The invention provides an automatic navigation three-point leveling type hydraulic active suspension chassis. The automatic navigation three-point leveling type hydraulic active suspension chassis comprises a chassis structure system, a supporting mechanism, triangular crawler wheels, an electro-hydraulic proportional active suspension system, a steering wheel assembly, a control system and a navigation system. In the running process of the chassis, the amplitude value from ground excitation is attenuated through the triangular crawler wheels with the flexible ground planes, then based on chassis pose signal changes and internal pressure intensity changes of the suspension oil cylinders, through specific algorithm program processing, the controller sends instruction signals to the electro-hydraulic proportional control valve set to drive the corresponding valve elements to move, and the corresponding valve elements are driven to move. The telescopic stroke of each suspension oil cylinder is reasonably distributed, each suspension oil cylinder drives the corresponding suspension mechanism to move, the left-right rolling angle and the front-back pitching angle of the chassis are adaptively adjusted, and the vehicle chassis is kept horizontal and stable in the running process. The navigation system detects in real time, reasonably adjusts the rotating speed of the steering hydraulic motor and the crawler wheel hydraulic motor, and adaptively adjusts the movement track and speed of the chassis.
本发明提供了一种自动导航三点调平式液压主动悬挂底盘,包括底盘结构系统、支撑机构、三角履带轮、电液比例主动悬挂系统、转向轮集成、控制系统和导航系统。底盘行驶过程中,先由具有柔性接地面的三角履带轮衰减来自地面激励的幅值,再基于底盘位姿信号变化和悬挂油缸的内部压强变化,经特定的算法程序处理,由控制器向电液比例控制阀组发出指令信号驱动相应阀芯运动,合理地分配各悬挂油缸的伸缩行程,各悬挂缸驱动相应的悬挂机构运动,适应性地调节底盘左右横滚和前后俯仰的角度,使车辆底盘行驶过程中保持水平和稳定;导航系统实时检测,合理的调节转向液压马达和履带轮液压马达的转速,适应性的调节底盘的运动轨迹和速度。
Automatic navigation three-point leveling type hydraulic active suspension chassis
一种自动导航三点调平式液压主动悬挂底盘
04.06.2021
Patent
Elektronische Ressource
Chinesisch
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