CN-122009345-A - Cab suspension system for engineering vehicle or tractor and control method

CN122009345ACN 122009345 ACN122009345 ACN 122009345ACN-122009345-A

Abstract

The invention discloses a cab suspension system for an engineering vehicle or a tractor and a control method, wherein the cab suspension system comprises a shock absorber and an inclination correction device, a plurality of shock absorbers are arranged between a mounting frame and a frame of the cab, the inclination correction device comprises a driving motor, a fixing support and a rack, the fixing support is fixedly connected to the frame, the rack is connected to the fixing support in a sliding mode, the driving motor drives the rack to slide through a gear, the rack is connected with the shock absorber, the rack drives the shock absorbers to stretch out and draw back, an inclination sensor is arranged on the mounting frame, a vibration speed sensor is arranged on the frame, the inclination sensor and the vibration speed sensor are electrically connected with an input end of the controller, and an output end of the controller is electrically connected with the driving motor and the shock absorbers.

Inventors

LANG BAOXIANG
Wang sanlong
SU JUNSHOU

Assignees

江苏徐工国重实验室科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260213

Claims (11)

1. The cab suspension system for the engineering vehicle or the tractor is characterized by comprising a plurality of shock absorbers and a tilt correction device, wherein the shock absorbers are arranged between a mounting frame and a frame of a cab, and the tilt correction device is used for adjusting the length of the shock absorbers; The inclination correction device comprises a driving motor, a fixed support and a rack, wherein the fixed support is fixedly connected to the frame, the rack is connected to the fixed support in a sliding manner, and the driving motor drives the rack to slide through a gear; The device comprises a mounting frame, a vibration speed sensor, a driving motor, a vibration speed sensor, a controller and a vibration speed sensor, wherein the mounting frame is provided with the inclination sensor, the vibration speed sensor is arranged on the frame, the inclination sensor and the vibration speed sensor are electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the driving motor and the vibration damper.
2. The cab suspension system for an engineering vehicle or tractor according to claim 1, wherein the driving motor is connected with a transmission shaft through a clutch, the transmission shaft is connected with a gear, the gear is meshed with a rack, the clutch is electrically connected with the controller, when the cab inclination angle detected by the inclination sensor is larger than a set inclination threshold value, the controller controls the clutch to enter a combined state, the length of the damper is adjusted through the driving motor, and otherwise, the controller controls the clutch to restore to a separated state.
3. The cab suspension system for an engineering vehicle or tractor according to claim 1, wherein a dovetail groove is provided on the fixing bracket, and the rack is slidably connected to the dovetail groove.
4. The cab suspension system for an engineering vehicle or tractor according to claim 1, wherein the mounting frame is provided with a camera or a vehicle-mounted radar, the camera or the vehicle-mounted radar obtains road surface detection information and sends the road surface detection information to the controller, a road surface flatness recognition model is configured in the controller, and the road surface flatness is judged according to the road surface detection information through the road surface flatness recognition model; the controller judges the vehicle vibration level according to the vibration information detected by the vibration speed sensor, and adjusts the damping of the shock absorber according to the vehicle vibration level and the road surface flatness.
5. The cab suspension system for the engineering vehicle or the tractor, which is disclosed in claim 1, is characterized in that the shock absorber comprises an electromagnetic valve, a piston cylinder and a piston rod, wherein the piston cylinder is fixedly connected with the rack; The electromagnetic valve is arranged at the restoration valve port of the piston cylinder and is electrically connected with the controller, and the controller controls the opening of the restoration valve port through the electromagnetic valve and adjusts the damping of the shock absorber.
6. The cab suspension system for the engineering vehicle or the tractor, which is disclosed in claim 5, is characterized in that a spring seat is arranged on the piston rod, a main spring adjusting nut and a sub spring adjusting nut are connected to the piston cylinder in a threaded manner, two ends of the main spring respectively act on the spring seat and the main spring adjusting nut, the sub spring is arranged on the spring seat, the sub spring contacts with the sub spring adjusting nut after the main spring is compressed to a set distance, and the sub spring adjusting nut and the main spring adjusting nut can be adjusted up and down according to actual working condition loads.
7. The method for controlling a cab suspension system for an engineering vehicle or tractor according to any one of claims 1 to 6, Acquiring road surface detection information through a camera or a vehicle-mounted radar on the engineering vehicle, sending the road surface detection information to the controller, and judging the road surface flatness according to the road surface detection information by utilizing a road surface flatness identification model configured in the controller; Judging the vehicle vibration level according to the vibration information detected by the vibration speed sensor, and adjusting the damping of the shock absorber according to the vehicle vibration level and the road surface flatness; The inclination angle of the cab detected by the inclination angle sensor is sent to the controller, when the inclination angle of the cab is larger than a set inclination threshold value, the expansion and contraction amount required to be adjusted by each shock absorber is determined according to the inclination angle of the cab, the rack is driven to slide by the driving motor through the gear, and the shock absorbers are driven to expand and contract to the set expansion and contraction amount by the rack.
8. The control method according to claim 7, characterized in that the road surface flatness is judged from the road surface detection information by using a road surface flatness recognition model provided in the controller, and specifically comprising: Removing invalid noise from the road surface detection information, and extracting road surface visual features in an effective road surface; the road surface visual characteristics are input into a road surface flatness identification model configured in the controller to obtain a road surface flatness characteristic vector, and the road surface spatial frequency n is obtained according to the calculation of the road surface flatness characteristic vector, wherein the expression formula is as follows: ; In the formula (i), Is the first Maintaining the weight coefficient of the feature vector; Is the characteristic vector of the road surface flatness M is the dimension of the road surface flatness characteristic vector; correcting a bias term for the space frequency, wherein n is the road surface space frequency; Basic bias weights of the model are identified for road surface flatness; Substituting the pavement space frequency n into a power spectrum density formula to obtain an actual value of the unevenness power spectrum density The expression formula is: ; In the formula (i), For the actual unevenness power spectral density value, As the reference value for the power spectral density of the unevenness, For the reference spatial frequency(s), Is a set frequency index; Obtaining actual value of the unevenness power spectral density according to the road surface unevenness level mapping table The corresponding road surface unevenness level is recorded as the road surface flatness of the current road.
9. The control method according to claim 8, characterized in that the judging of the vehicle vibration level based on the vibration information detected by the vibration speed sensor, specifically includes: According to vibration information detected by a vibration speed sensor, calculating to obtain a time domain vibration speed RMS effective value, wherein the expression formula is as follows: ; In the formula, N is a vibration sampling point of a cab of the engineering vehicle, Is the first of the vibration information Instantaneous vibration speeds of the individual sampling points; Is the effective value of the time domain vibration velocity RMS; And obtaining the vehicle vibration grade corresponding to the effective value of the time domain vibration speed RMS according to the vibration intensity grade mapping table.
10. The control method according to claim 9, characterized in that the damping of the shock absorber is adjusted according to the vehicle vibration level and the road surface flatness, and specifically comprises: the method comprises the steps of dividing the damping of a shock absorber into a plurality of damping gears, establishing a mapping relation between the vehicle vibration level and the road surface flatness to the damping gears of the shock absorber, and obtaining a damping gear regulation mapping table; and determining the damping gear of the shock absorber corresponding to the vehicle vibration level and the road surface flatness according to the damping gear regulation mapping table.
11. The control method according to claim 7, wherein the determination of the amount of expansion and contraction to be adjusted of each shock absorber according to the inclination angle of the cab, specifically comprises: The driving motor is connected with the transmission shaft through a clutch, the transmission shaft is in transmission connection with a gear, the gear is meshed with a rack, and the clutch is electrically connected with the controller; When the inclination angle of the cab detected by the inclination sensor is smaller than or equal to a set inclination threshold value, controlling the clutch to restore to a separation state; When the inclination angle of the cab detected by the inclination angle sensor is larger than a set inclination threshold, the controller controls the clutch to enter a combined state, and the expansion and contraction amount of the shock absorber is regulated by the driving motor, wherein the expression formula is as follows: ; In the formula (i), For the inclination angle of the cab, B is the installation center distance between any two shock absorbers of the cab; the expansion and contraction amount required to be adjusted for the shock absorber; and repeatedly acquiring the inclination angle of the cab through the inclination sensor according to a set time interval, and dynamically updating the expansion and contraction quantity of the shock absorber to be adjusted.

Description

Cab suspension system for engineering vehicle or tractor and control method Technical Field The invention belongs to the technical field of vibration reduction suspension, and particularly relates to a cab suspension system for an engineering vehicle or a tractor and a control method. Background The engineering vehicle can generate severe vibration impact due to the influence of uneven road surfaces and working mediums in the working process of the engineering vehicle, and can cause certain influence on driving work of drivers and passengers. Cab suspension is a critical component that isolates and dampens the shock transmitted to the cab. Therefore, the design and matching of the device are of great importance. The cab suspension of the traditional engineering vehicle has limited effect when being subjected to large vibration impact caused by uneven road surfaces such as fields and soil roads or other working mediums, the too soft rigidity characteristic easily causes crushing failure of the shock absorber, and the too hard rigidity has poor vibration damping effect, so that the cab suspension maintains the soft rigidity characteristic under the conventional working condition to ensure comfort, and the composite rigidity characteristic that the harder rigidity is maintained to limit when bearing the large vibration impact so as to avoid larger shaking is particularly important. Conventional rubber suspensions or barrel-type dampers do not have anti-roll properties when the vehicle is passing over a severely bumpy road surface and have limited lateral restraint effect on the cab. The traditional cab suspension damping characteristic is usually fixed, the operation working conditions of the tractor and the engineering machinery are complex and changeable, and the fixed damping characteristic is difficult to meet the actual operation requirement, so that the cab suspension damping can be adaptively changed according to the operation working conditions, and the vibration comfort of drivers and passengers can be further improved. Disclosure of Invention The invention provides a cab suspension system for an engineering vehicle or a tractor and a control method, which can effectively inhibit the cab from rolling and shaking and attenuate large-scale vibration impact, thereby being adaptive to various working conditions. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The invention provides a cab suspension system for an engineering vehicle or a tractor, which comprises a plurality of shock absorbers and a tilt correction device, wherein the shock absorbers are arranged between a mounting frame and a frame of a cab, and the tilt correction device is used for adjusting the length of the shock absorbers; The inclination correction device comprises a driving motor, a fixed support and a rack, wherein the fixed support is fixedly connected to the frame, the rack is connected to the fixed support in a sliding manner, and the driving motor drives the rack to slide through a gear; The device comprises a mounting frame, a vibration speed sensor, a driving motor, a vibration speed sensor, a controller and a vibration speed sensor, wherein the mounting frame is provided with the inclination sensor, the vibration speed sensor is arranged on the frame, the inclination sensor and the vibration speed sensor are electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the driving motor and the vibration damper. The driving motor is connected with the transmission shaft through the clutch, the transmission shaft is connected with the gear in a transmission mode, the gear is meshed with the rack, the clutch is electrically connected with the controller, when the inclination angle of the cab detected by the inclination angle sensor is larger than a set inclination threshold value, the controller controls the clutch to enter a combination state, the length of the shock absorber is adjusted through the driving motor, and otherwise, the controller controls the clutch to recover a separation state. Further, a dovetail groove is formed in the fixing support, and the rack is connected to the dovetail groove in a sliding mode. Further, the mounting frame is provided with a camera or a vehicle-mounted radar, the camera or the vehicle-mounted radar obtains road surface detection information and sends the road surface detection information to the controller, a road surface flatness identification model is configured in the controller, and the road surface flatness is judged according to the road surface detection information through the road surface flatness identification model; the controller judges the vehicle vibration level according to the vibration information detected by the vibration speed sensor, and adjusts the damping of the shock absorber according to the vehicle vibration level and the road surface flatnes