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1. 发明专利

JPH04334677A SUSPENSION DEVICE FOR CRAWLER 失效
公开(公告)号：JPH04334677A
公开(公告)日：1992-11-20
申请号：JP10735691
申请日：1991-05-13
申请人： JAPAN TECH RES & DEV INST , MITSUBISHI HEAVY IND LTD
发明人： NOWADA SEIKICHI , INOUE YUKIO , MORI TOMOAKI , HASHIMOTO KATSUMI
IPC分类号： B60G17/04 , B60G17/015 , B62D55/112 , B62D55/14
摘要： PURPOSE:To suppress the oscillation of a body so as to improve riding comfort in a crawler provided with a hydraulic/pneumatic pressure suspension device by performing the independent suction/discharge of pressure oil to/from the hydraulic cylinders of an active suspension unit according to the oscillation of the body, and also performing the high-low change-over of a variable control valve. CONSTITUTION:When a body is oscillated at the time of travelling on the uneven ground or riding over a protrusion, the respective detection signals of pitch angle speed detected by a gyroscope 12, the vertical acceleration of the body detected by an accelerometer 11, the displacement of a suspension arm detected by a synchronous resolver 29 and cylinder pressure detected by a pressure sensor 60 are transmitted to a controller 13. In the controller 13, the respective detection signals are computed as weight functions and converted into the solenoid switching signals of a control valve 62 for supplying/ discharging oil pressure to/from an active suspension hydraulic cylinder unit E and the switching signal of the high-low damping change-over solenoid valve 68 or the like of a damping valve unit D. The oscillation of the body is thereby suppressed to improve riding comfort.

2. 发明专利

JPH11240470A LOAD CONTROL UNIT FOR TRACK-LAYING VEHICLE 失效
公开(公告)号：JPH11240470A
公开(公告)日：1999-09-07
申请号：JP4203498
申请日：1998-02-24
申请人： JAPAN TECH RES & DEV INST , MITSUBISHI HEAVY IND LTD
发明人： INOUE YUKIO , MORI TOMOAKI , OKAZAWA TAKEHIKO , ONOZUKA MICHIO
IPC分类号： B60G17/015 , B62D55/116
摘要： PROBLEM TO BE SOLVED: To prevent the vehicle from changing its body position due to inertial force by comparing a calculated hydraulic pressure with a value of hydraulic pressure detected by pressure detection means and outputting a control signal to a servo valve so as to offset the calculated hydraulic pressure based on the inertial force. SOLUTION: An acceleration detector 20 inputs an acceleration detection signal with respect to acceleration in the longitudinal and lateral directions of the vehicle and a hydraulic detection signal of a hydraulic cylinder 12 from a pressure detector 22 to an input signal portion 25 of an inertial force correction control unit 18, which are then transmitted to a CPU 23. The CPU 23 calculates the load exerted on a support leg for each rotating wheel using the inertial force obtained from the value of the acceleration detection signal of the acceleration detector 20 and the distance from the center of gravity of the vehicle to the center of each rotating wheel. The resultant load is converted into hydraulic pressure. The obtained hydraulic pressure and the detected value of the hydraulic pressure from the pressure detector 22 are compared, and a control signal is output to the servo valve 13 so as to offset the calculated hydraulic pressure based on the inertial force.

3. 发明专利

JPH04100708A VARIABLE CHARACTERISTIC TYPE TRAVELING SUSPENSION CONTROL DEVICE FOR TRACK-VEHICLE 失效
公开(公告)号：JPH04100708A
公开(公告)日：1992-04-02
申请号：JP21613090
申请日：1990-08-16
申请人： JAPAN TECH RES & DEV INST
发明人： NOWADA SEIKICHI , INOUE YUKIO , MORI TOMOAKI
IPC分类号： B60G17/015 , B62D55/112 , B62D55/14
摘要： PURPOSE:To effectively reduce the oscillation of a vehicle in an outside-road uneven ground or in various operations causing the oscillation of the vehicle by controlling damping force and spring force so as to be changed over in the direction the vehicle oscillation decreases via a controller on the basis of the detection output of a vehicle- oscillation detector. CONSTITUTION:The oscillation of a vehicle body 26 (not shown) is detected by a vehicle-oscillation detector 16 having a pitch-rate gyro 13, a roll-rate gyro 14, and an accelerometer 15 as the signals of vehicle-pitch angular velocity, roll angular velocity, and vehicle vertical acceleration, and after amplified by an amplifier 74, these signals are sent to a CPU 61 via a serial I/O 64. In accordance with the control logic stored in a logic circuit 69, the CPU 61 controls the current to a damping-force changeover valve A4 via a damping-force changeover valve driving circuit 66, and selects the optimum out of the damping-force levels of a variable attenuator A3 to reduce the oscillation of the vehicle. In the same way, the CPU 61 controls the current to a spring-force changeover valve A5 via a spring-force changeover valve driving circuit 65, and selects the optimum out of the spring-force levels of a variable spring device A50 to reduce the oscillation of the vehicle.

4. 发明专利

JPH082453A ACTIVE TYPE SUSPENSION FOR CRAWLER VEHICLE 失效
公开(公告)号：JPH082453A
公开(公告)日：1996-01-09
申请号：JP15656794
申请日：1994-06-15
申请人： JAPAN TECH RES & DEV INST , MITSUBISHI HEAVY IND LTD
发明人： NOWADA SEIKICHI , INOUE YUKIO , MORI TOMOAKI , HASHIMOTO KATSUMI
IPC分类号： B62D55/112
摘要： PURPOSE:To independently control oil quantity and an oil pressure of pressure oil fed to each suspension unit so as to excellently secure stability of a vehicle body in high speed travel on a rough ground by arranging a suspension unit having specific constitution in each leg (lower part rotary wheel) in a hydraulic type suspension. CONSTITUTION:A crawler vehicle is provided with a hydraulic type suspension consisting of plural legs 16 (lower part rotary wheels) in a vehicle body 1. In this case, in each of the legs 16, a suspension unit 15, in which a valve block 64 provided with a suspension cylinder 70, a suspension accumulator 48, and varied kinds of control valves is arranged in a U-shape, is arranged. Oil quantity and an oil pressure of pressure oil fed to each suspension unit 15 from an oil pump can be independently controlled in each suspension unit 15. In the valve block 64, a servo-valve 41, a shutoff valve 42, an overload relief valve 43, a high damping valve 46, and a low damping valve 47 are arranged, and these valves are opened/closed by means of a suspension controller so as to control a vehicle height and an attitude of a vehicle body.

5. 发明专利

JPH05105127A HYDROPNEUMATIC RUNNING SUSPENSION CONTROL DEVICE FOR CRAWLER VEHICLE 失效
公开(公告)号：JPH05105127A
公开(公告)日：1993-04-27
申请号：JP29038691
申请日：1991-10-11
申请人： JAPAN TECH RES & DEV INST
发明人： NOWADA SEIKICHI , MORI TOMOAKI
IPC分类号： B60G3/00 , B60G11/26 , B60G11/30 , B60G17/015 , B62D55/112 , B62D55/14
摘要： PURPOSE:To reduce consumption of the power required to perform vehicle posture control by controlling swings of a vehicle body with a hydropneumatic suspension unit, and sharing the own weight of the vehicle with a suspension accumulator part installed in the hydropneumatic suspension unit. CONSTITUTION:At least a plurality of rolling wheels 24 are furnished on both sides of the body 26 of a crawler vehicle, and crawlers 25 are set over these wheels 24. The wheels 24 are mounted on the body 26 through hydropneumatic suspension unit 1, which is composed of a wheel arm 9, sub-suspension accumulator 2, suspension hydraulic cylinder 4, variable damper 12, and suspension accumulator part 10. The accumulator part 10 has an accumulator chamber between a recess in a piston 5 coupled with the wheel arm 9 and receiving the own weight of the vehicle body 26 and a guide part 6 fixed to a body side casing 18. Thereby the own weight of the body 26 is shared also by the suspension accumulator part 10, and power consumption of the oil pressure source is reduced.

6. 发明专利

JPH09202272A HYBRID TYPE SUSPENSION FOR CRAWLER VEHICLE 失效
公开(公告)号：JPH09202272A
公开(公告)日：1997-08-05
申请号：JP1142596
申请日：1996-01-26
申请人： JAPAN TECH RES & DEV INST , MITSUBISHI HEAVY IND LTD
发明人： NOWADA SEIKICHI , INOUE YUKIO , MORI TOMOAKI , KANEKAWA KIICHI , HASHIMOTO KATSUMI
IPC分类号： B60G17/015 , B62D55/116
摘要： PROBLEM TO BE SOLVED: To reduce the impact and shaking so as to increase stability and adjust the height of a traveling car by providing a conventional type suspension unit having an active function and a variable damping function through which hydraulic oil is injected and discharged and an in-arm type suspension unit having only a variable damping function. SOLUTION: Six rolling wheels 16 for moving a car body 1a are provided in each of left and right sides and these six rolling wheels 16 are supported and controlled by independent six loading units over the back and forth directions of the car body. The rolling wheels 16 respectively amounting to two in number back and forth along the back and forth directions of the vehicle constitute a conventional type suspension unit communicated with a hydraulic pump and the two rolling wheels 16 in the center constitute an in-arm type suspension unit not communicated with the hydraulic pump and only for the movement of oil. By using the conventional type and in-arm type suspension units together as the suspension units of the rolling wheels of the vehicle, a fuel consumption rate is small and interference between a bracket turning part and the suspension units is prevented.

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