All-terrain hydraulic drive mountain transport vehicle and control method thereof

Abstract

The invention discloses an all-terrain hydraulically-driven mountain transport vehicle and a control method thereof.The all-terrain hydraulically-driven mountain transport vehicle mainly comprises storage boxes, a vehicle frame, a chassis, an oil tank assembly, a power station, a protective cover and a laser radar, and the two storage boxes are installed on the two sides of the vehicle frame through bolts and nuts correspondingly; the vehicle frame is used for bearing all parts of the whole vehicle and storing large goods, the vehicle frame is installed above the chassis through bolts and nuts at the bottom, the oil tank assembly is installed on the front portion of the vehicle frame through bolts and nuts, and the power station and the protective cover are installed on the oil tank assembly through bolts and nuts. The laser radar is installed above the power station and the protective cover through screws or bolts. The four groups of hydraulic motors are adopted for walking driving, the defects that a traditional transport vehicle is small in loading capacity, poor in flexibility and the like are overcome, the advantages of being large in storage space, high in climbing capacity and the like are achieved, meanwhile, the technology of combining active suspension and passive suspension is adopted, active and passive free switching can be carried out according to actual working conditions, and the service life of the transport vehicle is prolonged. The characteristics of high reliability, simple maintenance, good low-speed jolt filtering and the like of passive suspension are considered, and the advantages of high adaptability to complex road conditions, good high-low-speed jolt filtering, high automation degree and the like of active suspension are also achieved.

Description

TECHNICAL FIELD

[0002] The present application relates to a mountain transport vehicle, in particular to a full-terrain hydraulic drive mountain transport vehicle, belonging to the field of engineering vehicles. BACKGROUND

[0003] The traditional mountain transport vehicle is a vehicle specially designed for transporting goods or personnel in complex terrain, especially in mountainous environments. It has good off-road performance and adaptability, and can run on rough, uneven, steep, soft or stony mountain roads. This type of vehicle is widely used in agriculture, forestry, mining, engineering construction, military logistics and emergency rescue.

[0004] Although the application of traditional mountain transport vehicles in complex terrain conditions is relatively widespread, they have many shortcomings, mainly in limited load capacity, poor flexibility and low intelligence level.

[0005] Firstly, in terms of load capacity, the traditional mountain transport vehicle is limited by structural design and power system, and has low carrying capacity. Most vehicles use lightweight materials to adapt to rugged terrain, but this also makes it difficult to carry heavy goods, affecting transportation efficiency. In addition, the power system is relatively backward and cannot effectively cope with steep slopes, mud and other complex road conditions, further limiting its load capacity.

[0006] Secondly, poor flexibility is another major shortcoming of traditional mountain transport vehicles. Due to fixed chassis structure and less advanced steering system, the vehicle is difficult to operate in narrow mountain roads or environments with many curves, with large turning radius and insufficient maneuverability, which can cause low traffic efficiency and even safety hazards such as jamming and rollover.

[0007] Thirdly, low intelligence level is also a key factor restricting its development. Most traditional transport vehicles rely on manual driving and operation, lack of intelligent functions such as automatic navigation, path planning and obstacle recognition, not only increasing labor costs, but also reducing the safety and efficiency of operations. At the same time, the lack of remote monitoring and data acquisition systems makes it difficult to achieve efficient scheduling and maintenance.

[0008] In summary, the traditional mountain transport vehicle has obvious defects in load capacity, flexibility and intelligence, and it is urgent to develop a mountain transport vehicle with large load capacity, good flexibility and high intelligence to improve its overall performance and meet the growing demand for modern mountain transport. SUMMARY

[0009] In view of the above shortcomings, the present application aims to provide a full-terrain hydraulic drive mountain transport vehicle, which has a main and passive suspension function and can adapt to complex terrain.

[0010] The technical scheme of the present application is as follows: The all-terrain hydraulic drive mountain transport vehicle comprises a frame and a chassis installed below the frame, the chassis is provided with four sets of driving wheel groups which are the same in structure and principle, each set of driving wheel group comprises a wheel, a hydraulic system assembly, a chassis support, a hub, a driving coupling, a motor support, a suspension oil cylinder and a hydraulic motor of the hydraulic system assembly, the chassis support is fixedly installed on the bottom surface of the frame, the wheel is nested outside the hub, the hub is connected with the hydraulic motor through the driving coupling, the hydraulic motor is installed inside the motor support, the motor support is installed on the chassis support, the first end of the suspension oil cylinder is installed on the motor support, the second end of the suspension oil cylinder is installed on the chassis support, the suspension oil cylinder is composed of a spring and an oil cylinder to realize the functions of active suspension and passive suspension.

[0011] Further, the chassis support comprises a vertical plate and a longitudinal plate arranged on the side of the vertical plate, four groups of support foot bases are arranged on the outer side of the longitudinal plate, the motor support comprises an upper fork, a lower fork and a fork plate, the two groups of support foot bases arranged on the upper part are connected with the upper fork, the two groups of support foot bases arranged on the lower part are connected with the lower fork, the first end of the upper fork is rotatably connected with the first pin shaft on the upper part of the driving coupling, the second end of the upper fork is rotatably connected with the two groups of support foot bases on the upper part through the first shaft rod, the first end of the lower fork is rotatably connected with the second pin shaft on the lower part of the driving coupling, the second end of the lower fork is rotatably connected with the two groups of support foot bases on the lower part through the second shaft rod, the housing of the hydraulic motor is fixedly installed on the fork plate, the fork plate is fixedly installed on the upper fork, the output shaft of the hydraulic motor is connected with the wheel through the driving coupling and the hub to drive the wheel to rotate.

[0012] Further, the mountain transport vehicle further comprises an oil tank assembly, a power station and a protective cover, and a laser radar, two storage boxes for storing small goods are arranged on the two sides of the frame through bolts and nuts, the frame is used for bearing various parts of the vehicle and storing large goods, the frame is installed above the chassis through bolts and nuts on the bottom, the oil tank assembly is installed on the front part of the frame through bolts and nuts, the power station and the protective cover are installed on the oil tank assembly through bolts and nuts, and the laser radar is installed above the power station and the protective cover through screws or bolts.

[0013] Further, the frame is welded by steel plates and square tubes, the square tubes are used as main beams, the square tubes are welded to form a square groove structure, and the square tubes are welded by steel plates to form a storage groove.

[0014] Further, the front part of the frame is welded by steel plates and square tubes to form a fixed support plate for supporting the oil tank assembly, and a protective plate is arranged on the bottom surface of the frame and welded by a steel plate.

[0015] Further, the hydraulic system of the all-terrain hydraulic drive mountain transport vehicle mainly comprises four suspension oil cylinders, a suspension hydraulic valve group, four hydraulic motors, a hydraulic motor valve group, an oil return filter, a hydraulic oil tank, an air filter, a thermometer, an oil suction filter, a hydraulic pump, a shaft coupling, an engine and a relief valve. The four suspension oil cylinders are suspension oil cylinder one, suspension oil cylinder two, suspension oil cylinder three and suspension oil cylinder four. The rodless cavity oil port A of the suspension oil cylinder one, the rodless cavity oil port A of the suspension oil cylinder two, the rodless cavity oil port A of the suspension oil cylinder three and the rodless cavity oil port A of the suspension oil cylinder four are connected with the oil ports A1, A2, A3 and A4 of the suspension hydraulic valve group through hydraulic pipelines respectively. The rod cavity oil port B of the suspension oil cylinder one, the rodless cavity oil port B of the suspension oil cylinder two, the rodless cavity oil port B of the suspension oil cylinder three and the rodless cavity oil port B of the suspension oil cylinder four are connected with the oil ports B1, B2, B3 and B4 of the suspension hydraulic valve group through hydraulic pipelines respectively. The oil inlet port P and the oil return port T of the suspension hydraulic valve group are connected with the working oil ports A1 and B1 of the hydraulic motor valve group through hydraulic pipelines respectively. The working oil ports A2, A3, A4 and A5 of the hydraulic motor valve group are connected with the working oil ports A of the hydraulic motor one, the hydraulic motor two, the hydraulic motor three and the hydraulic motor four through hydraulic pipelines respectively. The working oil ports B2, B3, B4 and B5 of the hydraulic motor valve group are connected with the working oil ports B of the hydraulic motor one, the hydraulic motor two, the hydraulic motor three and the hydraulic motor four through hydraulic pipelines respectively. The oil inlet port P of the hydraulic motor valve group is connected with the oil outlet port P of the hydraulic pump and the oil inlet port P of the relief valve through a hydraulic pipeline. The oil return port T of the hydraulic motor valve group is connected with the oil return filter through a hydraulic pipeline. The oil outlet port A of the oil return filter and the oil outlet port A of the relief valve are respectively inserted into the inside of the hydraulic oil tank through hydraulic pipelines and are in contact with the hydraulic oil in the hydraulic oil tank. The input shaft of the hydraulic pump is connected with the output shaft of the engine, so that the rotation of the engine can drive the rotation of the hydraulic pump. The oil suction port S of the hydraulic pump is connected with the working oil port A of the oil suction filter through a hydraulic pipeline. The oil suction port P of the oil suction filter is inserted into the inside of the hydraulic oil tank through a hydraulic pipeline and is in contact with the hydraulic oil in the hydraulic oil tank. The air filter is installed above the hydraulic oil tank. The thermometer is installed in the inside of the hydraulic oil tank.

[0016] Further, the oil tank support is welded at the bottom of the hydraulic oil tank. The hydraulic oil tank and the oil tank support are installed on the frame through connecting bolts. The power station and the shield are installed above the hydraulic oil tank.

[0017] Further, the suspension hydraulic valve group includes cylinder proportional valve one, cylinder proportional valve two, cylinder proportional valve three, cylinder proportional valve four and suspension hydraulic valve block, the suspension hydraulic valve block is a hexahedral structure, the bottom surface is the mounting surface, the hydraulic valves are distributed on the other surfaces according to the needs, the material is 45 steel, the oil port P of the suspension hydraulic valve block, the oil inlet port P of the cylinder proportional valve one, the oil inlet port P of the cylinder proportional valve two, the oil inlet port P of the cylinder proportional valve three and the oil inlet port P of the cylinder proportional valve four are connected together through the hydraulic pipeline, the oil return port T of the suspension hydraulic valve block, the oil return port T of the cylinder proportional valve one, the oil return port T of the cylinder proportional valve two, the oil return port T of the cylinder proportional valve three and the oil return port T of the cylinder proportional valve four are connected together through the hydraulic pipeline, the working oil port A of the suspension hydraulic valve block, the working oil port A of the cylinder proportional valve one, the working oil port A of the cylinder proportional valve two, the working oil port A of the cylinder proportional valve three and the working oil port A of the cylinder proportional valve four are connected together through the hydraulic pipeline, the working oil port B of the suspension hydraulic valve block, the working oil port B of the cylinder proportional valve one, the working oil port B of the cylinder proportional valve two, the working oil port B of the cylinder proportional valve three and the working oil port B of the cylinder proportional valve four are connected together through the hydraulic pipeline.

[0018] Further, the hydraulic motor valve group includes motor proportional valve one, motor proportional valve two, motor proportional valve three, motor proportional valve four and hydraulic motor valve block 1005, the hydraulic motor valve block is a hexahedral structure, the bottom surface is the mounting surface, the hydraulic valves are distributed on the other surfaces according to the needs, the material is 45 steel, the oil port P of the hydraulic motor valve block, the oil inlet port P of the motor proportional valve one, the oil inlet port P of the motor proportional valve two, the oil inlet port P of the motor proportional valve three and the oil inlet port P of the motor proportional valve four are connected together through the hydraulic pipeline, the oil port T of the hydraulic motor valve block, the oil return port T of the motor proportional valve one, the oil return port T of the motor proportional valve two, the oil return port T of the motor proportional valve three and the oil return port T of the motor proportional valve four are connected together through the hydraulic pipeline, the working oil port A of the hydraulic motor valve block, the working oil port A of the motor proportional valve one, the working oil port A of the motor proportional valve two, the working oil port A of the motor proportional valve three and the working oil port A of the motor proportional valve four are connected together through the hydraulic pipeline, the working oil port B of the hydraulic motor valve block, the working oil port B of the motor proportional valve one, the working oil port B of the motor proportional valve two, the working oil port B of the motor proportional valve three and the working oil port B of the motor proportional valve four are connected together through the hydraulic pipeline.

[0019] The specific steps of the control method of the all-terrain hydraulic drive transport vehicle are as follows Step 1: initialization: initialize the all-terrain hydraulic drive transport vehicle control system, check whether the parameters of the controller, sensor, laser radar and the like are normal, if not, do not execute downward, and send an alarm signal; if normal, continue to execute downward.

[0020] Step 2: Parameter setting: Set up initial parameters such as checking the controller, sensors, lidar, setting the vehicle speed, etc.

[0021] Step 3: Data collection: The controller collects relevant signals through CAN communication, sensors, lidar, etc., and then proceeds to the next step.

[0022] Step 4.1: Suspension control module: The controller determines whether it is in active mode by inputting the button. If it is in active mode, it proceeds to step 4.1.1. If it is in passive mode, it proceeds to step 4.1.2.

[0023] Step 4.1.1: Active mode: After entering active mode, the lidar detects the road information in front of the transport vehicle and calculates the future lifting height of the four wheel groups in real time. Combined with the current vehicle speed, the positions of the four suspension cylinders are calculated, and the target positions of the four suspension cylinders are generated. The actual position of the piston rod of the four suspension cylinders is detected by the displacement sensor built-in the four suspension cylinders. The difference between the target position and the actual position of the four suspension cylinders is calculated, and then the PID operation is performed to output to the cylinder proportional valve one, cylinder proportional valve two, cylinder proportional valve three, and cylinder proportional valve four, thereby controlling the suspension cylinder one, suspension cylinder two, suspension cylinder three, and suspension cylinder four to act. The four suspension cylinders are independently controlled to complete active control, and the controller detects whether the walking path planning is completed in real time. If it is not completed, the four cylinders continue to be in the active control module. If it is completed, it proceeds to the next step.

[0024] Step 4.1.2: Passive mode: Cylinder proportional valve one, cylinder proportional valve two, cylinder proportional valve three, and cylinder proportional valve four are all in a power-off state, and the rodless cavity and the rod cavity of the four suspension cylinders are connected, in a floating state. At this time, the four springs integrated in the four springs are working, and the four springs can offset the lifting of the four wheel groups, thereby reducing the vibration of the vehicle body, and the controller detects whether the walking path planning is completed in real time. If it is not completed, the four cylinders remain in the power-off state and continue to wait. If it is completed, it proceeds to the next step.

[0025] Step 4.2: Autonomous navigation module: the controller determines the navigation target through the relevant information collected by the laser radar, and enters the walking driving module. The position information is decomposed into forward and backward information through the laser radar analysis of the current position coordinates and road surface information. The forward step is 2 meters, and the backward step is 1 meter. Assuming that it is forward, the next step information is subtracted from the actual position information, and four groups of PID operations are performed respectively, and then output to the motor proportional valve one, motor proportional valve two, motor proportional valve three and motor proportional valve four. The motor proportional valve one, motor proportional valve two, motor proportional valve three and motor proportional valve four control the hydraulic motor one, hydraulic motor two, hydraulic motor three and hydraulic motor four respectively, and judge whether the end point is reached, complete the walking driving module, if not, increase the step length, feedback the walking driving, if complete, enter the next step.

[0026] Step 5: completion: the controller detects whether the path planning is completed through the laser radar, if completed, stop running.

[0027] Compared with the prior art, the present application has the following advantages: (1) The present application adopts the technology of combining active suspension and passive suspension, which can freely switch between active suspension and passive suspension according to the actual working condition, and has the characteristics of high reliability, simple maintenance, good low-speed bump filtering, etc. of passive suspension, and the advantages of strong adaptability to complex road conditions, good high-low speed bump filtering, high automation degree, etc. of active suspension. (2) The present application designs a relatively spacious vehicle body, and increases two storage boxes on the frame, thereby enhancing the storage capacity of the transport vehicle, and better completing storage and transportation. (3) Four hydraulic motors are used for walking driving. Since the hydraulic system has the ability to overcome large load, the transport vehicle has the characteristics of large load capacity, good flexibility, strong climbing ability, etc.

[0028] The present application will be described in more detail below in conjunction with the drawings and specific implementation examples. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is the overall schematic view of the present application; Figure 2 is the schematic view of the frame of the present application Figure 1 ; Figure 3 is the schematic view of the frame of the present application Figure 2 ; Figure 4 is the schematic view of the chassis of the present application Figure 1 ; Figure 2 is the schematic view of the chassis of the present application Figure 6 ; Figure 7 is a schematic diagram of the power station explosion structure of the present application; Figure 8 is a hydraulic principle diagram of the present application; Figure 9 is a suspension hydraulic valve group principle diagram of the present application; Figure 10 is a hydraulic motor valve group principle diagram of the present application; Figure 11 is a control flow chart of the present application; Figure 12 is a suspension oil cylinder active control block diagram of the present application; Figure 13 is an autonomous navigation control block diagram of the present application; Figure 14 is a general bottom perspective schematic diagram of the present application; Figure 13 is a partial view of Figure 15 ; Figure 13 is a perspective view of Figure 1 another angle; Figure: 1, storage box, 2, frame, 3, chassis, 4, oil tank assembly, 5, power station and protective cover, 6, laser radar, 7.1, suspension oil cylinder one, 7.2, suspension oil cylinder two, 7.3, suspension oil cylinder three, 7.4, suspension oil cylinder four, 8, suspension hydraulic valve group, 9.1, hydraulic motor one, 9.2, hydraulic motor two, 9.3, hydraulic motor three, 9.4, hydraulic motor four, 10, hydraulic motor valve group, 11, oil return filter, 12, hydraulic oil tank, 13, air filter, 14, thermometer, 15, oil suction filter, 16, hydraulic pump, 17, shaft coupling, 18, engine, 19, overflow valve, 201, steel plate, 202, square tube, 203, support plate, 204, protective plate, 301, wheel, 302, hydraulic system assembly, 303, chassis support, 304, hub, 305, drive shaft coupling, 306, motor support, upright plate, 3032, longitudinal plate, 3033, support foot, 3034, first shaft rod, 3035, second shaft rod, 3051, first pin shaft, 3052, second pin shaft, 3061, upper fork, 3062, lower fork, 3063, fork plate, 3064, cross rod, 401, connecting bolt, 402, oil tank support, 801, oil cylinder proportional valve one, 802, oil cylinder proportional valve two, 803, oil cylinder proportional valve three, 804, oil cylinder proportional valve four, 805, suspension hydraulic valve block, 1001, motor proportional valve one, 1002, motor proportional valve two, 1003, motor proportional valve three, 1004, motor proportional valve four, 1005, hydraulic motor valve block. DETAILED DESCRIPTION

[0031] In order to make the content of the present application more clearly understood, the specific embodiments of the present application are described in detail below by combining with the drawings.

[0032] Figure 2 、 2 , 3, 4, 5 and 6 are three-dimensional diagrams of one example of the present application, the all-terrain hydraulic drive mountain transport vehicle of the present application, including storage boxes 1, a frame 2, a chassis 3, an oil tank assembly 4, a power station and a protective cover 5 and a laser radar 6, the storage boxes 1 are two in total, mainly used for storing small goods, and are installed on both sides of the frame 2 through bolts and nuts, the frame 2 is mainly used for carrying various parts of the vehicle and storing large goods, and is installed above the chassis 3 through bolts and nuts at the bottom, the oil tank assembly 4 is installed at the front of the frame 2 through bolts and nuts, the power station and the protective cover 5 are installed on the oil tank assembly 4 through bolts and nuts, and the laser radar 6 is installed above the power station and the protective cover 5 through screws or bolts.

[0033] Further, as shown in Figure 4 and 3 , the frame 2 is welded by steel plates 201 and square tubes 202, the square tubes 202 serve as main beams, each square tube 202 is welded to form a square groove structure, and the square tubes 202 are welded by the steel plates 201 to form a storage groove; a fixed support plate 203 for supporting the oil tank assembly 4 and the like is formed by welding steel plates and square tubes at the front of the frame 2, and a protective plate 204 is provided on the bottom surface of the frame 2 and is formed by welding steel plates.

[0034] Further, as shown in Figure 7 and 5 , the chassis 3 includes wheels 301, a hydraulic system assembly 302, a chassis support 303, hubs 304, a coupling 305 and a motor support 306, and a total of four sets of drive wheel groups, each set of drive wheel group has the same structure and principle, and each drive wheel group includes the wheels 301, the chassis support 303, the hubs 304, the drive coupling 305 and the motor support 306, and the suspension oil cylinder 7 and the hydraulic motor 9 of the hydraulic system assembly 302, the wheels 301 are nested outside the hubs 304, the hubs 304 are connected with the hydraulic motor 9 through the drive coupling 305, the hydraulic motor 9 is installed inside the motor support 306 through bolts and nuts, the motor support 306 is installed on the chassis support 303 through bolts and nuts, the first end of the suspension oil cylinder 7 is installed on the motor support 306 through bolts and nuts, the second end of the suspension oil cylinder 7 is installed on the chassis support 303, and the suspension oil cylinder 7 is composed of a spring and an oil cylinder, and can realize active suspension and passive suspension functions.

[0035] The specific chassis support 303 comprises a vertical plate 3031 and a vertical plate 3032 arranged at the side of the vertical plate, and four groups of supporting foot bases 3033 are arranged on the outer side of the vertical plate; the motor support 306 comprises an upper fork 3061, a lower fork 3062 and a fork plate 3063, two groups of supporting foot bases arranged at the upper part are connected to the upper fork 3061, two groups of supporting foot bases arranged at the lower part are connected to the lower fork 3062, the first end of the upper fork 3061 is rotationally connected to the first pin shaft 3051 arranged at the upper part of the driving shaft 305, and the second end of the upper fork 3061 is rotationally connected to the two groups of supporting foot bases arranged at the upper part through the first shaft rod 3034 arranged at the two sides; the first end of the lower fork is rotationally connected to the second pin shaft 3052 arranged at the lower part of the driving shaft 305, and the second end of the lower fork is rotationally connected to the two groups of supporting foot bases arranged at the lower part through the second shaft rod 3035 arranged at the two sides; the housing of the hydraulic motor 9 is fixedly arranged on the fork plate 3063, the fork plate 3063 is fixedly arranged on the upper fork 3061, the output shaft of the hydraulic motor 9 is connected to the wheel 301 through the driving shaft 305 and the wheel hub 304 to drive the wheel 301 to rotate, the axis of the first pin shaft 3051 coincides with the axis of the second pin shaft 3052, and the axes of the first shaft rod 3034 and the second shaft rod 3035 are parallel to each other; the horizontal rod 3064 is arranged on the upper fork 3061 and close to the first shaft rod, the first end of the suspension oil cylinder 7 is connected to the horizontal rod 3064, and the second end of the suspension oil cylinder 7 is connected to the chassis support 303.

[0036] Through the above structure, the hydraulic motor 9, the driving shaft 305, the wheel hub 304 and the wheel 301 can rotate relative to the chassis support 303 and the chassis 3 around the axes of the first pin shaft 3051 and the second pin shaft 3052, and the hydraulic motor 9, the driving shaft 305, the wheel hub 304 and the wheel 301 can swing around the axes of the first shaft rod 3034 and the second shaft rod 3035 through the upper fork 3061 and the lower fork 3062.

[0037] Furthermore, the hydraulic principle diagram of the all-terrain hydraulic driving mountain transport vehicle of the present application is shown in Figure 6 Figure 6 ​The three-dimensional schematic diagram of the relevant hydraulic elements is shown, the hydraulic system mainly includes four suspension oil cylinders 7, a suspension hydraulic valve group 8, four hydraulic motors 9, a hydraulic motor valve group 10, an oil return filter 11, a hydraulic oil tank 12, an air filter 13, a thermometer 14, an oil suction filter 15, a hydraulic pump 16, a shaft coupling 17, an engine 18 and an overflow valve 19, the four suspension oil cylinders 7 are suspension oil cylinder one 7.1, suspension oil cylinder two 7.2, suspension oil cylinder three 7.3 and suspension oil cylinder four 7.4 respectively, the rodless cavity oil port A of the suspension oil cylinder one 7.1, the rodless cavity oil port A of the suspension oil cylinder two 7.2, the rodless cavity oil port A of the suspension oil cylinder three 7.3 and the rodless cavity oil port A of the suspension oil cylinder four 7.4 are connected with the oil ports A1, A2, A3 and A4 of the suspension hydraulic valve group 8 through hydraulic pipelines respectively, the rod cavity oil port B of the suspension oil cylinder one 7.1, the rodless cavity oil port B of the suspension oil cylinder two 7.2, the rodless cavity oil port B of the suspension oil cylinder three 7.3 and the rodless cavity oil port B of the suspension oil cylinder four 7.4 are connected with the oil ports B1, B2, B3 and B4 of the suspension hydraulic valve group 8 through hydraulic pipelines respectively, the oil inlet P and the oil return port T of the suspension hydraulic valve group 8 are connected with the working oil ports A1 and B1 of the hydraulic motor valve group 10 through hydraulic pipelines respectively, the working oil ports A2, A3, A4 and A5 of the hydraulic motor valve group 10 are connected with the working oil ports A of the hydraulic motor one 9.1, the hydraulic motor two 9.2, the hydraulic motor three 9.3 and the hydraulic motor four 9.4 through hydraulic pipelines respectively, the working oil ports B2, B3, B4 and B5 of the hydraulic motor valve group 10 are connected with the working oil ports B of the hydraulic motor one 9.1, the hydraulic motor two 9.2, the hydraulic motor three 9.3 and the hydraulic motor four 9.4 through hydraulic pipelines respectively, the oil inlet P of the hydraulic motor valve group 10 is connected with the oil outlet P of the hydraulic pump 16 and the oil inlet P of the overflow valve 19 through a hydraulic pipeline, the oil return port T of the hydraulic motor valve group 10 is connected with the oil return filter 11 through a hydraulic pipeline, the oil outlet A of the oil return filter 11 and the oil outlet A of the overflow valve 19 extend into the inside of the hydraulic oil tank 12 through hydraulic pipelines respectively and contact with the hydraulic oil in the hydraulic oil tank 12, the input shaft of the hydraulic pump 16 is connected with the output shaft of the engine 18, so that the rotation of the engine 18 can drive the rotation of the hydraulic pump 16, the oil suction port S of the hydraulic pump 16 is connected with the working oil port A of the oil suction filter 15 through a hydraulic pipeline, the oil suction port P of the oil suction filter 15 extends into the inside of the hydraulic oil tank 12 through a hydraulic pipeline and contacts with the hydraulic oil in the hydraulic oil tank 12, the air filter 13 is installed above the hydraulic oil tank 12, and the thermometer 14 is installed in the inside of the hydraulic oil tank 12.

[0038] Further, as shown in the drawings, Figure 8 An oil tank support 402 is welded at the bottom of the hydraulic oil tank 12, the hydraulic oil tank 12 and the oil tank support 402 are installed on the frame 2 through the connecting bolts 401, and the power station and the shield 5 are installed above the hydraulic oil tank 12.

[0039] Further, the suspension hydraulic valve group 8 includes a cylinder proportional valve 1 801, a cylinder proportional valve 2 802, a cylinder proportional valve 3 803, a cylinder proportional valve 4 804, and a suspension hydraulic valve block 805. The suspension hydraulic valve block 805 is a hexahedral structure, the bottom surface is a mounting surface, and the material is 45 steel. The specific connection pipeline is shown in Figure 9 The oil port P of the suspension hydraulic valve block 805, the oil inlet port P of the cylinder proportional valve 1 801, the oil inlet port P of the cylinder proportional valve 2 802, the oil inlet port P of the cylinder proportional valve 3 803, and the oil inlet port P of the cylinder proportional valve 4 804 are connected together through the hydraulic pipeline. The oil return port T of the suspension hydraulic valve block 805, the oil return port T of the cylinder proportional valve 1 801, the oil return port T of the cylinder proportional valve 2 802, the oil return port T of the cylinder proportional valve 3 803, and the oil return port T of the cylinder proportional valve 4 804 are connected together through the hydraulic pipeline. The working oil port A of the suspension hydraulic valve block 805, the working oil port A of the cylinder proportional valve 1 801, the working oil port A of the cylinder proportional valve 2 802, the working oil port A of the cylinder proportional valve 3 803, and the working oil port A of the cylinder proportional valve 4 804 are connected together through the hydraulic pipeline. The working oil port B of the suspension hydraulic valve block 805, the working oil port B of the cylinder proportional valve 1 801, the working oil port B of the cylinder proportional valve 2 802, the working oil port B of the cylinder proportional valve 3 803, and the working oil port B of the cylinder proportional valve 4 804 are connected together through the hydraulic pipeline.

[0040] Further, the hydraulic motor valve group 10 includes a motor proportional valve 1 1001, a motor proportional valve 2 1002, a motor proportional valve 3 1003, a motor proportional valve 4 1004, and a hydraulic motor valve block 1005. The hydraulic motor valve block 1005 is a hexahedral structure, the bottom surface is a mounting surface, and the material is 45 steel. The specific connection pipeline is shown in Figure 10 The oil port P of the hydraulic motor valve block 1005, the oil inlet port P of the motor proportional valve 1 1001, the oil inlet port P of the motor proportional valve 2 1002, the oil inlet port P of the motor proportional valve 3 1003, and the oil inlet port P of the motor proportional valve 4 1004 are connected together through the hydraulic pipeline. The oil return port T of the hydraulic motor valve block 1005, the oil return port T of the motor proportional valve 1 1001, the oil return port T of the motor proportional valve 2 1002, the oil return port T of the motor proportional valve 3 1003, and the oil return port T of the motor proportional valve 4 1004 are connected together through the hydraulic pipeline. The working oil port A of the hydraulic motor valve block 1005, the working oil port A of the motor proportional valve 1 1001, the working oil port A of the motor proportional valve 2 1002, the working oil port A of the motor proportional valve 3 1003, and the working oil port A of the motor proportional valve 4 1004 are connected together through the hydraulic pipeline. The working oil port B of the hydraulic motor valve block 1005, the working oil port B of the motor proportional valve 1 1001, the working oil port B of the motor proportional valve 2 1002, the working oil port B of the motor proportional valve 3 1003, and the working oil port B of the motor proportional valve 4 1004 are connected together through the hydraulic pipeline.

[0041] As Figure 11 shown, the specific steps of the control method of the all-terrain hydraulic drive transport vehicle of the present application are as follows: Step 1: initialization: initialize the all-terrain hydraulic drive transport vehicle control system (including the controller, sensors, laser radar 6, suspension hydraulic valve group 8 and hydraulic motor valve group 10, etc.), check whether the parameters of the controller, sensors, laser radar, etc. are normal, if not, do not execute, and send an alarm signal; if normal, continue to execute.

[0042] Step 2: parameter setting: set the initial parameters such as checking the controller, sensors, laser radar, and setting the vehicle speed.

[0043] Step 3: data acquisition: the controller acquires relevant signals through CAN communication, sensors, laser radar, etc., and then enters the next step.

[0044] Step 4.1: suspension control module: the controller determines whether it is in active mode through the input button, if it is in active mode, it enters step 4.1.1, if it is in passive mode, it enters step 4.1.2.

[0045] Step 4.1.1: active mode: as Figure 12 shown, after entering active mode, the laser radar detects the road surface information in front of the transport vehicle and calculates the future lifting height of the four wheel groups in real time, combines the current vehicle speed, calculates the position of the four suspension cylinders, and generates the target position of the four suspension cylinders, and detects the actual position of the cylinder piston rod through the displacement sensor built-in in the four suspension cylinders, then the difference between the target position and the actual position of the four suspension cylinders is calculated, and then the PID operation is performed, and the output is given to the cylinder proportional valve one 801, the cylinder proportional valve two 802, the cylinder proportional valve three 803 and the cylinder proportional valve four 804, so as to control the action of the suspension cylinder one 7.1, the suspension cylinder two 7.2, the suspension cylinder three 7.3 and the suspension cylinder four 7.4, the four suspension cylinders are independently controlled, the active control is completed, and whether the walking path planning is completed is detected in real time by the controller, if not, the four cylinders continue to be in the active control module, if completed, the next step is entered.

[0046] Step 4.1.2: passive mode: the cylinder proportional valve one 801, the cylinder proportional valve two 802, the cylinder proportional valve three 803 and the cylinder proportional valve four 804 are all in the power-off state, the rodless cavity and the rod cavity of the four suspension cylinders are connected, and are in the floating state, at this time, the four springs integrated in the four springs work, the four springs can offset the lifting of the four wheel groups, thereby reducing the vibration of the vehicle body, and whether the walking path planning is completed is detected in real time by the controller, if not, the four cylinders remain in the power-off state and continue to wait, if completed, the next step is entered.

[0047] Step 4.2: Autonomous navigation module: the controller determines the navigation target through the relevant information collected by the laser radar, and enters the walking driving module, as shown in the figure. ​ As shown, the current position coordinates and road surface information are analyzed by the laser radar, the position information is decomposed into forward and backward information, the forward step is 2 meters, and the backward step is 1 meter. Assuming that it is forward, the next step information is subtracted from the actual position information, and four groups of PID operations are performed respectively, and then output to the motor proportional valve one 1001, the motor proportional valve two 1002, the motor proportional valve three 1003 and the motor proportional valve four 1004. The motor proportional valve one 1001, the motor proportional valve two 1002, the motor proportional valve three 1003 and the motor proportional valve four 1004 control the hydraulic motor one 9.1, the hydraulic motor two 9.2, the hydraulic motor three 9.3 and the hydraulic motor four 9.4 respectively, and judge whether the end point is reached. If not, increase the step length and feedback the walking driving. If it is completed, the next step is entered.

[0048] Step 5: completion: the controller detects whether the path planning is completed through the laser radar, and if it is completed, the running is stopped.

[0049] The above technical content has described the content of the application, and other parts not described in detail are prior art, which will not be repeated here.

[0050] Advantages of the present application: (1) The present application adopts the technology of combining active suspension and passive suspension, which can freely switch between active suspension and passive suspension according to the actual working condition, and has the characteristics of high reliability, simple maintenance, good low-speed bump filtering, etc. of passive suspension, and the advantages of strong adaptability to complex road conditions, good high-low speed bump filtering, high automation degree, etc. of active suspension. (2) The present application designs a relatively spacious vehicle body, and increases two storage boxes on the frame, which enhances the storage capacity of the transport vehicle, so as to better complete the storage and transportation. (3) Four hydraulic motors are used for walking driving. Since the hydraulic system has the ability to overcome large load, the transport vehicle has the characteristics of large load capacity, good flexibility, strong climbing ability, etc. (4) In the control of the suspension oil cylinder, the proportional valve with Y function is selected. When the two electromagnets lose power at the same time, the rodless cavity and the rod cavity of the suspension oil cylinder can be communicated, so as to realize the floating of the suspension oil cylinder. The hydraulic system of the present application can realize passive suspension function without external power supply, which has strong practicality and feasibility.

[0051] (5) The electronic measurement and control elements such as the laser radar, the displacement sensor and the controller are adopted, path planning and real-time closed-loop control can be carried out according to the road surface information collected by the laser radar, which is beneficial to realize the convenience of unmanned transportation and can improve the intelligent level of the transportation vehicle.

Claims

1. An all-terrain hydraulic drive mountain transport vehicle, characterized in that: it comprises a frame (2) and a chassis (3) mounted below the frame (2), the chassis (3) has four sets of drive wheel groups which are structurally identical in composition and principle, each set of drive wheel group comprises a wheel (301), a hydraulic system assembly (302), a chassis support (303), a hub (304), a drive coupling (305), a motor support (306), a suspension oil cylinder (7) and a hydraulic motor (9) of the hydraulic system assembly (302), the chassis support (303) is fixedly installed on the bottom surface of the frame (2), the wheel (301) is nested outside the hub (304), the hub (304) is connected with the hydraulic motor (9) through the drive coupling (305), the hydraulic motor (9) is installed inside the motor support (306), the motor support (306) is installed on the chassis support (303), the first end of the suspension oil cylinder (7) is installed on the motor support (306), the second end of the suspension oil cylinder (7) is installed on the chassis support (303), and the suspension oil cylinder (7) is composed of a spring and an oil cylinder to realize active suspension and passive suspension functions.

2. The all-terrain, hydraulically driven, mountain transport vehicle of claim 1, wherein: the chassis support (303) comprises a vertical plate (3031) and a longitudinal plate (3032) arranged on the side of the vertical plate, four groups of support foot bases (3033) are installed on the outer side of the longitudinal plate, the motor support (306) comprises an upper fork (3061), a lower fork (3062) and a fork plate (3063), two groups of support foot bases at the upper part are connected with the upper fork (3061), two groups of support foot bases at the lower part are connected with the lower fork (3062), the first end of the upper fork (3061) is rotationally connected with the first pin shaft (3051) at the upper part of the drive coupling (305), and the second end of the upper fork (3061) is rotationally connected with the two groups of support foot bases at the upper part through first shaft rods (3034) on both sides; the first end of the lower fork is rotationally connected with the second pin shaft (3052) at the lower part of the drive coupling (305), and the second end of the lower fork is rotationally connected with the two groups of support foot bases at the lower part through second shaft rods (3035) on both sides, the housing of the hydraulic motor (9) is fixedly installed on the fork plate (3063), the fork plate (3063) is fixedly installed on the upper fork (3061), and the output shaft of the hydraulic motor (9) is connected with the wheel (301) through the drive coupling (305) and the hub (304) to drive the wheel (301) to rotate.

3. The all-terrain, hydraulically driven, mountain transport vehicle of claim 1, wherein: The mountain transport vehicle further comprises storage boxes (1), an oil tank assembly (4), a power station and a protective cover (5), and a laser radar (6), the two storage boxes (1) for storing small goods are respectively installed on the two sides of the frame (2) through bolts and nuts, the frame (2) is used for bearing various parts of the vehicle and storing large goods, the frame (2) is installed above the chassis (3) through bolts and nuts at the bottom, the oil tank assembly (4) is installed at the front of the frame (2) through bolts and nuts, the power station and the protective cover (5) are installed on the oil tank assembly (4) through bolts and nuts, and the laser radar (6) is installed above the power station and the protective cover (5) through screws or bolts.

4. The all-terrain, hydraulically driven, mountain transport vehicle of claim 1, wherein: The frame (2) is welded by steel plates (201) and square tubes (202), the square tubes (202) are used as main beams, the square tubes (202) are welded to form a square groove structure, and the square tubes (202) are welded by the steel plates (201) to form storage grooves.

5. The all-terrain, hydraulically driven, mountain transport vehicle of claim 4, wherein: The front part of the frame (2) is welded by steel plates and square tubes to form a fixed support plate (203) for supporting the oil tank assembly (4), and a protective plate (204) is arranged on the bottom surface of the frame (2) and welded by a steel plate.

6. An all-terrain hydraulic drive mountain transport vehicle according to claim 1, 2, 3, 4 or 5, characterized in that: The hydraulic system of the mountain transport vehicle comprises four suspension oil cylinders (7), a suspension hydraulic valve group (8), four hydraulic motors (9), a hydraulic motor valve group (10), an oil return filter (11), a hydraulic oil tank (12), an air filter (13), a thermometer (14), an oil suction filter (15), a hydraulic pump (16), a shaft coupling (17), an engine (18) and an overflow valve (19), the four suspension oil cylinders (7) are respectively a first suspension oil cylinder (7.1), a second suspension oil cylinder (7.2), a third suspension oil cylinder (7.3) and a fourth suspension oil cylinder (7.3), the rodless cavity oil port A of the first suspension oil cylinder (7.1), the rodless cavity oil port A of the second suspension oil cylinder (7.2), the rodless cavity oil port A of the third suspension oil cylinder (7.3) and the rodless cavity oil port A of the fourth suspension oil cylinder (7.3) are connected with the oil ports A1, A2, A3 and A4 of the suspension hydraulic valve group (8) through hydraulic pipelines respectively, the rod cavity oil port B of the first suspension oil cylinder (7.1), the rodless cavity oil port B of the second suspension oil cylinder (7.2), the rodless cavity oil port B of the third suspension oil cylinder (7.3) and the rodless cavity oil port B of the fourth suspension oil cylinder (7.3) are connected with the oil ports B1, B2, B3 and B4 of the suspension hydraulic valve group (8) through hydraulic pipelines respectively; the oil inlet P and the oil return port T of the suspension hydraulic valve group (8) are connected with the working oil ports A1 and B1 of the hydraulic motor valve group (10) through hydraulic pipelines respectively; The working oil ports A2, A3, A4 and A5 of the hydraulic motor valve group (10) are connected with the working oil ports A of the hydraulic motor one (9.1), the hydraulic motor two (9.2), the hydraulic motor three (9.3) and the hydraulic motor four (9.4) through hydraulic pipelines respectively, the working oil ports B2, B3, B4 and B5 of the hydraulic motor valve group (10) are connected with the working oil ports B of the hydraulic motor one (9.1), the hydraulic motor two (9.2), the hydraulic motor three (9.3) and the hydraulic motor four (9.4) through hydraulic pipelines respectively, the oil inlet port P of the hydraulic motor valve group (10) is connected with the oil outlet port P of the hydraulic pump (16) and the oil inlet port P of the overflow valve (19) through a hydraulic pipeline, the oil return port T of the hydraulic motor valve group (10) is connected with the oil return filter (11) through a hydraulic pipeline, the oil outlet port A of the oil return filter (11) and the oil outlet port A of the overflow valve (19) are respectively extended into the inside of the hydraulic oil tank (12) through hydraulic pipelines and are in contact with the hydraulic oil in the hydraulic oil tank (12).

7. The all-terrain, hydraulically driven, mountain transport vehicle of claim 6, wherein: The input shaft of the hydraulic pump (16) is connected with the output shaft of the engine (18), so that the rotation of the engine (18) drives the rotation of the hydraulic pump (16), the oil suction port S of the hydraulic pump (16) is connected with the working oil port A of the oil suction filter (15) through a hydraulic pipeline, the oil suction port P of the oil suction filter (15) is extended into the inside of the hydraulic oil tank (12) through a hydraulic pipeline and is in contact with the hydraulic oil in the hydraulic oil tank (12), an air filter (13) is installed above the hydraulic oil tank (12), a thermometer (14) is installed in the inside of the hydraulic oil tank (12); an oil tank support (402) is welded at the bottom of the hydraulic oil tank (12), the hydraulic oil tank (12) and the oil tank support (402) are installed on the frame (2) through connecting bolts (401) together, a power station and a shield (5) are installed above the hydraulic oil tank (12).

8. The all-terrain, hydraulically driven, mountain transport vehicle of claim 6, wherein: The suspension hydraulic valve group (8) comprises a cylinder proportional valve one (801), a cylinder proportional valve two (802), a cylinder proportional valve three (803), a cylinder proportional valve four (804) and a suspension hydraulic valve block (805), the suspension hydraulic valve block (805) is a hexahedron structure, the bottom surface is a mounting surface, the oil port P of the suspension hydraulic valve block (805), the oil inlet port P of the cylinder proportional valve one (801), the oil inlet port P of the cylinder proportional valve two (802), the oil inlet port P of the cylinder proportional valve three (803) and the oil inlet port P of the cylinder proportional valve four (804) are connected together through a hydraulic pipeline, the oil port T of the suspension hydraulic valve block (805), the oil return port T of the cylinder proportional valve one (801), the oil return port T of the cylinder proportional valve two (802), the oil return port T of the cylinder proportional valve three (803) and the oil return port T of the cylinder proportional valve four (804) are connected together through a hydraulic pipeline, the working oil port A of the suspension hydraulic valve block (805), the working oil port A of the cylinder proportional valve one (801), the working oil port A of the cylinder proportional valve two (802), the working oil port A of the cylinder proportional valve three (803) and the working oil port A of the cylinder proportional valve four (804) are connected together through a hydraulic pipeline, the working oil port B of the suspension hydraulic valve block (805), the working oil port B of the cylinder proportional valve one (801), the working oil port B of the cylinder proportional valve two (802), the working oil port B of the cylinder proportional valve three (803) and the working oil port B of the cylinder proportional valve four (804) are connected together through a hydraulic pipeline.

9. An all-terrain, hydraulically driven, mountain transport vehicle as claimed in claim 6, 7 or 8, characterised in that: The hydraulic motor valve group (10) comprises a motor proportional valve one (1001), a motor proportional valve two (1002), a motor proportional valve three (1003), a motor proportional valve four (1004) and a hydraulic motor valve block (1005), the oil port P of the hydraulic motor valve block (1005), the oil inlet port P of the motor proportional valve one (1001), the oil inlet port P of the motor proportional valve two (1002), the oil inlet port P of the motor proportional valve three (1003) and the oil inlet port P of the motor proportional valve four (1004) are connected together through a hydraulic pipeline, the oil port T of the hydraulic motor valve block (1005), the oil return port T of the motor proportional valve one (1001), the oil return port T of the motor proportional valve two (1002), the oil return port T of the motor proportional valve three (1003) and the oil return port T of the motor proportional valve four (1004) are connected together through a hydraulic pipeline, the working oil port A of the hydraulic motor valve block (1005), the working oil port A of the motor proportional valve one (1001), the working oil port A of the motor proportional valve two (1002), the working oil port A of the motor proportional valve three (1003) and the working oil port A of the motor proportional valve four (1004) are connected together through a hydraulic pipeline, the working oil port B of the hydraulic motor valve block (1005), the working oil port B of the motor proportional valve one (1001), the working oil port B of the motor proportional valve two (1002), the working oil port B of the motor proportional valve three (1003) and the working oil port B of the motor proportional valve four (1004) are connected together through a hydraulic pipeline.

10. The control method of the all-terrain hydraulic drive mountain transport vehicle according to any one of claims 1-9, comprising the following specific steps Step 1: initialization: initializing the all-terrain hydraulic drive transport vehicle control system, checking whether the parameters of the controller, sensor and laser radar are normal, if not, not executing the following steps, and sending an alarm signal; if normal, continuing to execute the following steps; Step 2: parameter setting: setting the initial parameters of the controller, sensor, laser radar and vehicle speed; Step 3: data acquisition: the controller acquires relevant signals through CAN communication, sensor and laser radar, and then enters the next step; Step 4.1: suspension control module: the controller determines whether it is in active mode through the input button, if it is in active mode, it enters step 4.1.1, if it is in passive mode, it enters step 4.1.2; Step 4.1.1: active mode: after entering the active mode, the laser radar detects the road surface information in front of the transport vehicle, and calculates the future lifting height of the four wheel groups in real time, combines the current vehicle speed, calculates the position of the four suspension cylinders, and generates the target position of the four suspension cylinders, and detects the actual position of the piston rod of the four suspension cylinders through the displacement sensor built-in the four suspension cylinders, and then the target position and the actual position of the four suspension cylinders are subtracted, and then the PID operation is performed, and the output is given to the cylinder proportional valve one (801), the cylinder proportional valve two (802), the cylinder proportional valve three (803) and the cylinder proportional valve four (804), so as to control the action of the suspension cylinder one (7.1), the suspension cylinder two (7.2), the suspension cylinder three (7.3) and the suspension cylinder four (7.4), the four suspension cylinders are independently controlled, the active control is completed, and whether the walking path planning is completed is detected in real time by the controller, if not, the four cylinders continue to be in the active control module, if completed, the next step is entered; Step 4.1.2: passive mode: the cylinder proportional valve one (801), the cylinder proportional valve two (802), the cylinder proportional valve three (803) and the cylinder proportional valve four (804) are all in the power-off state, the rodless cavity and the rod cavity of the four suspension cylinders are connected, and are in the floating state, at this time, the four springs integrated in the four springs are used, the four springs can offset the lifting of the four wheel groups, thereby reducing the vibration of the vehicle body, and whether the walking path planning is completed is detected in real time by the controller, if not, the four cylinders remain in the power-off state and continue to wait, if completed, the next step is entered; Step 4.2: Autonomous navigation module: The controller determines the navigation target based on the information collected by the laser radar and enters the walking drive module. The laser radar analyzes the current position coordinates and road surface information, and decomposes the position information into forward and backward information. The forward step is 2 meters, and the backward step is 1 meter. Assuming forward, the next step information is subtracted from the actual position information, and four sets of PID operations are performed respectively, and then output to motor proportional valve one (1001), motor proportional valve two (1002), motor proportional valve three (1003), and motor proportional valve four (1004). Motor proportional valve one (1001), motor proportional valve two (1002), motor proportional valve three (1003), and motor proportional valve four (1004) control hydraulic motor one (9.1), hydraulic motor two (9.2), hydraulic motor three (9.3), and hydraulic motor four (9.4) respectively, and determine whether the end point is reached, complete the walking drive module. If not completed, increase the step size and feedback the walking drive. If completed, enter the next step; Step 5: Complete: The controller detects whether the path planning is completed by laser radar. If completed, stop running.

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