CN105438256A - Steering controlling method and device and crane - Google Patents
Steering controlling method and device and crane Download PDFInfo
- Publication number
- CN105438256A CN105438256A CN201510021717.9A CN201510021717A CN105438256A CN 105438256 A CN105438256 A CN 105438256A CN 201510021717 A CN201510021717 A CN 201510021717A CN 105438256 A CN105438256 A CN 105438256A
- Authority
- CN
- China
- Prior art keywords
- steering
- locking
- oil cylinder
- difunctional
- pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a steering controlling method and device as well as a crane. The steering controlling method comprises the following steps that when a vehicle axle steering instruction is received, through a pressure selection valve, a pressure oil source provided by a hydraulic pump is provided as steering pressure oil to a steering valve; through the steering valve, the steering pressure oil is poured into a power assisting cavity of a steering and locking dual-function oil cylinder, so that a piston rod of the steering and locking dual-function oil cylinder is moved, and vehicle axle steering is realized. According to the steering controlling method and device and the crane disclosed by the invention, a neutral-position locking oil cylinder and a power-assisted steering oil cylinder are integrated into one dual-function hydraulic cylinder, so that the volume is small, the weight is small, the structural arrangement is simple and convenient, the operation is convenient and simple, the logicality is high, failure points are small in quantity, the use is safe and reliable, and multi-mode steering which is stable and reliable at a high speed and light and flexible at a low speed is realized.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of rotating direction control method, device and hoisting crane.
Background technology
At present, in Crane Industry, the steering swivel system on the main multi-steering bridge chassis adopted is divided into mechanical pull bar steering swivel system and electric-hydraulic proportion steering swivel system according to mode.Respectively these two kinds of steering control systems are described below.
1), mechanical pull bar steering swivel system: simple with structure, with low cost design first-selection for crane products.But, exist when this kind of steering swivel system is applied to many bridges multi-mode steering crane chassis and turn to the shortcomings such as pattern is single, high stability is poor.
2), electric-hydraulic proportion steering swivel system: by between electro-hydraulic servo control and fluid control, use electro-hydraulic proportional valve group accurately to control steeraxle and turn to pattern.Series crane chassis, full ground uses, and cost is very high.
Above-mentioned electric-hydraulic proportion steering swivel system is specifically described as follows:
In electric-hydraulic proportion steering swivel system as shown in Figure 1, be converted into electric signal with front axle steering angle, controlled the steering angle of back axle by electro-hydraulic proportional valve group.Electric-hydraulic proportion steering swivel system is primarily of compositions such as pressure, angular transducer, electro-hydraulic proportional valve, locking oil cylinder, power-assisted oil cylinder, oil sources.
Control cock group one controls 6 axles, the turning to and the locking of meta locked cylinder and unblock of 7 axles (can represent any two adjacent and be not the steeraxle that mechanical pull bar turns to).Valve 1, valve 2 control to turn to; Valve 3, valve 5 control meta locking; Valve 4 controls to unlock; Valve group two, three controls the locking of corresponding locking oil cylinder separately.
When not needing to turn to, each valve group is in initial condition.When needs turn to, valve 4 is energized, locking oil cylinder unlocks, the inside high pressure locking oil off-load, now can control turning to of two bridges by valve 1, valve 2, little turning, crab row etc. can be selected to turn to pattern according to the turn sign of mechanical steering bridge transmission, accessing high pressure oil to the steering jack 61,62,71,72 in vehicle bridge respectively can realize; When having turned to, valve 3, valve 5 have been energized, valve 4 dead electricity, and locking oil cylinder 63,73 passes into high pressure locking oil, and vehicle bridge is switched to straight travel state by turning to pattern.
The steering angle of existing electro-hydraulic proportional system propons is input parameter, and electro-hydraulic proportional valve group controls, and each vehicle bridge exists power-assisted oil cylinder and locking oil cylinder.Although turn to pattern accuracy rate high this, the electrical control of needs is complicated, exists because sensor initial error and signal distortion cause the deflection angle of steered wheel to cause the problems such as abnormal tyre wearing and tearing, automobile driving running deviation.
Whole system needs multiple sensor and control cock group to carry out controlling and two vehicle bridge respectively have a set of locking oil cylinder and power-assisted oil cylinder, causes the raising of cost and weight, and the use and maintenance cost in later stage is also very high.
Summary of the invention
In view of above technical matters, the invention provides a kind of rotating direction control method, device and hoisting crane, middle position locking oil cylinder and steering jack are integrated in a bifunctional hydraulic cylinder, cost-saving.
According to an aspect of the present invention, a kind of rotating direction control method is provided, comprises:
When receiving vehicle bridge steering order, the pressure oil-source that Hydraulic Pump provides by pressure selection valve is supplied to convertible valve as steering pressure oil;
Steering pressure oil is injected the power-assisted chamber of steering, locking difunctional oil cylinder by convertible valve, to make the piston rod of the difunctional oil cylinder of steering, locking move, thus realizes vehicle bridge and turns to.
In one embodiment of the invention, steering pressure oil is injected the power-assisted chamber of steering, locking difunctional oil cylinder by convertible valve, to make the piston rod of the difunctional oil cylinder of steering, locking move, thus realizes the step that vehicle bridge turns to and comprises:
When the vehicle bridge steering order received is vehicle bridge left-hand rotation instruction, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder of steering, locking by convertible valve by the first power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking, and is connected with oil return circuit by the second power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder;
The piston rod of the difunctional oil cylinder of steering, locking drives the track arm on axletree to move to first direction by pull bar, thus realizes vehicle bridge.
In one embodiment of the invention, steering pressure oil is injected the power-assisted chamber of steering, locking difunctional oil cylinder by convertible valve, to make the piston rod of the difunctional oil cylinder of steering, locking move, thus realizes the step that vehicle bridge turns to and comprises:
When the vehicle bridge steering order received is vehicle bridge right-hand rotation instruction, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder of steering, locking by convertible valve by the second power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking, and is connected with oil return circuit by the first power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder;
The piston rod of the difunctional oil cylinder of steering, locking drives the track arm on axletree to move to second direction by pull bar, thus realizes vehicle bridge right-hand rotation.
In one embodiment of the invention, described method also comprises:
When receiving vehicle bridge steering order, the first lock chamber hydraulic fluid port of difunctional for steering, locking oil cylinder is communicated with oil return circuit with the second lock chamber hydraulic fluid port by lock valve group, thus achieves lock chamber unblock.
In one embodiment of the invention, described method also comprises:
When not receiving vehicle bridge steering order, lock valve group disconnects the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking and the connection of the second lock chamber hydraulic fluid port and oil return circuit, is in middle position locking state to make the difunctional oil cylinder of steering, locking;
First power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder is communicated with oil return circuit with the second power-assisted chamber hydraulic fluid port by convertible valve.
In one embodiment of the invention, described method also comprises:
When the difunctional oil cylinder of steering, locking is in middle position locking state and the detent pressure of the difunctional oil cylinder of steering, locking is less than the first set pressure, the pressure oil-source that Hydraulic Pump provides by pressure selection valve is supplied to lock valve group as detent pressure oil;
Lock valve group, by the first lock chamber hydraulic fluid port of detent pressure oil by the difunctional oil cylinder of steering, locking and the lock chamber of the difunctional oil cylinder of the second lock chamber hydraulic fluid port injection steering, locking, realizes lock chamber repairing.
In one embodiment of the invention, described method also comprises:
Lock chamber is being carried out in the process of repairing, if the detent pressure of the difunctional oil cylinder of steering, locking is greater than the second set pressure, then pressure oil-source is connected with way to cycle oil by lock valve group, stops the repairing to lock chamber, and wherein said second set pressure is greater than the first set pressure.
In one embodiment of the invention, described method also comprises:
When the difunctional oil cylinder of steering, locking be in middle position locking state, the detent pressure of the difunctional oil cylinder of steering, locking be greater than the first set pressure and be less than the second set pressure time, energy storage carries out repairing by the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking and the lock chamber of the second lock chamber hydraulic fluid port to the difunctional oil cylinder of steering, locking, and wherein said second set pressure is greater than the first set pressure.
In one embodiment of the invention, described method also comprises:
Carrying out in the process of repairing lock chamber, if the detent pressure of the difunctional oil cylinder of steering, locking is greater than the second set pressure, then energy storage stops the repairing to lock chamber.
According to a further aspect in the invention, provide a kind of steering controlling device, comprise Hydraulic Pump, pressure selection valve, convertible valve, the difunctional oil cylinder of steering, locking, wherein:
Hydraulic Pump, for providing pressure oil-source to pressure selection valve;
Pressure selection valve, for when receiving vehicle bridge steering order, the pressure oil-source provided by Hydraulic Pump is supplied to convertible valve as steering pressure oil;
Convertible valve, for when receiving vehicle bridge steering order, the steering pressure oil provided by pressure selection valve injects the power-assisted chamber of the difunctional oil cylinder of steering, locking;
The difunctional oil cylinder of steering, locking, for when steering pressure oil is injected power-assisted chamber by convertible valve, realizes vehicle bridge by the motion of piston rod and turns to.
In one embodiment of the invention, when convertible valve is specifically for being vehicle bridge left-hand rotation instruction at the vehicle bridge steering order received, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder of steering, locking by the first power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking, and the second power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder is connected with oil return circuit; The difunctional oil cylinder of steering, locking, specifically for when steering pressure injects power-assisted chamber by the first power-assisted chamber hydraulic fluid port, drives the track arm on axletree to move to first direction by piston rod, thus realizes vehicle bridge.
In one embodiment of the invention, when convertible valve is specifically for being vehicle bridge right-hand rotation instruction at the vehicle bridge steering order received, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder of steering, locking by the second power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking, and the first power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder is connected with oil return circuit; The difunctional oil cylinder of steering, locking, specifically for when steering pressure injects power-assisted chamber by the second power-assisted chamber hydraulic fluid port, drives the track arm on axletree to move to second direction by piston rod, thus realizes vehicle bridge right-hand rotation.
In one embodiment of the invention, described device also comprises lock valve group, wherein:
Lock valve group, for when receiving vehicle bridge steering order, is communicated with the first lock chamber hydraulic fluid port of difunctional for steering, locking oil cylinder with oil return circuit with the second lock chamber hydraulic fluid port, thus achieves lock chamber unblock.
In one embodiment of the invention, lock valve group is not also for when receiving vehicle bridge steering order, disconnect the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking and the connection of the second lock chamber hydraulic fluid port and oil return circuit, be in middle position locking state to make the difunctional oil cylinder of steering, locking; First power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder, also for when not receiving vehicle bridge steering order, is communicated with oil return circuit with the second power-assisted chamber hydraulic fluid port by convertible valve.
In one embodiment of the invention, pressure selection valve is also for when the difunctional oil cylinder of steering, locking is in middle position locking state and the detent pressure of the difunctional oil cylinder of steering, locking is less than the first set pressure, and the pressure oil-source provided by Hydraulic Pump is supplied to lock valve group as detent pressure oil; Lock valve group is also for when the detent pressure of the difunctional oil cylinder of steering, locking is less than the first set pressure, by the first lock chamber hydraulic fluid port of detent pressure oil by the difunctional oil cylinder of steering, locking and the lock chamber of the difunctional oil cylinder of the second lock chamber hydraulic fluid port injection steering, locking, realize lock chamber repairing.
In one embodiment of the invention, lock valve group is also for carrying out in the process of repairing to lock chamber, if when the detent pressure of the difunctional oil cylinder of steering, locking is greater than the second set pressure, pressure oil-source is connected with way to cycle oil, stop the repairing to lock chamber, wherein said second set pressure is greater than the first set pressure.
In one embodiment of the invention, described device also comprises energy storage, wherein:
Energy storage, for being in middle position locking state at the difunctional oil cylinder of steering, locking, the detent pressure of steering, locking difunctional oil cylinder being when being greater than the first set pressure and being less than the second set pressure, carry out repairing by the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking and the lock chamber of the second lock chamber hydraulic fluid port to the difunctional oil cylinder of steering, locking, wherein said second set pressure is greater than the first set pressure.
In one embodiment of the invention, energy storage also for carrying out in the process of repairing lock chamber, if when the detent pressure of the difunctional oil cylinder of steering, locking is greater than the second set pressure, stop the repairing to lock chamber.
According to a further aspect in the invention, provide a kind of hoisting crane, comprise the steering controlling device as described in above-mentioned any embodiment.
The present invention is by being integrated in a bifunctional hydraulic cylinder by middle position locking oil cylinder and steering jack, and volume is little, lightweight, and structural arrangement is simple and convenient; Simply easy to operate, logicality is strong, and trouble point is few; Safe and reliable, possess that high speed is reliable and stable, low speed light and flexible multi-mode steering.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of electric-hydraulic proportion steering swivel system in prior art.
Fig. 2 is the schematic diagram of a steering hardware of the present invention embodiment.
Fig. 3 is the schematic diagram of the difunctional oil cylinder of steering, locking in one embodiment of the invention.
Fig. 4 is the schematic diagram of convertible valve group when pressure selection valve is in bottom in one embodiment of the invention.
Fig. 5 is the schematic diagram of convertible valve group when pressure selection valve is in meta in one embodiment of the invention.
Fig. 6 is the schematic diagram of convertible valve group when pressure selection valve is in upper in one embodiment of the invention.
Fig. 7 is the schematic diagram of a forward method of the present invention embodiment.
Fig. 8 is the schematic diagram of another embodiment of forward method of the present invention.
Fig. 9 is the schematic diagram of steering, locking difunctional oil cylinder lock chamber oil supplement method in one embodiment of the invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts of setting forth in these embodiments and step and numerical value do not limit the scope of the invention.
Meanwhile, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not draw according to the proportionate relationship of reality.
May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in the appropriate case, described technology, method and apparatus should be regarded as a part of authorizing specification sheets.
In all examples with discussing shown here, any occurrence should be construed as merely exemplary, instead of as restriction.Therefore, other example of exemplary embodiment can have different values.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to be further discussed it in accompanying drawing subsequently.
The embodiment of the present invention provides a kind of steering controlling device, and it is turning to of the rear axle of one or two vehicle, such as car hosit etc. that this steering controlling device is particularly useful for the rear number of axle, also to realize rear axle steering in the present embodiment.But be understandable that, this steering controlling device can realize turning to of front axle equally.Namely this steering controlling device can be used as front-axle steering control setup and/or rear axle steering control setup.
The rear number of axle is greater than to the vehicle of two, multiple steering controlling device can be set.This rear axle steering control setup and the intrinsic front-axle steering device of vehicle exist jointly, and action is between the two separate.
In practical application, vehicle is under its road-driving mode, and control front-axle steering separately through front-axle steering control setup, rear axle steering control setup is failure to actuate.Vehicle is under little cornering mode, and front-axle steering control setup controls front-axle steering, and rear axle steering control setup controls rear axle steering, and turning to of front axle and rear axle is contrary.Vehicle is under crab row mode, and front-axle steering control setup controls front-axle steering, and rear axle steering control setup controls rear axle steering, and turning to of front axle and rear axle is identical.Vehicle is under rear axle turns to separately pattern, and rear axle steering control setup controls rear axle steering, and now front-axle steering control setup is failure to actuate.Pay close attention to the related content of rear axle steering control setup herein, also will introduce herein.
Fig. 2 is the schematic diagram of a steering hardware of the present invention embodiment.HAL in steering swivel system shown in Fig. 2 is the steering hardware of the present embodiment.As shown in Figure 2, described steering controlling device comprises Hydraulic Pump 21, convertible valve group, the difunctional oil cylinder 24 of steering, locking, wherein:
Described convertible valve group comprises pressure selection valve 22 and convertible valve 23.
Hydraulic Pump 21, for providing pressure oil-source to pressure selection valve 22.
Pressure selection valve 22, for when receiving vehicle bridge steering order, the pressure oil-source provided by Hydraulic Pump 21 is supplied to convertible valve 23 as steering pressure oil.
Convertible valve 23, for when receiving vehicle bridge steering order, the steering pressure oil provided by pressure selection valve 22 injects the power-assisted chamber of the difunctional oil cylinder of steering, locking.
The difunctional oil cylinder 24 of steering, locking is arranged on vehicle frame, and piston rod is connected with the track arm on 4 axles with 3 axles by pull bar, for when steering pressure oil is injected power-assisted chamber by convertible valve, realizes vehicle bridge turn to by the motion of piston rod.
Fig. 3 is the structural representation of the difunctional oil cylinder of steering, locking in Fig. 2.The difunctional oil cylinder 24 of steering, locking is arranged on vehicle frame, and the piston rod of the difunctional oil cylinder 24 of steering, locking is connected with the track arm on 4 axles with 3 axles by pull bar.
The steering hardware that the above embodiment of the present invention provides, can realize turning to of trailing wheel, also can realize turning to of front-wheel, and can realize turning to of front-wheel and trailing wheel by arranging suitable quantity simultaneously.According to nose wheel steering existing on hoisting crane, the steering hardware that above-described embodiment provides can only realize turning to of trailing wheel, by arranging HAL separately, achieve turning to of vehicle rear axle under some conditions, by middle position locking oil cylinder and steering jack are integrated in a bifunctional hydraulic cylinder, volume is little, lightweight, and structural arrangement is simple and convenient; The number of components of whole system is few, low cost of manufacture, guarantees that vehicle has applying working condition extensive, the features such as steering response is sensitive, and road-holding property is strong.
As shown in Figure 3, the difunctional oil cylinder 24 of steering, locking comprises two lock chambers and two power-assisted chambeies, wherein power-assisted chamber is respectively arranged with the first power-assisted chamber hydraulic fluid port X and the second power-assisted chamber hydraulic fluid port Y, and lock chamber is respectively arranged with the first lock chamber hydraulic fluid port U and the second lock chamber hydraulic fluid port V; The difunctional oil cylinder 24 of steering, locking also comprises piston rod, floating bushing Z and oil drain hole W.
The difunctional oil cylinder 24 of steering, locking has middle position locking state and steering state two states.The difunctional oil cylinder 24 of steering, locking, for having the hydraulic ram of middle position locking function and assist function, can complete two kinds of functions by an oil cylinder.
When the difunctional oil cylinder 24 of steering, locking is in middle position locking state, two lock chamber hydraulic fluid port U, V lead to high pressure oil, and power-assisted chamber hydraulic fluid port connects X, Y oil return.Now oil cylinder is in lockup state.By arranging steering, locking difunctional oil cylinder 24 meta, form of straight lines can be carried out by turning to vehicle bridge (axletree) 3,4 to be locked in meta rigidly, reliable and stable when hoisting crane is run at high speed.
When the difunctional oil cylinder 24 of steering, locking is in steering state, lock chamber hydraulic fluid port U, V take back oil, and a bite in power-assisted chamber hydraulic fluid port X, Y connects high pressure oil, take back oil flatly, complete steering cylinder effect, lock chamber unblock rear axle can carry out turning to and the difunctional oil cylinder of steering, locking has assist function.
In one embodiment of the invention, as shown in Figure 2, described HAL can also comprise lock valve group 25, wherein:
Lock valve group 25 can comprise the first lock valve 251 and the second lock valve 252.
In one embodiment of the invention, the first lock valve 251 can adopt two position four-way solenoid valves; Second lock valve 252 can adopt 2/2-way electromagnetic valve.
Lock chamber hydraulic fluid port U, V of the difunctional oil cylinder 24 of steering, locking are connected with oil outlet A1, A2 of lock valve group 25; The oil drain hole W of the difunctional oil cylinder 24 of steering, locking is connected with oil return circuit T by pipeline.
Second lock valve 252 controls the break-make of steering, locking difunctional oil cylinder internal pressure oil.First lock valve 251 controls the break-make that oil sources provides pressure oil, and the oil inlet of lock valve group 25 is connected with the oil outlet P1 of steering control valve group; The oil return T-phase of return opening and chassis steering hydraulic system connects.
In one embodiment of the invention, as shown in Figure 2, pressure selection valve 22 and convertible valve 23 can be three position four-way electromagnetic valves.Wherein pressure selection valve 22 is pressure 3-position 4-way selector valve, and convertible valve 23 is 3-position 4-way convertible valve.
Hydraulic fluid port A, B of convertible valve group are connected by power-assisted chamber hydraulic fluid port X, Y of the difunctional oil cylinder 24 of pipeline and steering, locking; Pressure selection valve 22 is according to control program access locking pressure oil or turn to pressure oil, achieve low energy consumption, high-mobility, multipurpose, wheeled vehicle pattern that an oil sources provides two kinds of pressure, convertible valve group oil inlet P is connected with oil pump oil outlet by pipeline, and oil outlet P1 is connected with lock valve group oil inlet P; Return opening is connected with chassis steering hydraulic system T.Convertible valve group and lock valve group and chassis steering hydraulic system link, and plan as a whole to install and arrange, lock valve group 25 can adopt plug-in mounting mode to be arranged on the locking oil port of the difunctional oil cylinder of steering, locking.
When being in different operating position below in conjunction with Fig. 4-Fig. 6 to pressure selection valve, the function of steering hardware is specifically introduced:
Fig. 4 is the schematic diagram of convertible valve group when pressure selection valve is in bottom in one embodiment of the invention.As shown in Figure 4, during vehicle normal direction of rotation (when the vehicle bridge steering order received), the control end Y14b of pressure selection valve 22 obtains electric, and the control end Y8 of the first lock valve 251 must not be electric, and the control end Y9 of the second lock valve 252 obtains electric, specifically:
The control end Y8 of the first lock valve 251 must not be electric, and the first lock valve is in the first control position (upper), and the first actuator port of the second lock valve (left side hydraulic fluid port) is communicated with oil return circuit; Simultaneously, the control end Y9 of the second lock valve 252 obtains electric, the second lock valve is made to be in the first control position (bottom), first actuator port of the second lock valve is communicated with the second lock chamber hydraulic fluid port hydraulic fluid port V with the first lock chamber hydraulic fluid port U of the difunctional oil cylinder of steering, locking by the second actuator port (right side hydraulic fluid port), make the difunctional in-oil cylinder high pressure oil of steering, locking directly with oil return inlet T UNICOM, thus achieve lock chamber unblock.
During vehicle normal direction of rotation (when the vehicle bridge steering order received), when the control end Y14b of pressure selection valve 22 obtains electric, pressure selection valve 22 is in bottom, and the oil inlet P 2 of pressure selection valve 22 is communicated with the second actuator port B2, and the first actuator port A2 is communicated with oil return T2.The pressure oil-source that oil inlet P 2 is provided by the oil inlet P receiving liquid press pump 21 of convertible valve group; Oil return inlet T 2 is communicated with oil return circuit.
The pressure oil-source that Hydraulic Pump 21 provides by pressure selection valve 22 is supplied to convertible valve 23 as steering pressure oil.
Convertible valve 23 is selected to turn to pattern (namely vehicle bridge steering order is left-hand rotation instruction or right-hand rotation instruction) by-Y12a or-Y12b energising accordingly according to front two bridge steering states, the access of steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder of steering, locking.
In one embodiment of the invention, as shown in Figure 4, when convertible valve 23 is specifically for being vehicle bridge left-hand rotation instruction at the vehicle bridge steering order received, control end Y12b obtains electric, convertible valve 23 is in bottom, now the oil inlet P 3 of convertible valve is communicated with the first actuator port A3, and the second actuator port B3 is communicated with oil outlet T3.
Second power-assisted chamber hydraulic fluid port Y of difunctional for steering, locking oil cylinder 24 by the power-assisted chamber of the difunctional oil cylinder 24 of the first power-assisted chamber hydraulic fluid port X injection steering, locking of the first actuator port A3 of oily for the steering pressure oil inlet P 3 by convertible valve, convertible valve, the difunctional oil cylinder of steering, locking 24, and is connected with oil return circuit by the second actuator port B3 of convertible valve, the oil outlet T3 of convertible valve by convertible valve 23.
The difunctional oil cylinder 24 of steering, locking, specifically for when steering pressure injects power-assisted chamber by the first power-assisted chamber hydraulic fluid port X, drives the track arm on axletree to move to first direction by piston rod, thus realizes vehicle bridge.
In one embodiment of the invention, when convertible valve 23 is specifically for being vehicle bridge right-hand rotation instruction at the vehicle bridge steering order received, control end Y12b obtains electric, convertible valve 23 is in bottom, now the oil inlet P 3 of convertible valve is communicated with the first actuator port A3, and the second actuator port B3 is communicated with oil outlet T3.
Steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder 24 of steering, locking by the second power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking 24, and the first power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder 24 is connected with oil return circuit.
The difunctional oil cylinder 24 of steering, locking, specifically for when steering pressure injects power-assisted chamber by the second power-assisted chamber hydraulic fluid port, drives the track arm on axletree to move to second direction by piston rod, thus realizes vehicle bridge right-hand rotation.
In one embodiment of the invention, as Figure 4-Figure 6, described steering hardware can also comprise the first by pass valve 30, wherein, the oil inlet of described first by pass valve 30 is connected with the second actuator port B2 of pressure selection valve 22, and the oil outlet of described first by pass valve 30 is connected with way to cycle oil.Described first by pass valve 30 is for ensureing the setting pressure M1 below of pressure (the steering pressure oil that convertible valve exports) at the first by pass valve of system.
Fig. 5 is the schematic diagram of convertible valve group when pressure selection valve is in meta in one embodiment of the invention.
When wheel crane normally travels (when not receiving vehicle bridge steering order), each valve group is in initial condition, and namely each electromagnetic valve all must not be electric, specifically:
Pressure selection valve 22, convertible valve 23 must not be electric, make pressure selection valve 22 and convertible valve 23 be in meta, thus the pressure oil that Hydraulic Pump is provided directly are communicated with way to cycle oil; And the first power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder 24 is communicated with oil return circuit with the second power-assisted chamber hydraulic fluid port by convertible valve 23.
The control end Y8 of the first lock valve 251 must not be electric, the control end Y9 of the second lock valve 252 must not be electric, thus the second lock valve 252 disconnects the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking 24 and the connection (the left and right side hydraulic fluid port of the second lock valve 252 is two-way not to be revealed) of the second lock chamber hydraulic fluid port and oil return circuit, ensure oil cylinder meta to make steering, locking difunctional oil cylinder 2 lock chamber inner high voltage oil.Therefore, when wheel crane normally travels, the difunctional oil cylinder 24 of steering, locking is in middle position locking state, vehicle bridge will be turned to be rigidly secured to meta straight travel state.
In one embodiment of the invention, as shown in Figure 2, described steering hardware also comprises energy storage 26, and energy storage 26 is communicated with hydraulic fluid port A1, A2 of lock valve group 25, wherein:
Energy storage 26, for being in middle position locking state at the difunctional oil cylinder of steering, locking, the detent pressure of steering, locking difunctional oil cylinder being when being greater than the first set pressure and being less than the second set pressure, carry out repairing by the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking and the lock chamber of the second lock chamber hydraulic fluid port to the difunctional oil cylinder of steering, locking, wherein the second set pressure is greater than the first set pressure.That is, when the detent pressure of the difunctional oil cylinder of steering, locking declines less, repairing is carried out by energy storage.
In one embodiment of the invention, energy storage also for carrying out in the process of repairing lock chamber, if when the detent pressure of the difunctional oil cylinder of steering, locking is greater than the second set pressure, stop the repairing to lock chamber.Make System recover initial condition, to ensure that the difunctional oil cylinder of steering, locking will turn to vehicle bridge to be rigidly secured to meta straight travel state.
In one embodiment of the invention, as shown in Figure 2, described steering hardware also comprises the first pressure switch 27 and the second pressure switch 28, first pressure switch 27 is communicated with hydraulic fluid port A1, A2 of lock valve group 25 with the second pressure switch 28, wherein:
First pressure switch 27, for arranging the first set pressure;
Second pressure switch 28, for arranging the second set pressure; And be in middle position locking state at the difunctional oil cylinder of steering, locking, and the detent pressure of the difunctional oil cylinder of steering, locking is reduced to when being less than the second set pressure, the lock chamber of instruction energy storage 26 pairs of difunctional oil cylinders of steering, locking carries out repairing; And at energy storage also for carrying out in the process of repairing lock chamber at energy storage, if the detent pressure of the difunctional oil cylinder of steering, locking is increased to when being greater than the second set pressure, instruction energy storage 26 stops the repairing to lock chamber.
Fig. 6 is the schematic diagram of convertible valve group when pressure selection valve is in upper in one embodiment of the invention.
As shown in Figure 6, when the difunctional oil cylinder of steering, locking 24 is in middle position locking state and the detent pressure of the difunctional oil cylinder of steering, locking is less than the second set pressure, the control end Y9 of the control end Y14a of pressure selection valve 22, the control end Y8 of the first lock valve 251, the second lock valve 252 obtains electric, convertible valve 23 must not be electric, now locking oil enter the difunctional oil cylinder of steering, locking carry out meta locking ftercompction, specifically:
Convertible valve 23 must not be electric, and convertible valve is in meta, thus power-assisted chamber hydraulic fluid port X, Y of the difunctional oil cylinder 24 of locking are connected with way to cycle oil.
When the control end Y14a of pressure selection valve 22 obtains electric, pressure selection valve 22 is in upper, and the oil inlet P 2 of pressure selection valve 22 is communicated with the first actuator port A2, and the second actuator port B2 is communicated with oil return T2.The pressure oil-source that Hydraulic Pump 21 provides by pressure selection valve 22 is supplied to the first lock valve 251 of lock valve group 25 as detent pressure oil.
The control end Y8 of the first lock valve 251 obtains electric, and the first lock valve 251 is in bottom, and the detent pressure oil that pressure selection valve 22 provides by the first lock valve 251 is supplied to the second lock valve 252.
The control end Y9 of the second lock valve 252 obtains electric, second lock valve 252 is in bottom, the left and right side hydraulic fluid port of the second lock valve is communicated with, the detent pressure oil that first lock valve 251 provides by the second lock valve 252 is as high pressure oil, be supplied to the lock chamber of the difunctional oil cylinder 24 of locking by lock chamber hydraulic fluid port U, V of the difunctional oil cylinder of locking 24, thus realize Hydraulic Pump to lock chamber repairing.That is, when the detent pressure of the difunctional oil cylinder of steering, locking declines more, use Hydraulic Pump to lock chamber repairing.
In one embodiment of the invention, as shown in Figure 2, lock valve group is also for carrying out in the process of repairing at Hydraulic Pump to lock chamber, if when the detent pressure of the difunctional oil cylinder 24 of steering, locking is greater than the second set pressure, be connected with way to cycle oil by pressure oil-source, stop solution press pump is to the repairing of lock chamber.
In one embodiment of the invention, as shown in Figure 2, first pressure switch 27 also for be in middle position locking state at the difunctional oil cylinder of steering, locking and the detent pressure of the difunctional oil cylinder of steering, locking continue to be reduced to be less than the first set pressure time, the control end Y9 of the control end Y14a of indicated pressure selector valve 22, the control end Y8 of the first lock valve 251, the second lock valve 252 obtains electric, so that Hydraulic Pump carries out repairing to lock chamber, indicate the repairing of energy storage stopping to lock chamber simultaneously; And when if the detent pressure of the difunctional oil cylinder 24 of steering, locking is greater than the second set pressure, the control end Y9 power-off of the control end Y14a of indicated pressure selector valve 22, the control end Y8 of the first lock valve 251, the second lock valve 252, so that stop solution press pump is to the repairing of lock chamber.
In one embodiment of the invention, as Figure 4-Figure 6, described steering hardware can also comprise the second by pass valve, wherein, the oil inlet of described second by pass valve is connected with the first actuator port A2 of pressure selection valve 22, and the oil outlet of described second by pass valve is connected with way to cycle oil.Described second by pass valve is for ensureing the setting value M2 below of pressure (detent pressure oil) at the second by pass valve of system.
In one embodiment of the invention, the setting value M2 of the second by pass valve is greater than the setting value M1 of the first by pass valve.Thus, the above embodiment of the present invention can realize an oil sources and provide two pressure oils, and what can realize turning to locking two systems is separate.
In embodiment described in Fig. 2, the front-wheel (axle and two axles) of hoisting crane is realized turning to by hydraulic machinery servo steering system (front-wheel director 31 and front-wheel oil pump 32 etc.), and trailing wheel (three axles and four axles) is realized by steering hardware of the present invention (comprising Hydraulic Pump 21, convertible valve group, the difunctional oil cylinder 24 of steering, locking etc.).
The steering hardware of the above embodiment of the present invention is by using hydraulic pressure locking and the difunctional oil cylinder of power-assisted, hydraulic pressure locking and unblock can be carried out, automatic centering (namely the vehicle bridge with steering angle can be made to automatically restore to normal straight motoring condition by the power of hydraulic pressure locking cylinder); There is the features such as structure is simple, quality is light, maintenance cost is low, high speed is reliable and stable, low speed light and flexible.
The above embodiment of the present invention control cock group and mode simplify, and when needs turn to vehicle bridge to turn to, vehicle bridge steering angle is fixed, and two bridges adopt a locking, power steering bifunctional hydraulic oil cylinder.Like this by can control flow be simplified, improve control cock group and reduce vehicle bridge weight, and the locking of vehicle bridge is separated with mechanical steering vehicle bridge, can ensure each vehicle bridge parallelism.Reduce because the deflection of tire throws into question.
In one embodiment of the invention, the described steering hardware that also can be used by trailing wheel of the present invention that turns to of hoisting crane front-wheel realizes.
The steering hardware of embodiment of the present invention is particularly useful for the vehicle that the rear number of axle is one or two, this is because piston rod adopts member structure, only has two ends to be connected with steering track rod.Therefore when the number of axle is greater than on the vehicle of 2 after needs are used in this HAL, the mode that multiple HAL is set can be adopted, or the structure of piston rod is made a change.
According to a further aspect in the invention, provide a kind of hoisting crane, comprise the steering controlling device as described in above-mentioned any embodiment.
It is reliable and stable that the hoisting crane provided based on the above embodiment of the present invention has high speed, and the feature of low speed light and flexible, when high speed, rear axle meta rigidity is locked, unlocks as required and turn to during low speed.There is better comformability and road-holding property; Two steeraxles adopt a difunctional oil cylinder of steering, locking, cost-saving; Control cock group and logic are simple, easy to use and later maintenance.
Fig. 7 is the schematic diagram of a forward method of the present invention embodiment.Preferably, the present embodiment can be performed by the steering hardware in Fig. 2-Fig. 6 described in embodiment.The method comprises the following steps:
Step 701, when receiving vehicle bridge steering order, the pressure oil-source that Hydraulic Pump 21 provides by pressure selection valve 22 is supplied to convertible valve 23 as steering pressure oil.
Step 702, steering pressure oil is injected the power-assisted chamber of steering, locking difunctional oil cylinder 24 by convertible valve 23, to make the piston rod of the difunctional oil cylinder 24 of steering, locking move, thus realizes vehicle bridge and turns to.
In one embodiment of the invention, step 702 can comprise: when the vehicle bridge steering order received is vehicle bridge left-hand rotation instruction, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder 24 of steering, locking by convertible valve 23 by the first power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking 24, and is connected with oil return circuit by the second power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder 24; The piston rod of the difunctional oil cylinder 24 of steering, locking drives the track arm on axletree to move to first direction by pull bar, thus realizes vehicle bridge.
In one embodiment of the invention, step 702 can comprise: when the vehicle bridge steering order received is vehicle bridge right-hand rotation instruction, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder 24 of steering, locking by convertible valve 23 by the second power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking 24, and is connected with oil return circuit by the first power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder 24; The piston rod of the difunctional oil cylinder 24 of steering, locking drives the track arm on axletree to move to second direction by pull bar, thus realizes vehicle bridge right-hand rotation.
Fig. 8 is the schematic diagram of another embodiment of forward method of the present invention.Preferably, the present embodiment can be performed by the steering hardware in Fig. 2-Fig. 6 described in embodiment.The method comprises the following steps:
Step 801, judges whether to receive vehicle bridge steering order.If receive vehicle bridge steering order, then perform step 802; Otherwise, if do not receive vehicle bridge steering order, then perform step 805.
Step 802, the first lock chamber hydraulic fluid port of difunctional for steering, locking oil cylinder 24 is communicated with oil return circuit with the second lock chamber hydraulic fluid port by lock valve group, thus achieves lock chamber unblock.
Step 803, the pressure oil-source that Hydraulic Pump 21 provides by pressure selection valve 22 is supplied to convertible valve 23 as steering pressure oil.
Step 804, steering pressure oil is injected the power-assisted chamber of steering, locking difunctional oil cylinder 24 by convertible valve 23, to make the piston rod of the difunctional oil cylinder 24 of steering, locking move, thus realizes vehicle bridge and turns to, no longer perform other step of the present embodiment afterwards.
Step 805, lock valve group disconnects the first lock chamber hydraulic fluid port of the difunctional oil cylinder 24 of steering, locking and the connection of the second lock chamber hydraulic fluid port and oil return circuit, is in middle position locking state to make the difunctional oil cylinder 24 of steering, locking.
Step 806, is communicated with the first power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder 24 with oil return circuit with the second power-assisted chamber hydraulic fluid port.
Middle position locking oil cylinder and steering jack are integrated in a bifunctional hydraulic cylinder by the above embodiment of the present invention, cost-saving, and control cock group and logic are simple, easy to use and later maintenance; Mode is an oil sources two pressure oils, and what can realize turning to locking two systems is separate; Volume is little, lightweight, and structural arrangement is simple and convenient, can realize turning to and steering-by-wire without bar.
Fig. 9 is the schematic diagram of steering, locking difunctional oil cylinder lock chamber oil supplement method in one embodiment of the invention.In embodiment described in Fig. 8, when the difunctional oil cylinder 24 of steering, locking is in middle position locking state, described method also comprises:
Step 901, judge whether the detent pressure F of the difunctional oil cylinder 24 of steering, locking is greater than the first set pressure F1 and is less than the second set pressure F2, wherein said second set pressure F2 is greater than the first set pressure F1.If F1<F<F2, then perform step 902; Otherwise, perform step 903.
Step 902, energy storage carries out repairing by the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking 24 and the lock chamber of the second lock chamber hydraulic fluid port to the difunctional oil cylinder 24 of steering, locking; No longer perform other step of the present embodiment afterwards.
Step 903, judges that the detent pressure F of the difunctional oil cylinder 24 of steering, locking is less than the first set pressure F1.If F<F1, then perform step 904; Otherwise, perform step 905.
Step 904, lock valve group, by the first lock chamber hydraulic fluid port of detent pressure oil by the difunctional oil cylinder of steering, locking 24 and the lock chamber of the difunctional oil cylinder 24 of the second lock chamber hydraulic fluid port injection steering, locking, realizes the repairing of Hydraulic Pump to lock chamber.
Step 905, does not carry out repairing operation.
In one embodiment of the invention, described method also comprises: carry out in the process of repairing at Hydraulic Pump to lock chamber, if the detent pressure of the difunctional oil cylinder 24 of steering, locking is greater than the second set pressure, then pressure oil-source is connected with way to cycle oil by lock valve group, and stop solution press pump is to the repairing of lock chamber.
In one embodiment of the invention, described method also comprises: carry out in the process of repairing lock chamber at energy storage, if the detent pressure of the difunctional oil cylinder 24 of steering, locking is greater than the second set pressure, then energy storage stops the repairing to lock chamber.
By implementing some embodiments of the invention, following beneficial effect can be obtained:
1, middle position locking oil cylinder and steering jack are integrated in a bifunctional hydraulic cylinder by the present invention, can carry out hydraulic pressure locking and unblock, automatic centering; Can realize turning to and steering-by-wire without bar.
2, the present invention adopts a difunctional oil cylinder of steering, locking, cost-saving; Volume is little, lightweight, and structural arrangement is simple and convenient; Control cock group and logic are simple, easy to use and later maintenance
3, the present invention is simply easy to operate, and logicality is strong, and trouble point is few, can complete automatic locking ftercompction and manual steering.
4, safe and reliable, possess that high speed is reliable and stable, low speed light and flexible multi-mode steering; Middle position locking control cock group has the reliable hydraulic pressure latch functions of long-time stable.
5, the present invention provides two pressure oils for an oil sources, and what can realize turning to locking two systems is separate.
6, to have high speed reliable and stable in the present invention, and the feature of low speed light and flexible: rear axle meta rigidity is locked when high speed, unlocks as required during low speed and turn to.There is better comformability and road-holding property.
7, the locking of vehicle bridge of the present invention is separated with mechanical steering vehicle bridge, can ensure each vehicle bridge parallelism; Reduce because the deflection of tire throws into question.
In describing the invention; it will be appreciated that; term " orientation or the position relationship of the instruction such as " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " be based on orientation shown in the drawings or position relationship; be only for ease of describing the present invention and simplified characterization; instead of indicate or infer the device of indication or element must have specific orientation, be specific azimuth configuration and operation, thus can not be interpreted as restriction the present invention being protected to content.
If employ the word such as " first ", " second " herein to limit parts, those skilled in the art should know: the use of " first ", " second " is only used to be convenient to describe carry out difference as not having outside Stated otherwise to parts, the implication that above-mentioned word is not special.
So far, the present invention is described in detail.In order to avoid covering design of the present invention, details more known in the field are not described.Those skilled in the art, according to description above, can understand how to implement technical scheme disclosed herein completely.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory (ROM), disk or CD etc.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Claims (19)
1. a rotating direction control method, is characterized in that, comprising:
When receiving vehicle bridge steering order, the pressure oil-source that Hydraulic Pump provides by pressure selection valve is supplied to convertible valve as steering pressure oil;
Steering pressure oil is injected the power-assisted chamber of steering, locking difunctional oil cylinder by convertible valve, to make the piston rod of the difunctional oil cylinder of steering, locking move, thus realizes vehicle bridge and turns to.
2. method according to claim 1, is characterized in that, steering pressure oil is injected the power-assisted chamber of steering, locking difunctional oil cylinder by convertible valve, to make the piston rod of the difunctional oil cylinder of steering, locking move, thus realizes the step that vehicle bridge turns to and comprises:
When the vehicle bridge steering order received is vehicle bridge left-hand rotation instruction, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder of steering, locking by convertible valve by the first power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking, and is connected with oil return circuit by the second power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder;
The piston rod of the difunctional oil cylinder of steering, locking drives the track arm on axletree to move to first direction by pull bar, thus realizes vehicle bridge.
3. method according to claim 1, is characterized in that, steering pressure oil is injected the power-assisted chamber of steering, locking difunctional oil cylinder by convertible valve, to make the piston rod of the difunctional oil cylinder of steering, locking move, thus realizes the step that vehicle bridge turns to and comprises:
When the vehicle bridge steering order received is vehicle bridge right-hand rotation instruction, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder of steering, locking by convertible valve by the second power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking, and is connected with oil return circuit by the first power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder;
The piston rod of the difunctional oil cylinder of steering, locking drives the track arm on axletree to move to second direction by pull bar, thus realizes vehicle bridge right-hand rotation.
4. the method according to any one of claim 1-3, is characterized in that, also comprises:
When receiving vehicle bridge steering order, the first lock chamber hydraulic fluid port of difunctional for steering, locking oil cylinder is communicated with oil return circuit with the second lock chamber hydraulic fluid port by lock valve group, thus achieves lock chamber unblock.
5. method according to claim 4, is characterized in that, also comprises:
When not receiving vehicle bridge steering order, lock valve group disconnects the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking and the connection of the second lock chamber hydraulic fluid port and oil return circuit, is in middle position locking state to make the difunctional oil cylinder of steering, locking;
First power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder is communicated with oil return circuit with the second power-assisted chamber hydraulic fluid port by convertible valve.
6. method according to claim 5, is characterized in that, also comprises:
When the difunctional oil cylinder of steering, locking is in middle position locking state and the detent pressure of the difunctional oil cylinder of steering, locking is less than the first set pressure, the pressure oil-source that Hydraulic Pump provides by pressure selection valve is supplied to lock valve group as detent pressure oil;
Lock valve group, by the first lock chamber hydraulic fluid port of detent pressure oil by the difunctional oil cylinder of steering, locking and the lock chamber of the difunctional oil cylinder of the second lock chamber hydraulic fluid port injection steering, locking, realizes lock chamber repairing.
7. method according to claim 6, is characterized in that, also comprises:
Lock chamber is being carried out in the process of repairing, if the detent pressure of the difunctional oil cylinder of steering, locking is greater than the second set pressure, then pressure oil-source is connected with way to cycle oil by lock valve group, stops the repairing to lock chamber, and wherein said second set pressure is greater than the first set pressure.
8. method according to claim 5, is characterized in that, also comprises:
When the difunctional oil cylinder of steering, locking be in middle position locking state, the detent pressure of the difunctional oil cylinder of steering, locking be greater than the first set pressure and be less than the second set pressure time, energy storage carries out repairing by the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking and the lock chamber of the second lock chamber hydraulic fluid port to the difunctional oil cylinder of steering, locking, and wherein said second set pressure is greater than the first set pressure.
9. method according to claim 8, is characterized in that, also comprises:
Carrying out in the process of repairing lock chamber, if the detent pressure of the difunctional oil cylinder of steering, locking is greater than the second set pressure, then energy storage stops the repairing to lock chamber.
10. a steering controlling device, is characterized in that, comprises Hydraulic Pump, pressure selection valve, convertible valve, the difunctional oil cylinder of steering, locking, wherein:
Hydraulic Pump, for providing pressure oil-source to pressure selection valve;
Pressure selection valve, for when receiving vehicle bridge steering order, the pressure oil-source provided by Hydraulic Pump is supplied to convertible valve as steering pressure oil;
Convertible valve, for when receiving vehicle bridge steering order, the steering pressure oil provided by pressure selection valve injects the power-assisted chamber of the difunctional oil cylinder of steering, locking;
The difunctional oil cylinder of steering, locking, for when steering pressure oil is injected power-assisted chamber by convertible valve, realizes vehicle bridge by the motion of piston rod and turns to.
11. devices according to claim 10, is characterized in that,
When convertible valve is specifically for being vehicle bridge left-hand rotation instruction at the vehicle bridge steering order received, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder of steering, locking by the first power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking, and the second power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder is connected with oil return circuit;
The difunctional oil cylinder of steering, locking, specifically for when steering pressure injects power-assisted chamber by the first power-assisted chamber hydraulic fluid port, drives the track arm on axletree to move to first direction by piston rod, thus realizes vehicle bridge.
12. devices according to claim 10, is characterized in that,
When convertible valve is specifically for being vehicle bridge right-hand rotation instruction at the vehicle bridge steering order received, steering pressure oil is injected the power-assisted chamber of the difunctional oil cylinder of steering, locking by the second power-assisted chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking, and the first power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder is connected with oil return circuit;
The difunctional oil cylinder of steering, locking, specifically for when steering pressure injects power-assisted chamber by the second power-assisted chamber hydraulic fluid port, drives the track arm on axletree to move to second direction by piston rod, thus realizes vehicle bridge right-hand rotation.
13. devices according to any one of claim 10-12, is characterized in that, also comprise lock valve group, wherein:
Lock valve group, for when receiving vehicle bridge steering order, is communicated with the first lock chamber hydraulic fluid port of difunctional for steering, locking oil cylinder with oil return circuit with the second lock chamber hydraulic fluid port, thus achieves lock chamber unblock.
14. devices according to claim 13, is characterized in that,
Lock valve group, also for when not receiving vehicle bridge steering order, disconnecting the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking and the connection of the second lock chamber hydraulic fluid port and oil return circuit, being in middle position locking state to make the difunctional oil cylinder of steering, locking;
First power-assisted chamber hydraulic fluid port of difunctional for steering, locking oil cylinder, also for when not receiving vehicle bridge steering order, is communicated with oil return circuit with the second power-assisted chamber hydraulic fluid port by convertible valve.
15. devices according to claim 14, is characterized in that,
Pressure selection valve is also for when the difunctional oil cylinder of steering, locking is in middle position locking state and the detent pressure of the difunctional oil cylinder of steering, locking is less than the first set pressure, and the pressure oil-source provided by Hydraulic Pump is supplied to lock valve group as detent pressure oil;
Lock valve group is also for when the detent pressure of the difunctional oil cylinder of steering, locking is less than the first set pressure, by the first lock chamber hydraulic fluid port of detent pressure oil by the difunctional oil cylinder of steering, locking and the lock chamber of the difunctional oil cylinder of the second lock chamber hydraulic fluid port injection steering, locking, realize lock chamber repairing.
16. devices according to claim 15, is characterized in that,
Lock valve group is also for carrying out in the process of repairing to lock chamber, if when the detent pressure of the difunctional oil cylinder of steering, locking is greater than the second set pressure, be connected with way to cycle oil by pressure oil-source, stop the repairing to lock chamber, wherein said second set pressure is greater than the first set pressure.
17. devices according to claim 14, is characterized in that, also comprise energy storage, wherein:
Energy storage, for being in middle position locking state at the difunctional oil cylinder of steering, locking, the detent pressure of steering, locking difunctional oil cylinder being when being greater than the first set pressure and being less than the second set pressure, carry out repairing by the first lock chamber hydraulic fluid port of the difunctional oil cylinder of steering, locking and the lock chamber of the second lock chamber hydraulic fluid port to the difunctional oil cylinder of steering, locking, wherein said second set pressure is greater than the first set pressure.
18. devices according to claim 17, is characterized in that,
Energy storage also for carrying out in the process of repairing lock chamber, if when the detent pressure of the difunctional oil cylinder of steering, locking is greater than the second set pressure, stop the repairing to lock chamber.
19. 1 kinds of hoisting cranes, is characterized in that, comprise the steering controlling device according to any one of claim 10-18.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510021717.9A CN105438256B (en) | 2015-01-15 | 2015-01-15 | Rotating direction control method, device and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510021717.9A CN105438256B (en) | 2015-01-15 | 2015-01-15 | Rotating direction control method, device and crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105438256A true CN105438256A (en) | 2016-03-30 |
| CN105438256B CN105438256B (en) | 2017-09-26 |
Family
ID=55549017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510021717.9A Active CN105438256B (en) | 2015-01-15 | 2015-01-15 | Rotating direction control method, device and crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105438256B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108045432A (en) * | 2018-01-16 | 2018-05-18 | 徐工集团工程机械有限公司 | Steering cylinder, hydraulic power-assist steering system turn to vehicle bridge and vehicle |
| CN108189907A (en) * | 2016-12-08 | 2018-06-22 | 辽宁丹东新弘源农业科技发展有限公司企业技术研究开发中心 | Vapour drags all-in-one machine fluid-link steering control system |
| CN111734713A (en) * | 2020-07-13 | 2020-10-02 | 方盛车桥（柳州）有限公司 | Steering locking cylinder |
| CN113002618A (en) * | 2021-02-24 | 2021-06-22 | 安徽柳工起重机有限公司 | Steering locking control valve, rear axle steering hydraulic system and automobile crane |
| CN113104095A (en) * | 2021-05-07 | 2021-07-13 | 徐州重型机械有限公司 | Double-loop integral steering gear, steering power-assisted system and crane |
| CN113529844A (en) * | 2021-07-08 | 2021-10-22 | 柳州柳工挖掘机有限公司 | Straight-moving control system and method for negative-flow excavator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10245618A1 (en) * | 2002-09-30 | 2004-04-15 | Liebherr-Werk Ehingen Gmbh | Active rear-axle steering for a vehicular crane has steered rear-axles in pairs to trigger a rear-axle steering deflection electronically and to activate movement via hydraulic steering cylinders |
| CN2866285Y (en) * | 2005-12-31 | 2007-02-07 | 中国三江航天工业集团公司 | Hydraulic centralizing cylinder of vehicle rear wheel steering mechanism |
| CN200945874Y (en) * | 2006-09-06 | 2007-09-12 | 徐州重型机械有限公司 | Multi-bridge automobile rear axle steering locking device |
| CN102030037A (en) * | 2010-12-06 | 2011-04-27 | 徐州重型机械有限公司 | Crane for eight-shaft automobile chassis, and steering control system and method of eight-shaft automobile chassis |
| CN102874305A (en) * | 2012-10-12 | 2013-01-16 | 中联重科股份有限公司 | Vehicle axle steering system, control method thereof, and engineering vehicle |
| CN104085446A (en) * | 2014-07-30 | 2014-10-08 | 中联重科股份有限公司 | Vehicle and vehicle steering system thereof |
-
2015
- 2015-01-15 CN CN201510021717.9A patent/CN105438256B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10245618A1 (en) * | 2002-09-30 | 2004-04-15 | Liebherr-Werk Ehingen Gmbh | Active rear-axle steering for a vehicular crane has steered rear-axles in pairs to trigger a rear-axle steering deflection electronically and to activate movement via hydraulic steering cylinders |
| CN2866285Y (en) * | 2005-12-31 | 2007-02-07 | 中国三江航天工业集团公司 | Hydraulic centralizing cylinder of vehicle rear wheel steering mechanism |
| CN200945874Y (en) * | 2006-09-06 | 2007-09-12 | 徐州重型机械有限公司 | Multi-bridge automobile rear axle steering locking device |
| CN102030037A (en) * | 2010-12-06 | 2011-04-27 | 徐州重型机械有限公司 | Crane for eight-shaft automobile chassis, and steering control system and method of eight-shaft automobile chassis |
| CN102874305A (en) * | 2012-10-12 | 2013-01-16 | 中联重科股份有限公司 | Vehicle axle steering system, control method thereof, and engineering vehicle |
| CN104085446A (en) * | 2014-07-30 | 2014-10-08 | 中联重科股份有限公司 | Vehicle and vehicle steering system thereof |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189907A (en) * | 2016-12-08 | 2018-06-22 | 辽宁丹东新弘源农业科技发展有限公司企业技术研究开发中心 | Vapour drags all-in-one machine fluid-link steering control system |
| CN108189907B (en) * | 2016-12-08 | 2023-12-26 | 辽宁丹东新弘源农业科技发展有限公司企业技术研究开发中心 | Hydraulic steering control system for steam-towing integrated machine |
| CN108045432A (en) * | 2018-01-16 | 2018-05-18 | 徐工集团工程机械有限公司 | Steering cylinder, hydraulic power-assist steering system turn to vehicle bridge and vehicle |
| CN108045432B (en) * | 2018-01-16 | 2023-08-25 | 江苏徐工国重实验室科技有限公司 | Steering cylinder, hydraulic power steering system, steering axle and vehicle |
| CN111734713A (en) * | 2020-07-13 | 2020-10-02 | 方盛车桥（柳州）有限公司 | Steering locking cylinder |
| CN113002618A (en) * | 2021-02-24 | 2021-06-22 | 安徽柳工起重机有限公司 | Steering locking control valve, rear axle steering hydraulic system and automobile crane |
| CN113002618B (en) * | 2021-02-24 | 2022-03-01 | 安徽柳工起重机有限公司 | Steering locking control valve, rear axle steering hydraulic system and automobile crane |
| CN113104095A (en) * | 2021-05-07 | 2021-07-13 | 徐州重型机械有限公司 | Double-loop integral steering gear, steering power-assisted system and crane |
| CN113529844A (en) * | 2021-07-08 | 2021-10-22 | 柳州柳工挖掘机有限公司 | Straight-moving control system and method for negative-flow excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105438256B (en) | 2017-09-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105438256A (en) | Steering controlling method and device and crane | |
| EP2927093B1 (en) | Follow-up steering control system of multi-axle automobile crane and multi-axle automobile crane | |
| CN107856732B (en) | Electro-hydraulic steering hydraulic system for multi-mode control | |
| CN102351005B (en) | Multi-mode steering hydraulic control system and wheeled crane using same | |
| CN104443025B (en) | Electro-hydraulic servo pure rolling steering system for multi-axis vehicle and control method | |
| CN103963825A (en) | Steering system and independent suspension wheel type overload vehicle | |
| CN201907559U (en) | Six-axle automobile chassis hoisting machine and steering control system thereof | |
| CN108045432B (en) | Steering cylinder, hydraulic power steering system, steering axle and vehicle | |
| CN104608819B (en) | Multi-axis steering system and multiple-axle vehicle for multiple-axle vehicle | |
| CN102019958A (en) | Six-shaft automobile chassis crane and steering control system and method thereof | |
| CN104309683A (en) | Hydraulic steering system and wheel crane | |
| CN112141207A (en) | Electro-hydraulic power-assisted steering system and crane | |
| CN108556910B (en) | All-wheel steering system | |
| CN104724166A (en) | Hydraulic suspension heavy-load transportation vehicle | |
| CN102530064A (en) | Engineering mechanical vehicle, vehicle steering following control system and vehicle steering following control method | |
| CN110285102B (en) | Multi-shaft emergency rescue vehicle hydraulic steering control system with active suspension | |
| CN201472461U (en) | Axle steering and locking converting control system | |
| CN202923705U (en) | Follow-up steering control system of multi-axle truck crane and multi-axle truck crane | |
| CN212473643U (en) | Hydraulic auxiliary control electric independent steering system and electric vehicle | |
| CN202669912U (en) | Crane and automatic centering steering system thereof | |
| CN204055960U (en) | A kind of multi-axle off-road vehicle all-wheel steering device | |
| CN211869504U (en) | Electro-hydraulic hybrid drive type four-wheel steering system | |
| CN112550445B (en) | Hydraulic power-assisted steering system | |
| DE102012107777B4 (en) | STEERING SYSTEM FOR A TRAILING AXLE OF A VEHICLE | |
| CN110001772A (en) | A kind of steering control system for four-wheel wet-spraying machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |