The invention discloses an omni-directional moving chassis suspension hydraulic system which is characterized in that a hydraulic oil source is mounted on a frame and connected with a multi-way valve bank, the multi-way valve bank is connected with a suspension valve block assembly, the suspension valve block assembly is connected with a positive cavity and a negative cavity of a suspension oil cylinder, and a non-return element is arranged in the suspension valve block assembly; the suspension oil cylinders are installed on a frame supporting point in groups, at least two suspension oil cylinders are arranged in each group, the suspension oil cylinders in each group are connected with the suspension valve block assembly in a parallel connection mode, a piston ball seat of each suspension oil cylinder is connected with the Mecanum wheel through a wheel axle, and a hydraulic control reversing valve is arranged between a positive cavity and a negative cavity of each suspension oil cylinder. A hydraulic control port of the hydraulic control reversing valve is connected with the multi-way valve set, and the multi-way valve set controls connection and disconnection of a positive cavity and a negative cavity of the suspension oil cylinder. A single-supporting-point type multi-suspension hydraulic communication structure is adopted, so that the grounding specific pressure of a plurality of wheat wheels at the same supporting point is kept consistent, the virtual leg phenomenon of the wheat wheels is effectively avoided, and high precision, smoothness, safety and reliability of a chassis are achieved.

    本发明公开了一种全向移动底盘悬架液压系统,将液压油源安装于车架上,液压油源和多路阀组相连,多路阀组和悬架阀块总成相连,悬架阀块总成和悬架油缸的正腔和反腔相连,悬架阀块总成内设有止逆元件,悬架油缸成组安装于车架支撑点,每组悬架油缸至少设置为两个,组内悬架油缸采用并联形式与悬架阀块总成连接,每个悬架油缸的活塞球座均通过车轮轴和麦克纳姆轮连接,每个悬架油缸的正反腔之间均设有液控换向阀,液控换向阀的液控口与多路阀组相连,通过多路阀组控制悬架油缸正反腔的通断。本发明采用单支撑点式多悬架液压连通结构,使同一支撑点的多个麦轮接地比压保持一致,有效规避麦轮的虚腿现象,实现底盘的高精度、平顺性、安全性与可靠性。


    Access

    Download


    Export, share and cite



    Title :

    Omni-directional mobile chassis suspension hydraulic system and control method thereof


    Additional title:

    一种全向移动底盘悬架液压系统及其控制方法


    Contributors:
    ZHANG SHAOJU (author) / LIU XIANGYANG (author) / GUO JIANWEI (author) / XIE WENJIAN (author) / HE LIAO (author) / JIANG AIMIN (author) / FU SHUGUANG (author) / DUAN PEIYONG (author) / LI YI (author) / YU LIANG (author)

    Publication date :

    2024-12-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



    Omni-directional mobile chassis system

    LIAO WENLONG / HE TAO / ZHAO LEI | European Patent Office | 2022

    Free access

    Novel omni-directional mobile robot and omni-directional mobile chassis

    YU DENGXIU / XU HAO / LONG JIA et al. | European Patent Office | 2021

    Free access

    Omni-directional mobile chassis and AGV

    XIU DEMIN / XU ANPENG / YANG KAI et al. | European Patent Office | 2021

    Free access

    Chassis assembly and control system of active suspension omni-directional robot

    LIU TAO / WANG LI | European Patent Office | 2024

    Free access

    Omni-directional moving chassis and omni-directional moving equipment

    WU ZHUOZHAO / JIN YI / XU ZHIRONG et al. | European Patent Office | 2022

    Free access