an embodiment of the present application.

[0035] Explanation of Reference Signs

[0036] DETAILED DESCRIPTION

[0037] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the present application.

[0038] A hybrid suspension travel system for a crane, a travel control method, and a crane according to the present application will be described below with reference to the accompanying drawings.

[0039] As shown in Figure 1 , the present application provides a hybrid suspension travel system for a crane, wherein the hybrid suspension travel system for a crane includes:

[0040] a first axle device, the first axle device being of a non-independent suspension, and the first axle device being provided on a vehicle frame 100 of the crane and being located at a front side and / or a rear side of a slewing device of the crane;

[0041] a second axle device 200, the second axle device 200 being of an independent suspension, and the second axle device 200 being provided on the vehicle frame 100 of the crane and being located at a lower side of the slewing device of the crane.

[0042] When the crane uses the mixed suspension running system described above, due to the first axle device and the second axle device 200, the first axle device adopts a dependent suspension, and the first axle device is arranged on the frame 100 of the crane and located at the front side and / or rear side of the slewing device of the crane, and specifically, there can be first axle devices on both the front and rear sides, 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 located at the lower side of the slewing device of the crane, that is, on the chassis of the crane, the dependent suspension axle device and the independent suspension axle device are mixed, and at the same time, due to the minimum lower mounting height of the frame 100 at the mounting position of the slewing device, the second axle device 200 adopts an independent suspension with lower mounting height requirement and is arranged at the lower side of the slewing device of the crane, which can reduce the center of gravity height of the whole vehicle, so that stable running does not need to be realized by increasing the vehicle outer width, in addition, the lower mounting height of the frame 100 at the front and rear sides of the slewing device is larger, which can meet the arrangement of the first axle device with dependent suspension, the dependent suspension not only has simple structure and lower manufacturing cost, but also has excellent passability and carrying capacity, so as to meet the needs of the crane in complex terrain and heavy load, and further, the maximum decrease of the vehicle height and the center of gravity during heavy load running can be considered, and at the same time, the system is simplified to the maximum extent, the efficiency is improved, and the cost is optimized.

[0043] It needs to be particularly pointed out that the frame 100 of the crane generally protrudes downward to set a support box frame for bearing, especially at the position where the slewing device is mounted, since the slewing device and the boom need to be supported, the size of the slewing support box frame arranged at this position of the frame 100 will be larger, and the height will be higher, that is, the ground clearance is smaller, which leads to the minimum lower mounting height at this position.

[0044] In one embodiment of the present invention, the second axle assembly 200 includes a second suspension cylinder 210 and a disconnecting axle 220. The upper and lower ends of the second suspension cylinder 210 are connected to the crane frame 100 and the disconnecting axle 220, respectively, in a one-to-one correspondence. A second detection device is provided on the second suspension cylinder 210 for detecting the second suspension cylinder 210. The hybrid suspension travel system also includes a control device communicatively connected to the second detection device. The control device is configured to adjust the stroke of the second suspension cylinder 210 based on the detection results of the second detection device to achieve coordinated movement of the second axle assembly 200 and the first axle assembly. By implementing feedback adjustment on the second suspension cylinder 210, coordinated movement of the entire 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 stroke sensor in the second detection device. 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.

[0045] 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 connected to the crane frame 100 and the integral axle in a one-to-one correspondence, respectively. 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:

[0046] comparing the detection result of the second detection device with the detection result of the first detection device;

[0047] 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.

[0048] 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 conditions and further improve the movement coordination of the entire vehicle.

[0049] 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:

[0050] The detection data of the first detection device on the first axle device located 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.

[0051] Specifically, the number of the first axle devices on the crane can be multiple, the second axle device 200 is located between two first axle devices arranged adjacent in the multiple first axle devices, and on the chassis of the crane, one first axle device is located at the front end of the crane, and another first axle device is located at the rear end of the crane, and the first detection device can be arranged on the first suspension oil cylinder of the first axle device at the front end and the rear end, so as to reduce the production cost, and the first axle devices at the front end and the rear end have four first suspension oil cylinders in total, the detection data of the first detection devices on the four first suspension oil cylinders is subjected to mean value operation, and the mean value operation result is taken as the detection result of the first detection device, so that the determined detection result of the first detection device is more real and effective. Of course, the application is not limited to this, and the first detection device can be arranged on the first suspension oil cylinder of only one first axle device, or the first detection device is arranged on the first suspension oil cylinder of all the first axle devices.

[0052] In an embodiment of the application, comparing the detection result of the second detection device with the detection result of the first detection device comprises:

[0053] determining a comparison interval according to the detection result of the first detection device;

[0054] comparing the detection result of the second detection device with the comparison interval.

[0055] Specifically, by setting the comparison interval, when the detection result of the second detection device falls within the comparison interval, the stroke adjustment of the second suspension oil cylinder 210 is not required, so as to avoid frequent adjustment 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 a first adjustment value, and the minimum threshold of the comparison interval is equal to the detection result of the first detection device minus a second adjustment value, and the first adjustment value and the second adjustment value can be equal or unequal.

[0056] In an embodiment of the application, the first detection device and the second detection device each comprise a pressure sensor and a stroke sensor, the pressure sensor and the stroke sensor are respectively used for detecting the working oil pressure and the working stroke of the corresponding suspension oil cylinder, and the stroke adjustment of the second suspension oil cylinder 210 according to the comparison result comprises:

[0057] In the case that 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 oil 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 result of the pressure sensor and the stroke sensor in the first detection device.

[0058] It can be understood that, by setting the first detection device and the second detection device to each include a pressure sensor and a stroke sensor, and implementing stroke adjustment of the second suspension oil cylinder 210 when at least one of the detection results of the second detection device is not in the corresponding comparison interval, it can be ensured that when one of them fails, the other can still control the adjustment of the second suspension oil cylinder 210, and the reliability of the vehicle motion coordination is improved.

[0059] Further, 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, and 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. The first pressure adjustment value and the second pressure adjustment value can be 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. The first stroke adjustment value and the second stroke adjustment value can be equal or unequal.

[0060] In an embodiment of the present application, the first suspension oil cylinder and the second suspension oil cylinder 210 are both arranged with the piston rod end upward, i.e. the rodless cavity is arranged downward, and the effective action area of the rodless cavity is greater than that of the rod cavity, which can improve the support of the suspension oil cylinder on the vehicle frame 100. In the case that 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 stroke adjustment of the second suspension oil cylinder 210 is controlled, including:

[0061] In the case that 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 cavity of the second suspension oil cylinder 210 is controlled to be filled with oil.

[0062] In the case that 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 cavity of the second suspension oil cylinder 210 is controlled to be filled with oil.

[0063] 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 indicated that the piston rod end of the second suspension cylinder 210 extends more than the piston rod end of the first suspension cylinder, that is, the second suspension cylinder 210 is in an uncoordinated extension state. The oil inlet to 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 retraction direction, thereby ensuring the movement coordination of the first axle device and the second axle device 200. Furthermore, if the detection result of the pressure sensor in the second detection device is greater than the maximum threshold value 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 value of the stroke comparison interval, it can be indicated that the piston rod end of the second suspension cylinder 210 has retracted more than the piston rod end of the first suspension cylinder, that is, the second suspension cylinder 210 is in an uncoordinated retraction state. The piston rod end of the second suspension cylinder 210 can be driven to move in the extension direction by controlling the oil flow into the rodless chamber of the second suspension cylinder 210, thereby ensuring coordinated movement of the first axle device 200 and the second axle device 200. Of course, the present invention is not limited to this, and the piston rod ends of both the first suspension cylinder 210 and the second suspension cylinder 210 can also be arranged with the piston rod ends facing downward.

[0064] More specifically, the second suspension oil cylinder 210 has an electronically controlled hydraulic valve, and the oil inlet and outlet directions of the second suspension oil cylinder 210 can be controlled by the electronically controlled hydraulic valve.

[0065] See also Figure 1 and Figure 2 In one embodiment of the present invention, the second axle device 200 includes two second suspension cylinders 210, which are disposed on the left and right sides of a slewing bearing frame 110 protruding downward from the vehicle frame 100. The disconnectable 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 cylinders 210 are 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 frame 110. This arrangement allows the second axle device 200 to be securely mounted on the vehicle frame 100 without air leakage.

[0066] In one embodiment of the present invention, the second axle device 200 further includes a mounting bracket 120 disposed on the underside 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 underside of the slewing bearing frame 110 and the mounting horizontal plate 122. The left and right ends of the mounting horizontal plate 122 extend out from the connecting vertical plate. The left and right ends of the mounting horizontal plate 122 are each provided with a mounting opening. 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 on the left and right ends of the mounting horizontal plate 122 and are respectively hinged to the mounting horizontal plate 122. The addition of the mounting bracket 120 facilitates the assembly and disassembly of the first swing arm 221 and the second swing arm 222 from 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 gradually away from each other in the direction from left to right, and the two second swing arms 222 are arranged on the right side of the mounting cross plate 122 and are inclined gradually away from each other in the direction from right to left. 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 in a one-to-one correspondence.

[0067] 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 .

[0068] Compared with the prior art, the hybrid suspension travel system for cranes provided by the present invention has the following advantages:

[0069] 1. Based on the vehicle configuration requirements and the characteristics of the main structural components such as the frame, a hybrid system of non-independent suspension integral axles and independent suspension disconnect axles is configured at different bridge positions. This takes into account the maximum vehicle width requirement of 3m for road vehicles and the maximum reduction of vehicle height and center of gravity when traveling with a heavy load, while achieving maximum system simplification, efficiency improvement and cost optimization.

[0070] 2. The non-independent suspension integral axle configured for 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 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 stroke sensor in the independent suspension cylinder, the status of the independent suspension disconnected axle and its movement coordination with the non-independent vehicle axle are judged, and the stroke is adjusted by controlling the independent suspension cylinder to finally achieve the movement coordination of the whole vehicle.

[0071] In addition, if Figure 3As shown, the present invention further 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 includes:

[0072] In step S100 , the operating parameters of the second suspension cylinder 210 in the second axle device 200 are compared with the operating parameters of the first suspension cylinder in the second axle device 200 .

[0073] 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.

[0074] More specifically, a comparison interval may be determined first according to the operating parameters of the first suspension cylinder, and then the operating parameters of the second suspension cylinder 210 may be compared with the comparison interval.

[0075] Step S200 : determining whether the first axle device and the second axle device 200 move in a coordinated manner based on the comparison result.

[0076] It can be understood that if the operating parameters of the second suspension cylinder 210 are not significantly different from the operating 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 are moving in a coordinated manner. If the operating parameters of the second suspension cylinder 210 are significantly different from the operating 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 are moving in an uncoordinated manner. Specifically, if the operating parameters of the second suspension cylinder 210 are within a comparison range, it can be determined that the first axle device and the second axle device 200 are moving in a coordinated manner. If the operating parameters of the second suspension cylinder 210 are not within the comparison range, it can be determined that the first axle device and the second axle device 200 are moving in an uncoordinated manner.

[0077] 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.

[0078] When the crane uses the mixed suspension travel control method, the second axle device 200 is configured on the lower side of the slewing device of the crane, and the height of the center of gravity of the whole vehicle is reduced, so that the stable travel of the vehicle is realized without increasing the vehicle outer width. In addition, the first axle device can be used as a standard axle, and the state of the second axle device 200 using the independent suspension and the motion coordination between the second axle device 200 and the first axle device using the non-independent suspension are determined by comparing the working parameters of the suspension oil cylinders of the second axle device 200, and the working stroke of the second suspension oil cylinder 210 of the second axle device 200 is adjusted, so that the motion coordination of the whole vehicle is finally achieved.

[0079] Specifically, referring to Figure 4 The detailed steps of the mixed suspension travel control method provided by the present application can be as follows:

[0080] (1) Controlling the vehicle to start;

[0081] (2) Detecting the suspension states of all the first axle devices and the second axle device;

[0082] (3) Determining whether the suspension is in an initial setting state according to the detection result of the suspension state, and the initial setting state can be that the piston rod end of the suspension oil cylinder is extended in the middle position;

[0083] (4) If the suspension is not in the initial setting state, the display screen prompts to adjust the suspension to the initial setting state;

[0084] (5) After the suspension is in the initial setting state and the vehicle travel speed is not equal to zero, the detection results of the first detection device on the first suspension oil cylinder and the second detection device on the second suspension oil cylinder are obtained, respectively;

[0085] (6) Determining a comparison interval according to the detection result of the first detection device;

[0086] (7) Comparing the detection result of the second detection device with the comparison interval;

[0087] (8) Adjusting the stroke of the second suspension oil cylinder according to the comparison result, so that the motion coordination between the second axle device and the first axle device is achieved.

[0088] The present invention further provides a crane comprising the hybrid suspension travel system for a crane as described above. Since the crane employs all of the technical solutions of the aforementioned embodiments, it possesses at least all of the beneficial effects brought about by the technical solutions of the aforementioned embodiments, and thus will not be described in detail here.

[0089] 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 to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0090] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0091] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0092] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify 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 includes: A first axle device, wherein the first axle device adopts a non-independent suspension and is provided 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 provided on the frame (100) of the crane and is located at the lower side of the slewing device of the crane; The second suspension oil cylinder (210) of the second axle device (200) is provided with a second detection device for detecting the second suspension oil cylinder (210), and the first suspension oil cylinder of the first axle device is provided with a first detection device for detecting the first suspension oil cylinder, the first detection device and the second detection device both comprising 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; The hybrid suspension driving system further includes a control device communicatively connected to the first detection device and the second detection device, respectively, and the control device is configured to: comparing the detection result of the second detection device with the detection result of the first detection device; 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 so that the second axle device (200) and the first axle device move in coordination, 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.

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), and 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.

3. The hybrid suspension travel system for a crane according to claim 2, characterized in that: The first axle device comprises a first suspension oil cylinder and an integral axle, and the upper and lower ends of the first suspension oil cylinder are respectively connected to the frame (100) of the crane and the integral axle in a one-to-one correspondence.

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: Performing mean calculation on detection data of the first detection device located on the first axle device at the front and rear ends of the crane, and using the mean calculation result 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: Comparing the detection result of the second detection device with the detection result of the first detection device includes: 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 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 inflow into 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 value 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 value of the stroke comparison interval, the rodless chamber of the second suspension oil cylinder (210) is controlled to flow oil.

7. The hybrid suspension travel system for a crane according to any one of claims 2 to 6, 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 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 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 away 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).

8. The hybrid suspension travel system for a crane according to claim 7, characterized in that: The second axle device (200) further includes a mounting bracket (120) provided on the lower side of the slewing bearing box frame (110), the mounting bracket (120) including a connecting vertical plate (121) and a mounting transverse plate (122), the upper and lower ends of the connecting vertical plate (121) being connected to the lower side of the slewing bearing box frame (110) and the mounting transverse plate (122) respectively, the left and right ends of the mounting transverse plate (122) both extending out from the connecting vertical plate (121), and the left and right ends of the mounting transverse plate (122) both being provided with mounting openings, the ends of the first swing arm (221) and the second swing arm (222) being relatively close to each other are respectively placed in the mounting openings at the left and right ends of the mounting transverse plate (122) and are respectively hinged to the mounting transverse plate (122).

9. 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 8, and includes: comparing the operating parameters of the second suspension cylinder (210) in the second axle device (200) with the operating 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 based on 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.

10. A crane, characterized in that: The crane includes the hybrid suspension travel system for a crane according to any one of claims 1 to 8.

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