CN105667588A - Multi-shaft full-wheel steering device and engineering machine with multi-shaft full-wheel steering device - Google Patents
Multi-shaft full-wheel steering device and engineering machine with multi-shaft full-wheel steering device Download PDFInfo
- Publication number
- CN105667588A CN105667588A CN201610152546.8A CN201610152546A CN105667588A CN 105667588 A CN105667588 A CN 105667588A CN 201610152546 A CN201610152546 A CN 201610152546A CN 105667588 A CN105667588 A CN 105667588A
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- Prior art keywords
- steering
- shaft
- wheel
- engineering machinery
- turning
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention discloses a multi-shaft full-wheel steering device and an engineering machine with the multi-shaft full-wheel steering device. The multi-shaft full-wheel steering device comprises a steering lever and multiple rocker arms. The steering lever is arranged in the walking direction of the engineering machine and rotationally arranged on the lower side of a chassis of the engineering machine. The rocker arms are arranged perpendicular to the steering lever, and the upper ends of the rocker arms are fixed to the steering lever. The number of the rocker arms corresponds to the number of steering shafts of the engineering machine. The lower end of each rocker arm is hinged to one end of a pull rod, and the other end of each pull rod serves as an output end to drive a wheel on the corresponding steering shaft to steer. The multi-shaft full-wheel steering device is simple in structure and easy to arrange, and the phenomenon that a stress transmission route is too long in the steering process, and consequently steering of steering axles at the rear position is delayed is avoided.
Description
Technical field
The present invention relates to a kind of steering gear and there is the engineering machinery of this device, particularly a kind of multiple-shaft whole-wheel steering gear and there is the engineering machinery of this device.
Background technology
Fig. 1 is the all-wheel steering pattern of a kind of pure leverage of harbour walking crane in prior art. It comprises at least two drag link rocker arm bodies 1 and turns to locking mechanism 2, and the wheel of drag link rocker arm body 1 in the steering shaft controlling lifting machine turns to. When normally travelling, turn to locking mechanism 2 to close, enable the steering force transmitted by steering cylinder transmit in all drag link rocker arm bodies 1 thus realize turning to of the wheel in all steering shafts.
But, in above-mentioned steering gear, turning device is complicated, adds the probability that steering fault occurs, and is unfavorable for safeguarding maintenance; In addition, longer by power transfer route in steering procedure, therefore need first overcome drag link rocker arm body 1 and turn to the free clearance between locking mechanism 2 by power transmittance process, thus cause rear to turn to bridge to turn to delayed.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of multiple-shaft whole-wheel steering gear and has the engineering machinery of this device, and its structure is simple, short out by power transfer line.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is:
A kind of multiple-shaft whole-wheel steering gear, it is characterized in that: comprise turning-bar and some rocking arms, turning-bar arranges along engineering machinery walking direction and rotates and be arranged on the downside of engineering machinery underframe; rocking arm is perpendicular to turning-bar setting and rocking arm upper end is fixed on turning-bar; rocking arm quantity is corresponding with engineering machinery steering shaft quantity; the lower end of rocking arm and pull bar one end are hinged, and the pull bar the other end drives the wheel in steering shaft to turn to as output terminal.
Further, the circle of the turning radius of the wheel in described steering shaft is in the symmetrical center line of steering shaft, and rocking arm length reduces backward successively from front end, engineering machinery walking direction.
Further, the two ends being positioned at engineering machinery walking direction that root steering shaft foremost in described steering shaft are provided with left steering cylinder and right turn oil cylinder, left steering cylinder and right turn oil cylinder are all connected with turning control cell, and all the other steering shaft two ends are provided with power steering oil cylinder.
Further, described in be positioned at that root steering shaft one end foremost, engineering machinery walking direction and be provided with steering angle of wheel sensor, steering angle of wheel sensor is connected with turning control cell.
A kind of multi-steering pattern multiple-shaft whole-wheel steering gear, it is characterised in that: engineering machinery steering shaft is divided into some groups of adjacent steering shafts, often organizes steering shaft and multiple-shaft whole-wheel steering gear is set.
Further, the two ends that described some groups of adjacent steering shafts are often positioned at engineering machinery walking direction that root steering shaft foremost in group are provided with left steering cylinder and right turn oil cylinder, some groups of left steering cylinders and right turn oil cylinder are all connected with turning control cell, and all the other steering shaft two ends are provided with power steering oil cylinder.
Further, described in be positioned at engineering machinery walking direction foremost and that root steering shaft one end of most rear end be provided with steering angle of wheel sensor, steering angle of wheel sensor is connected with turning control cell.
A kind of engineering machinery, it is characterised in that: it is provided with multiple-shaft whole-wheel steering gear.
A kind of engineering machinery, it is characterised in that: it is provided with multi-steering pattern multiple-shaft whole-wheel steering gear.
The present invention compared with prior art, has the following advantages and effect: structure is simple, is easy to layout, avoids in steering procedure excessively long by power transfer route, and rear turns to bridge to turn to hysteresis phenomenon.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the all-wheel steering pattern of a kind of pure leverage of prior art.
Fig. 2 is the schematic diagram of a kind of embodiment of the present invention.
Fig. 3 is the vertical view of a kind of embodiment of the present invention.
Fig. 4 is another kind of the present invention is the schematic diagram of strength.
Fig. 5 is another kind of the present invention is the vertical view of strength.
Embodiment
Below in conjunction with accompanying drawing, also by embodiment, the present invention is described in further detail, and following examples are explanation of the invention and the present invention is not limited to following examples.
Embodiment 1:
As shown in Fig. 2 to 3, a kind of multiple-shaft whole-wheel steering gear, comprise turning-bar 3 and some Rocker arm 4s, turning-bar 3 arranges along engineering machinery walking direction and rotates and be arranged on the downside of engineering machinery underframe; Rocker arm 4 is perpendicular to turning-bar 3 and arranges and Rocker arm 4 upper end is fixed on turning-bar 3; Rocker arm 4 quantity is corresponding with engineering machinery steering shaft 5 quantity, and the lower end of Rocker arm 4 and pull bar 6 one end are hinged, and pull bar 6 the other end turns to as the wheel 7 in output terminal driving steering shaft 5. Pull bar 6 the other end and swing arm 8 one end are hinged, and swing arm 8 the other end is hinged on steering shaft 5 end, and wheel 7 rotates and is arranged on swing arm 8 the other end.
The circle of the turning radius of the wheel 7 in steering shaft 5 is in the symmetrical center line of steering shaft 5; Rocker arm 4 length reduces backward successively from front end, engineering machinery walking direction; the rocking arm length of control multi-axle steering is that geometry is relevant to each axle turning radius; steering shaft turning radius is more little; the rocking arm length being connected is more short; steering shaft is symmetric; and the turning radius center of circle is on steering shaft symmetric line; and the rocking arm being welded on turning-bar is corresponding with each steering shaft to be symmetric, and side rocking arm length is successively decreased from outside to inside. The two ends being positioned at engineering machinery walking direction that root steering shaft foremost in steering shaft 5 are provided with left steering cylinder 9 and right turn oil cylinder 10, left steering cylinder 9 and right turn oil cylinder 10 are all connected with turning control cell 11, and all the other steering shaft two ends are provided with power steering oil cylinder 12. Being positioned at that root steering shaft 5 one end foremost, engineering machinery walking direction and be provided with steering angle of wheel sensor 13, steering angle of wheel sensor 13 is connected with turning control cell 11. The steering cylinder of multiple-shaft whole-wheel steering gear works under control of the control unit 11 so that is positioned at engineering machinery walking direction steering shaft 5 foremost and turns to, and all the other each steering shafts turn to moment synchronously to turn to realize by turning-bar 3 adjustment respectively.By sensor 13, the angular signal of acquisition is fed back to control unit 11 simultaneously.
A kind of engineering machinery, is provided with multiple-shaft whole-wheel steering gear.
Embodiment 2:
As shown in Figure 3,4, a kind of multi-steering pattern multiple-shaft whole-wheel steering gear, is divided into some groups of adjacent steering shafts by engineering machinery steering shaft 5, often organizes steering shaft 5 and arranges multiple-shaft whole-wheel steering gear. Multiple-shaft whole-wheel steering gear, comprise turning-bar 3 and some Rocker arm 4s, turning-bar 3 arranges along engineering machinery walking direction and rotates and be arranged on the downside of engineering machinery underframe; Rocker arm 4 is perpendicular to turning-bar 3 and arranges and Rocker arm 4 upper end is fixed on turning-bar 3; Rocker arm 4 quantity is corresponding with engineering machinery steering shaft 5 quantity; the lower end of Rocker arm 4 and pull bar 6 one end are hinged, and pull bar 6 the other end turns to as the wheel 7 in output terminal driving steering shaft 5. Pull bar 6 the other end and swing arm 8 one end are hinged, and swing arm 8 the other end is hinged on steering shaft 5 end, and wheel 7 rotates and is arranged on swing arm 8 the other end.
The circle of the turning radius of the wheel 7 in steering shaft 5 is in the symmetrical center line of steering shaft 5; Rocker arm 4 length reduces backward successively from front end, engineering machinery walking direction; the rocking arm length of control multi-axle steering is that geometry is relevant to each axle turning radius; steering shaft turning radius is more little; the rocking arm length being connected is more short; steering shaft is symmetric; and the turning radius center of circle is on steering shaft symmetric line; and the rocking arm being welded on turning-bar is corresponding with each steering shaft to be symmetric, and side rocking arm length is successively decreased from outside to inside.
The two ends that some groups of adjacent steering shafts 5 are often positioned at engineering machinery walking direction that root steering shaft foremost in group are provided with left steering cylinder 9 and right turn oil cylinder 10, some groups of left steering cylinders 9 and right turn oil cylinder equal 10 are connected with turning control cell 11, and all the other steering shaft 5 two ends are provided with power steering oil cylinder 12. Be positioned at engineering machinery walking direction foremost and that root steering shaft 5 one end of most rear end be provided with steering angle of wheel sensor 13, steering angle of wheel sensor 13 is connected with turning control cell 11.
Get on the bus center of gravity to realize more multi-steering pattern and adaptation, compare embodiment 1 and increase a turning-bar, first turning-bar controls first group of steering shaft, 2nd turning-bar control the 2nd group of steering shaft, in a normal traveling mode, signal is turned to be passed to steering cylinder by control unit 11, then by turning-bar 3, the wheel in steering shaft is turned to, now, steering angle of wheel sensor 13 foremost obtains the wheel steering angle signal in steering shaft and this angular signal is sent to course changing control device 11, the steering cylinder that course changing control device 11 controls in another group steering shaft according to above-mentioned angular signal makes wheel turn to, until the angular signal that the steering angle of wheel sensor 13 of most rear end obtains mates mutually with the angular signal of steering angle of wheel sensor 13 acquisition foremost.
A kind of engineering machinery, is provided with multi-steering pattern multiple-shaft whole-wheel steering gear.
Above content described in this specification sheets is only illustration made for the present invention. Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by those skilled in the art; as long as not deviateing the content of specification sheets of the present invention or surmounting this scope as defined in the claims, protection scope of the present invention all should be belonged to.
Claims (9)
1. a multiple-shaft whole-wheel steering gear, it is characterized in that: comprise turning-bar and some rocking arms, turning-bar arranges along engineering machinery walking direction and rotates and be arranged on the downside of engineering machinery underframe; rocking arm is perpendicular to turning-bar setting and rocking arm upper end is fixed on turning-bar; rocking arm quantity is corresponding with engineering machinery steering shaft quantity; the lower end of rocking arm and pull bar one end are hinged, and the pull bar the other end drives the wheel in steering shaft to turn to as output terminal.
2. according to multiple-shaft whole-wheel steering gear according to claim 1, it is characterised in that: the circle of the turning radius of the wheel in described steering shaft is in the symmetrical center line of steering shaft, and rocking arm length reduces backward successively from front end, engineering machinery walking direction.
3. according to multiple-shaft whole-wheel steering gear according to claim 1, it is characterized in that: the two ends being positioned at engineering machinery walking direction that root steering shaft foremost in described steering shaft are provided with left steering cylinder and right turn oil cylinder, left steering cylinder and right turn oil cylinder are all connected with turning control cell, and all the other steering shaft two ends are provided with power steering oil cylinder.
4. according to multiple-shaft whole-wheel steering gear according to claim 3, it is characterised in that: described in be positioned at that root steering shaft one end foremost, engineering machinery walking direction and be provided with steering angle of wheel sensor, steering angle of wheel sensor is connected with turning control cell.
5. a multi-steering pattern multiple-shaft whole-wheel steering gear, it is characterised in that: engineering machinery steering shaft is divided into some groups of adjacent steering shafts, often organizes steering shaft and the multiple-shaft whole-wheel steering gear described in claim 1,2 is set.
6. according to multi-steering pattern multiple-shaft whole-wheel steering gear according to claim 5, it is characterized in that: the two ends that described some groups of adjacent steering shafts are often positioned at engineering machinery walking direction that root steering shaft foremost in group are provided with left steering cylinder and right turn oil cylinder, some groups of left steering cylinders and right turn oil cylinder are all connected with turning control cell, and all the other steering shaft two ends are provided with power steering oil cylinder.
7. according to multi-steering pattern multiple-shaft whole-wheel steering gear according to claim 6, it is characterized in that: described in be positioned at engineering machinery walking direction foremost and that root steering shaft one end of most rear end be provided with steering angle of wheel sensor, steering angle of wheel sensor is connected with turning control cell.
8. an engineering machinery, it is characterised in that: it is provided with the multiple-shaft whole-wheel steering gear described in the arbitrary item of Claims 1-4.
9. an engineering machinery, it is characterised in that: it is provided with the multi-steering pattern multiple-shaft whole-wheel steering gear described in the arbitrary item of claim 5 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152546.8A CN105667588A (en) | 2016-03-17 | 2016-03-17 | Multi-shaft full-wheel steering device and engineering machine with multi-shaft full-wheel steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152546.8A CN105667588A (en) | 2016-03-17 | 2016-03-17 | Multi-shaft full-wheel steering device and engineering machine with multi-shaft full-wheel steering device |
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| Publication Number | Publication Date |
|---|---|
| CN105667588A true CN105667588A (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610152546.8A Pending CN105667588A (en) | 2016-03-17 | 2016-03-17 | Multi-shaft full-wheel steering device and engineering machine with multi-shaft full-wheel steering device |
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| Country | Link |
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| CN (1) | CN105667588A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685767A (en) * | 2017-08-16 | 2018-02-13 | 吉林大学 | A kind of multiaxis wheel-hub motor driven vehicle trailing wheel steering-by-wire drive device and its forward method |
| CN107963126A (en) * | 2016-10-19 | 2018-04-27 | 中车株洲电力机车研究所有限公司 | A kind of multi-shaft steering vehicle deep camber automatic Pilot rotating direction control method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0518208A1 (en) * | 1991-06-14 | 1992-12-16 | Krupp Industrietechnik Gmbh | Device for changing over the steering of a self-propelling crane |
| CN2374430Y (en) * | 1999-02-02 | 2000-04-19 | 北京航天万方新技术有限公司 | Synchronous steering system of multi-shaft semitrailer |
| DE19957864A1 (en) * | 1999-12-01 | 2001-06-07 | Volkswagen Ag | Double axle arrangement for motor vehicle has steering linkage interconnecting rigid axles and equipped with distribution lever mounted on additional frame section to rotate around rotational axis |
| EP1302434A1 (en) * | 2001-10-15 | 2003-04-16 | Mitsubishi Heavy Industries, Ltd. | Steering gear of loading and unloading vehicle |
| CN201961369U (en) * | 2010-12-06 | 2011-09-07 | 中国三江航天工业集团公司特种车辆技术中心 | Multi-mode all-wheel steering device |
| CN203567801U (en) * | 2013-11-28 | 2014-04-30 | 中联重科股份有限公司 | Multi-axle vehicle steering device and vehicle with same |
| CN204055960U (en) * | 2014-08-14 | 2014-12-31 | 湖北航天技术研究院特种车辆技术中心 | A kind of multi-axle off-road vehicle all-wheel steering device |
| CN105235745A (en) * | 2015-10-28 | 2016-01-13 | 武汉神骏专用汽车制造股份有限公司 | Semitrailer steering device with steerable wheels |
| CN105365886A (en) * | 2015-12-10 | 2016-03-02 | 湖北三江航天万山特种车辆有限公司 | Multi-axis steerable telescopic flatbed transport vehicle |
| CN205440524U (en) * | 2016-03-17 | 2016-08-10 | 南通润邦重机有限公司 | Multiaxis all wheel steering device and have device's engineering machine tool |
-
2016
- 2016-03-17 CN CN201610152546.8A patent/CN105667588A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0518208A1 (en) * | 1991-06-14 | 1992-12-16 | Krupp Industrietechnik Gmbh | Device for changing over the steering of a self-propelling crane |
| CN2374430Y (en) * | 1999-02-02 | 2000-04-19 | 北京航天万方新技术有限公司 | Synchronous steering system of multi-shaft semitrailer |
| DE19957864A1 (en) * | 1999-12-01 | 2001-06-07 | Volkswagen Ag | Double axle arrangement for motor vehicle has steering linkage interconnecting rigid axles and equipped with distribution lever mounted on additional frame section to rotate around rotational axis |
| EP1302434A1 (en) * | 2001-10-15 | 2003-04-16 | Mitsubishi Heavy Industries, Ltd. | Steering gear of loading and unloading vehicle |
| CN201961369U (en) * | 2010-12-06 | 2011-09-07 | 中国三江航天工业集团公司特种车辆技术中心 | Multi-mode all-wheel steering device |
| CN203567801U (en) * | 2013-11-28 | 2014-04-30 | 中联重科股份有限公司 | Multi-axle vehicle steering device and vehicle with same |
| CN204055960U (en) * | 2014-08-14 | 2014-12-31 | 湖北航天技术研究院特种车辆技术中心 | A kind of multi-axle off-road vehicle all-wheel steering device |
| CN105235745A (en) * | 2015-10-28 | 2016-01-13 | 武汉神骏专用汽车制造股份有限公司 | Semitrailer steering device with steerable wheels |
| CN105365886A (en) * | 2015-12-10 | 2016-03-02 | 湖北三江航天万山特种车辆有限公司 | Multi-axis steerable telescopic flatbed transport vehicle |
| CN205440524U (en) * | 2016-03-17 | 2016-08-10 | 南通润邦重机有限公司 | Multiaxis all wheel steering device and have device's engineering machine tool |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963126A (en) * | 2016-10-19 | 2018-04-27 | 中车株洲电力机车研究所有限公司 | A kind of multi-shaft steering vehicle deep camber automatic Pilot rotating direction control method |
| CN107963126B (en) * | 2016-10-19 | 2020-03-17 | 中车株洲电力机车研究所有限公司 | Large-curvature automatic driving steering control method for multi-axle steering vehicle |
| CN107685767A (en) * | 2017-08-16 | 2018-02-13 | 吉林大学 | A kind of multiaxis wheel-hub motor driven vehicle trailing wheel steering-by-wire drive device and its forward method |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160615 |