CN106741152B - Sweeping machine steering system, sweeping machine and sweeping machine rotating direction control method and device - Google Patents
Sweeping machine steering system, sweeping machine and sweeping machine rotating direction control method and device Download PDFInfo
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- CN106741152B CN106741152B CN201510828235.4A CN201510828235A CN106741152B CN 106741152 B CN106741152 B CN 106741152B CN 201510828235 A CN201510828235 A CN 201510828235A CN 106741152 B CN106741152 B CN 106741152B
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- steering pattern
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- 238000010408 sweeping Methods 0.000 title claims abstract description 137
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000003921 oil Substances 0.000 description 63
- 239000010720 hydraulic oil Substances 0.000 description 12
- 238000004140 cleaning Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000002828 fuel tank Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a kind of sweeping machine steering system, sweeping machine and sweeping machine rotating direction control method and devices, to improve the driving safety and operation mobility of sweeping machine.Sweeping machine steering system, bridge steering cylinder, rear-axle steering oil cylinder, diverter, first switch valve, second switch valve and third switch valve before including:, wherein: the diverter has oil inlet, oil return opening, the first actuator port and the second actuator port, and second actuator port is connected to the first side cylinder chamber of preceding bridge steering cylinder；The first switch valve is arranged on the oil circuit between first actuator port and second side cylinder chamber of preceding bridge steering cylinder, the second switch valve is arranged on the oil circuit between first actuator port and second side cylinder chamber of rear-axle steering oil cylinder, and the third switch valve is arranged on the oil circuit between the first side cylinder chamber of rear-axle steering oil cylinder and second side cylinder chamber of preceding bridge steering cylinder.
Description
Technical field
The present invention relates to environmental sanitation machinery technologys, more particularly to a kind of sweeping machine steering system, sweeping machine and sweep road
Vehicle rotating direction control method and device.
Background technique
Sweeping machine is a kind of novel height for integrating road cleaning, garbage reclamation and transport as one of sanitation equipment
Imitate cleaning equipment.In recent years, with the rapid development of china's national economy, urban sanitation cleaning is increasing, and city is clear
Clean do mechanization operation requires also to step up, therefore more and more technical staff begin to focus on the research of sweeping machine.
Current sweeping machine mostly uses two-wheeled to turn to, and drives two rear-wheels to realize by two front-wheels and turns to.The prior art is deposited
The technical issues of be, sweeping machine traveling steering procedure in, if fast speed, be easy to produce sideslip, driving safety
It is poor；Also, for existing sweeping machine when carrying out low speed operation, turning radius is larger, and mobility is poor, therefore operating efficiency is not
It is high.
Summary of the invention
The embodiment of the invention provides a kind of sweeping machine steering system, sweeping machine and sweeping machine rotating direction control method and dresses
It sets, to improve the driving safety and operation mobility of sweeping machine.
Sweeping machine steering system provided by the embodiment of the present invention, comprising: preceding bridge steering cylinder, turns rear-axle steering oil cylinder
To device, first switch valve, second switch valve and third switch valve, in which:
The diverter has oil inlet, oil return opening, the first actuator port and the second actuator port, second working oil
Mouth is connected to the first side cylinder chamber of preceding bridge steering cylinder；The first switch valve setting turns in first actuator port and preceding bridge
To on the oil circuit between second side cylinder chamber of oil cylinder, the second switch valve is arranged in first actuator port and rear-axle steering
On oil circuit between second side cylinder chamber of oil cylinder, the first side cylinder chamber of rear-axle steering oil cylinder is arranged in before in the third switch valve
On oil circuit between second side cylinder chamber of bridge steering cylinder.
It, can be by being switched to first switch valve, second switch valve, third using above-described embodiment sweeping machine steering system
The automatically controlled or hydraulic control of valve controls, and sweeping machine is made to work in two-wheeled steering pattern or four-wheel steering pattern.Sweeping machine is being run at high speed
When, two-wheeled steering pattern can be used, is turned to by two front-wheel drives, two rear-wheels follow steering, can prevent from breakking away in this way,
To improve the safety of traveling；Sweeping machine can use four-wheel steering pattern, can reduce in this way when carrying out low speed operation
Turning radius to improve the mobility of operation, and then improves the quality and efficiency of cleaning work.
Preferably, the system also includes four Fill valves, the two sides cylinder chamber and rear axle of bridge steering cylinder before respectively corresponding
The two sides cylinder chamber of steering cylinder is arranged, and each Fill valve has bidirectionally conductive operating position and one-way conduction operating position, can be
Piston enables bidirectionally conductive operating position when reaching corresponding cylinder chamber terminal；Wherein, the two sides cylinder chamber institute of preceding bridge steering cylinder is right
Oil circuit before two Fill valves answered are series in the opposite mode in one-way conduction direction between the two sides cylinder chamber of bridge steering cylinder
On, two Fill valves corresponding to the two sides cylinder chamber of rear-axle steering oil cylinder are series at rear axle in the opposite mode in one-way conduction direction
On oil circuit between the two sides cylinder chamber of steering cylinder.
When the example scheme can solve sweeping machine four-wheel steering, because load distribute unbalanced, hydraulic cylinder foozle or
Preceding bridge steering cylinder caused by the factors such as person's hydraulic fluid leak and the nonsynchronous problem of rear-axle steering cylinder movement, can be improved and sweep
The consistent harmony of road car four-wheel steering.
Preferably, the first switch valve, second switch valve, third switch valve are respectively electromagnetic switch valve；The system
It further include the controller being connect respectively with first switch valve, second switch valve, third switch valve signal, for determining sweeping machine
When meeting two-wheeled steering pattern switching condition, second switch valve is opened and controlled to control first switch valve and third switch valve closes
It closes, and when determining that sweeping machine meets four-wheel steering pattern switching condition, control first switch valve, which closes and controls second, to be opened
It closes valve and third switch valve is opened.
The program can make sweeping machine work by the automatically controlled control to first switch valve, second switch valve, third switch valve
Make in two-wheeled steering pattern or four-wheel steering pattern.When running at high speed, using two-wheeled steering pattern, row can be improved in sweeping machine
The safety sailed；When carrying out low speed operation, using four-wheel steering pattern, the mobility of operation can be improved in sweeping machine.
Preferably, the system also includes: steering pattern input equipment, the piston position for detecting preceding bridge steering cylinder
First position sensor, and the second position sensor of the piston position for detecting rear-axle steering oil cylinder；The control
Device is also connect, for working as respectively with the steering pattern input equipment, first position sensor and second position sensor signal
It receives two-wheeled steering pattern input instruction and when the piston of rear-axle steering oil cylinder is located at middle position, determines that sweeping machine meets two-wheeled and turns to
Mode changeover condition；And it when the piston for receiving four-wheel steering pattern input instruction and preceding bridge steering cylinder is located at middle position, determines
Sweeping machine meets four-wheel steering pattern switching condition.The accurate control switched to sweeping machine steering pattern may be implemented in the program.
Specifically, the steering pattern input equipment includes two-wheeled steering pattern input switch and four-wheel steering pattern input
Switch.
Preferably, the system also includes two-wheeled steering pattern indicator lights and four-wheel steering pattern indicator light；The control
Device is also connect with the two-wheeled steering pattern indicator light and four-wheel steering pattern instruction modulating signal respectively, for determining sweeping machine
When meeting two-wheeled steering pattern switching condition, control two-wheeled steering pattern indicator light is opened, and is determining that sweeping machine meets four-wheel
When steering pattern switching condition, control four-wheel steering pattern indicator light is opened.Two-wheeled steering pattern indicator light and four-wheel steering mould
The steering pattern that formula indicator light can prompt driver's sweeping machine to be presently in accurately manipulates sweeping machine convenient for driver and goes
It sails or operation.
The embodiment of the invention also provides a kind of sweeping machines, including system described in aforementioned any technical solution.This sweeps road
Vehicle may operate in two-wheeled steering pattern or four-wheel steering pattern.Sweeping machine, can using two-wheeled steering pattern when running at high speed
To improve the safety of traveling；When carrying out low speed operation, using four-wheel steering pattern, the motor-driven of operation can be improved in sweeping machine
Property.
Based on identical inventive concept, the embodiment of the invention also provides a kind of sweeping machine rotating direction control methods, are applied to
In sweeping machine steering system described in aforementioned schemes, this method comprises:
When sweeping machine meets two-wheeled steering pattern switching condition, control first switch valve is opened and controls second switch
Valve and third switch valve are closed；
When sweeping machine meets four-wheel steering pattern switching condition, control first switch valve closes and controls second switch
Valve and third switch valve are opened.
Similarly, using the control method, sweeping machine may operate in two-wheeled steering pattern or four-wheel steering pattern.Sweeping machine
When running at high speed, using two-wheeled steering pattern, the safety of traveling can be improved；Sweeping machine is adopted when carrying out low speed operation
With four-wheel steering pattern, the mobility of operation can be improved.
Based on identical inventive concept, the embodiment of the invention also provides a kind of sweeping machine steering control devices, are applied to
In sweeping machine steering system described in aforementioned schemes, which includes:
First control unit, for when sweeping machine meets two-wheeled steering pattern switching condition, control first switch valve to be opened
It opens and controls second switch valve and third switch valve is closed；
Second control unit, for when sweeping machine meets four-wheel steering pattern switching condition, control first switch valve to be closed
It closes and controls second switch valve and third switch valve is opened.
Similarly, using the control device, sweeping machine may operate in two-wheeled steering pattern or four-wheel steering pattern.Sweeping machine
When running at high speed, using two-wheeled steering pattern, the safety of traveling can be improved；Sweeping machine is adopted when carrying out low speed operation
With four-wheel steering pattern, the mobility of operation can be improved.
Detailed description of the invention
Fig. 1 is one embodiment of the invention sweeping machine steering system schematic diagram；
Fig. 2 is another embodiment of the present invention sweeping machine steering system schematic diagram；
Fig. 3 is Fill valve repairing schematic illustration；
Fig. 4 is one embodiment of the invention sweeping machine rotating direction control method flow diagram；
Fig. 5 is one embodiment of the invention sweeping machine steering control device structural schematic diagram.
Specific embodiment
In order to improve the driving safety and operation mobility of sweeping machine, the embodiment of the invention provides a kind of sweeping machines to turn
To system, sweeping machine and sweeping machine rotating direction control method and device.
As shown in Figure 1, sweeping machine steering system provided by one embodiment of the invention, comprising: preceding bridge steering cylinder 1, after
Bridge steering cylinder 2, diverter 3, first switch valve 4a, second switch valve 4b and third switch valve 4c, in which:
Diverter 3 has oil inlet P, oil return inlet T, the first actuator port A and the second actuator port B, the second actuator port B
It is connected to the first side cylinder chamber 1a of preceding bridge steering cylinder 1；First switch valve 4a is arranged in the first actuator port A and preceding bridge steering oil
On oil circuit between second side cylinder chamber 1b of cylinder 1, second switch valve 4b is arranged in the first actuator port A and rear-axle steering oil cylinder 2
Second side cylinder chamber 2b between oil circuit on, the first side cylinder chamber 2a of rear-axle steering oil cylinder 2 is arranged in before in third switch valve 4c
On oil circuit between second side cylinder chamber 1b of bridge steering cylinder 1.
The concrete type of first switch valve 4a, second switch valve 4b and third switch valve 4c are unlimited, for example, can be using figure
Bi-bit bi-pass electromagnetic switch valve shown in 2 embodiments can also use hydraulic-controlled switch valve.
In embodiments of the present invention, the first side cylinder chamber 1a of preceding bridge steering cylinder 1 and the first side cylinder of rear-axle steering oil cylinder 2
Chamber 2a is ipsilateral cylinder chamber, and second side cylinder chamber 1b of preceding bridge steering cylinder 1 and second side cylinder chamber 2b of rear-axle steering oil cylinder 2 are ipsilateral
Cylinder chamber, for example, the first side cylinder chamber is left side cylinder chamber, then second side cylinder chamber is right side cylinder chamber, alternatively, the first side cylinder chamber is right side cylinder
Chamber, then second side cylinder chamber is left side cylinder chamber.
Preceding bridge steering cylinder 1 acts two front-wheel steers that can drive sweeping machine, and the movement of rear-axle steering oil cylinder 2, which can drive, sweeps
Two rear-axle steerings of road car.Diverter 3 is generally connect with steering wheel 11, and driver turn steering wheel 11 can realize sweeping machine
It turns to, such as when therefrom position turns right steering wheel 11, oil inlet P is connected to the first actuator port A, oil return inlet T and second
Actuator port B connection；When therefrom position turns left steering wheel 11, oil inlet P is connected to the second actuator port B, oil return inlet T with
First actuator port A connection.Please continue to refer to shown in Fig. 1, sweeping machine steering system generally further includes starting in addition to above-mentioned component
Machine 12, gear pump 13, several check valves 14a, 14b, 14c, several overflow valves 15a, 15b, 15c and filter 16 etc.
Component.
It, can be by being switched to first switch valve, second switch valve, third using above-described embodiment sweeping machine steering system
The automatically controlled or hydraulic control of valve controls, and sweeping machine is made to work in two-wheeled steering pattern or four-wheel steering pattern.Sweeping machine is being run at high speed
When, two-wheeled steering pattern can be used, is turned to by two front-wheel drives, two rear-wheels follow steering, can prevent from breakking away in this way,
To improve the safety of traveling；Sweeping machine can use four-wheel steering pattern, can reduce in this way when carrying out low speed operation
Turning radius to improve the mobility of operation, and then improves cleaning work quality and efficiency.
As shown in Fig. 2, first switch valve 4a, second switch valve 4b, third switch valve 4c are respectively electromagnetism in the embodiment
Switch valve；System further includes the controller connecting respectively with first switch valve 4a, second switch valve 4b, third switch valve 4c signal
6, for when determining that sweeping machine meets two-wheeled steering pattern switching condition, control first switch valve 4a to be opened and controlled second
Switch valve 4b and third switch valve 4c is closed, and when determining that sweeping machine meets four-wheel steering pattern switching condition, control first
Switch valve 4a closes and controls second switch valve 4b and third switch valve 4c and opens.
The program can make sweeping machine work by the automatically controlled control to first switch valve, second switch valve, third switch valve
Make in two-wheeled steering pattern or four-wheel steering pattern.When running at high speed, using two-wheeled steering pattern, row can be improved in sweeping machine
The safety sailed；When carrying out low speed operation, using four-wheel steering pattern, the mobility of operation can be improved in sweeping machine.
In presently preferred embodiments of the present invention shown in Fig. 2, system further include: steering pattern input equipment 7, for detecting
The first position sensor 8 of the piston position of preceding bridge steering cylinder 1, and the piston position for detecting rear-axle steering oil cylinder 2
Second position sensor 9；Controller 6 also respectively with steering pattern input equipment 7, first position sensor 8 and the second position
9 signal of sensor connection, for being located at middle position when the piston for receiving two-wheeled steering pattern input instruction and rear-axle steering oil cylinder 2
When, determine that sweeping machine meets two-wheeled steering pattern switching condition；And four-wheel steering pattern input instructs and preceding bridge turns to when receiving
When the piston of oil cylinder 1 is located at middle position, determine that sweeping machine meets four-wheel steering pattern switching condition.
The accurate control switched to sweeping machine steering pattern may be implemented in the program.First position sensor 8 and second
Setting sensor 9 can be separately mounted in preceding bridge steering cylinder and rear-axle steering oil cylinder, and concrete type is unlimited, such as can be
Photoelectric position sensor, magnetic induction type position sensor etc..
The concrete type of steering pattern input equipment 7 is unlimited, such as can be button, handle, switch etc..Of the invention
In one specific embodiment, steering pattern input equipment 7 includes that two-wheeled steering pattern input switch and four-wheel steering pattern input
Switch.
In the embodiment shown in Figure 2, system further includes two-wheeled steering pattern indicator light 10a and four-wheel steering pattern instruction
Lamp 10b；Controller 6 is also connect with two-wheeled steering pattern indicator light 10a and four-wheel steering pattern indicator light 10b signal respectively, is used
In when determining that sweeping machine meets two-wheeled steering pattern switching condition, control two-wheeled steering pattern indicator light 10a is opened, and true
When determining sweeping machine and meeting four-wheel steering pattern switching condition, control four-wheel steering pattern indicator light 10b is opened.
Two-wheeled steering pattern indicator light and four-wheel steering pattern indicator light can be set on the console of driver's cabin, can be with
The steering pattern that is presently in of prompt driver's sweeping machine accurately manipulates sweeping machine convenient for driver and travels or operation.
The concrete operating principle of sweeping machine steering system shown in Fig. 2 are as follows:
When engine 12 is in flameout state, the not fuel feeding of gear pump 13, when steering wheel 11 does not rotate, diverter 3 is in
Middle position, hydraulic oil does not flow in system pipeline.
After engine 12 starts, the hydraulic oil that gear pump 13 exports enters diverter 3 by check valve 14a, due to when side
When not rotating to disk 11, diverter 3 is in middle position, thus hydraulic oil after the oil inlet P of diverter 3, oil outlet T by mistake
Filter 16 flows back to fuel tank.
During high speed driving, the movement velocity of vehicle is very fast for sweeping machine, at this time according to four-wheel steering pattern, is easy
It generates to break away and even tumble.For the stability for guaranteeing vehicle driving, sweeping machine preferably uses two-wheeled to turn to mould when running at high speed
Formula.Specifically, two-wheeled steering pattern input switch, and adjustment direction disk 11 are opened by driver, when rear-axle steering oil cylinder 2
When piston is located at middle position, controller 6 determines that sweeping machine meets two-wheeled steering pattern switching condition, and control first switch valve 4a is opened
And it controls second switch valve 4b and third switch valve 4c to close.Under two-wheeled steering pattern, by taking right turn as an example, driver to
Right steering wheel rotation 11 generates relative angular displacement between the spool and valve pocket of diverter 3, at this time oil inlet P and the first working oil
Mouth A connection, oil return inlet T are connected to the second actuator port B.Gear pump 13 export hydraulic oil by check valve 14a, oil inlet P,
Second side cylinder chamber 1b of bridge steering cylinder 1 before first actuator port A, first switch valve 4a are entered, the of preceding bridge steering cylinder 1
The hydraulic oil of side cylinder chamber 1a then passes through the second actuator port B, oil return inlet T, filter 16 and flows back to fuel tank, preceding bridge steering cylinder 1
Piston motion two front-wheels of driving vehicle turn right and turn to.During being somebody's turn to do, since second switch valve 4b and third switch valve 4c is closed
It closes, rear-axle steering oil cylinder 2 is in middle position locking state always, therefore vehicle rear axle only carries out following steering.When system pressure is super
When crossing safe pressure, the hydraulic oil that gear pump 13 exports can flow back to oil by overflow valve 15a, 15b, 15c and filter 16
Case.
For sweeping machine in low speed operation, operating environment is complicated, such as needs the street by relative narrowness, this appropriate to the occasion use
Four-wheel steering pattern can reduce vehicle turn radius, improve its mobility.Specifically, opening four-wheel steering mould by driver
Formula input switch, and adjustment direction disk 11, when the piston of current bridge steering cylinder 1 is located at middle position, controller 6 determines sweeping machine
Meet four-wheel steering pattern switching condition, control first switch valve 4a is closed and controlled second switch valve 4b and third switch valve
4c is opened.Under four-wheel steering pattern, by taking right turn as an example, driver turns right steering wheel 11, the spool and valve of diverter 3
Relative angular displacement is generated between set, oil inlet P is connected to the first actuator port A at this time, and oil return inlet T and the second actuator port B connect
It is logical.The hydraulic oil that gear pump 13 exports is entered by check valve 14a, oil inlet P, the first actuator port A, second switch valve 4b
Second side cylinder chamber 2b of rear-axle steering oil cylinder 2, the hydraulic oil of the first side cylinder chamber 2a of rear-axle steering oil cylinder 2 then pass through third switch
Valve 4c enters second side cylinder chamber 1b of preceding bridge steering cylinder 1, and the hydraulic oil of the first side cylinder chamber 1a of preceding bridge steering cylinder 1 is by the
Two actuator port B, oil return inlet T, filter 16 flow back to fuel tank, the piston motion point of preceding bridge steering cylinder 1 and rear-axle steering oil cylinder 2
Not Qu Dong two front-wheels of vehicle and two rear-wheels turn right and turn to, to realize four-wheel while turn to.When system pressure is more than safety
When pressure, the hydraulic oil that gear pump 13 exports can flow back to fuel tank by overflow valve 15a, 15b, 15c and filter 16.
As shown in figure 3, in a preferred embodiment of the invention, system further include: four Fill valves 5a, 5b, 5c, 5d, point
Not Dui Ying before bridge steering cylinder 1 two sides cylinder chamber and rear-axle steering oil cylinder 2 the setting of two sides cylinder chamber, each Fill valve has two-way
ON operation position and one-way conduction operating position can enable bidirectionally conductive working position when piston reaches corresponding cylinder chamber terminal
It sets；Wherein, side two Fill valves 5a, 5b corresponding to the two sides cylinder chamber of preceding bridge steering cylinder 1 opposite with one-way conduction direction
On oil circuit before formula is series between the two sides cylinder chamber of bridge steering cylinder 1, two corresponding to the two sides cylinder chamber of rear-axle steering oil cylinder 2
A Fill valve 5c, 5d are series at the oil circuit between the two sides cylinder chamber of rear-axle steering oil cylinder 2 in the opposite mode in one-way conduction direction
On.
When the example scheme can solve sweeping machine four-wheel steering, because load distribute unbalanced, hydraulic cylinder foozle or
Preceding bridge steering cylinder caused by the factors such as person's hydraulic fluid leak and the nonsynchronous problem of rear-axle steering cylinder movement, can be improved and sweep
The consistent harmony of road car four-wheel steering.The working principle of Fill valve is as follows:
Under four-wheel steering pattern, when terminal of the piston motion of rear-axle steering oil cylinder 2 to the first side cylinder chamber 2a, repairing
Valve 5c enables bidirectionally conductive operating position if the piston of preceding bridge steering cylinder 1 does not reach the terminal of the first side cylinder chamber 1a
System hydraulic oil can successively pass through Fill valve 5d, Fill valve 5c to second side cylinder chamber 1b repairing of preceding bridge steering cylinder 1, until preceding bridge
The piston of steering cylinder 1 reaches the terminal of the first side cylinder chamber 1a, and Fill valve 5a enables bidirectionally conductive operating position, can not enter back into
The hydraulic oil of second side cylinder chamber 1b flows out oil return through Fill valve 5b, 5a.The piston motion of current bridge steering cylinder 1 is to second side cylinder
Repairing principle when chamber terminal is similar, is not repeated herein and repeats.As it can be seen that 1 He of bridge steering cylinder before can making with this solution
The movement of rear-axle steering oil cylinder 2 is synchronous, to improve the accurate controllability of steering.
The embodiment of the invention also provides a kind of sweeping machine, the system including aforementioned any technical solution.The sweeping machine can
To work in two-wheeled steering pattern or four-wheel steering pattern.Sweeping machine is when running at high speed, using two-wheeled steering pattern, Ke Yiti
The safety of high traveling；When carrying out low speed operation, using four-wheel steering pattern, the mobility of operation can be improved in sweeping machine.
As shown in figure 4, being based on identical inventive concept, the embodiment of the invention also provides a kind of sweeping machine course changing control sides
Method, applied in the sweeping machine steering system of aforementioned schemes, method includes the following steps:
Step 101 judges whether sweeping machine meets two-wheeled steering pattern switching condition, if so, step 102 is executed, it is no
Then, step 103 is executed；
Step 102, control first switch valve open and control second switch valve and third switch valve is closed；
Step 103 judges whether sweeping machine meets four-wheel steering pattern switching condition, if so, step 104 is executed, it is no
Then, return step 101；
Step 104, control first switch valve close and control second switch valve and third switch valve is opened.
Wherein, step 101 and step 102, the execution with step 103 and step 104 sequentially also can be interchanged or step
101 and step 102, judgement is performed simultaneously with step 103 and step 104, it is not limited to the logical order in Fig. 4.
As preferred embodiment, method may also include that
Obtain the input instruction of input equipment；
The piston position of the piston position of bridge steering cylinder and rear-axle steering oil cylinder before obtaining；
When the piston for receiving two-wheeled steering pattern input instruction and rear-axle steering oil cylinder is located at middle position, determine that sweeping machine is full
Sufficient two-wheeled steering pattern switching condition；
When the piston for receiving four-wheel steering pattern input instruction and preceding bridge steering cylinder is located at middle position, determine that sweeping machine is full
Sufficient four-wheel steering pattern switching condition.
As preferred embodiment, method may also include that
When determining that sweeping machine meets two-wheeled steering pattern switching condition, control two-wheeled steering pattern indicator light is opened；
When determining that sweeping machine meets four-wheel steering pattern switching condition, control four-wheel steering pattern indicator light is opened.
Similarly, using the control method, sweeping machine may operate in two-wheeled steering pattern or four-wheel steering pattern.Sweeping machine
When running at high speed, using two-wheeled steering pattern, the safety of traveling can be improved；Sweeping machine is adopted when carrying out low speed operation
With four-wheel steering pattern, the mobility of operation can be improved.
As shown in figure 5, being based on identical inventive concept, the embodiment of the invention also provides a kind of sweeping machine course changing control dresses
It sets, applied in the sweeping machine steering system of aforementioned schemes, which includes:
First control unit 201, for controlling first switch valve when sweeping machine meets two-wheeled steering pattern switching condition
It opens and controls second switch valve and third switch valve is closed；
Second control unit 202, for controlling first switch valve when sweeping machine meets four-wheel steering pattern switching condition
It closes and controls second switch valve and third switch valve is opened.
Preferably, device may also include that
First acquisition unit 301, the input for obtaining input equipment instruct；
Second acquisition unit 302, for the piston of the piston position of bridge steering cylinder and rear-axle steering oil cylinder before obtaining
Position；
First determination unit 401, for when the piston position for receiving two-wheeled steering pattern input instruction and rear-axle steering oil cylinder
When Yu Zhongwei, determine that sweeping machine meets two-wheeled steering pattern switching condition；
Second determination unit 402, for when the piston position for receiving four-wheel steering pattern input instruction and preceding bridge steering cylinder
When Yu Zhongwei, determine that sweeping machine meets four-wheel steering pattern switching condition.
Preferably, device may also include that
Third control unit 203, for when determining that sweeping machine meets two-wheeled steering pattern switching condition, control two to be rotated
It is opened to mode indicating lamp；
4th control unit 204, for when determining that sweeping machine meets four-wheel steering pattern switching condition, control four to be rotated
It is opened to mode indicating lamp.
Similarly, using the control device, sweeping machine may operate in two-wheeled steering pattern or four-wheel steering pattern.Sweeping machine
When running at high speed, using two-wheeled steering pattern, the safety of traveling can be improved；Sweeping machine is adopted when carrying out low speed operation
With four-wheel steering pattern, the mobility of operation can be improved.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of sweeping machine steering system characterized by comprising preceding bridge steering cylinder, rear-axle steering oil cylinder, diverter,
One switch valve, second switch valve and third switch valve, in which:
The diverter have oil inlet, oil return opening, the first actuator port and the second actuator port, second actuator port with
First side cylinder chamber of preceding bridge steering cylinder is connected to；The first switch valve is arranged in first actuator port and preceding bridge steering oil
On oil circuit between second side cylinder chamber of cylinder, the second switch valve is arranged in first actuator port and rear-axle steering oil cylinder
Second side cylinder chamber between oil circuit on, the third switch valve be arranged in rear-axle steering oil cylinder the first side cylinder chamber and preceding bridge turn
To on the oil circuit between second side cylinder chamber of oil cylinder；
Four Fill valves, the two sides cylinder chamber of the two sides cylinder chamber of bridge steering cylinder and rear-axle steering oil cylinder setting before respectively corresponding, often
A Fill valve has bidirectionally conductive operating position and one-way conduction operating position, can open when piston reaches corresponding cylinder chamber terminal
With bidirectionally conductive operating position；Wherein, two Fill valves corresponding to the two sides cylinder chamber of preceding bridge steering cylinder are with one-way conduction side
On oil circuit before being series to opposite mode between the two sides cylinder chamber of bridge steering cylinder, the two sides cylinder chamber institute of rear-axle steering oil cylinder
Corresponding two Fill valves are series at the oil between the two sides cylinder chamber of rear-axle steering oil cylinder in the opposite mode in one-way conduction direction
On the road.
2. the system as claimed in claim 1, which is characterized in that
The first switch valve, second switch valve, third switch valve are respectively electromagnetic switch valve；
The system also includes the controllers connecting respectively with first switch valve, second switch valve, third switch valve signal, are used for
When determining that sweeping machine meets two-wheeled steering pattern switching condition, control first switch valve open and control second switch valve and
Third switch valve is closed, and when determining that sweeping machine meets four-wheel steering pattern switching condition, and control first switch valve is closed simultaneously
And control second switch valve and third switch valve are opened.
3. system as claimed in claim 2, which is characterized in that the system also includes: steering pattern input equipment, for examining
The first position sensor of the piston position of preceding bridge steering cylinder is surveyed, and the piston position for detecting rear-axle steering oil cylinder
Second position sensor；
The controller is also believed with the steering pattern input equipment, first position sensor and second position sensor respectively
Number connection, for determining and sweeping road when receiving two-wheeled steering pattern input instruction and the piston of rear-axle steering oil cylinder is located at middle position
Vehicle meets two-wheeled steering pattern switching condition；And when the piston position for receiving four-wheel steering pattern input instruction and preceding bridge steering cylinder
When Yu Zhongwei, determine that sweeping machine meets four-wheel steering pattern switching condition.
4. system as claimed in claim 3, which is characterized in that the steering pattern input equipment includes that two-wheeled steering pattern is defeated
Enter switch and four-wheel steering pattern input switch.
5. system as claimed in claim 2, which is characterized in that the system also includes two-wheeled steering pattern indicator light and four-wheels
Steering pattern indicator light；
The controller is also connect with the two-wheeled steering pattern indicator light and four-wheel steering pattern instruction modulating signal respectively, is used for
When determining that sweeping machine meets two-wheeled steering pattern switching condition, control two-wheeled steering pattern indicator light is opened, and is swept in determination
When road car meets four-wheel steering pattern switching condition, control four-wheel steering pattern indicator light is opened.
6. a kind of sweeping machine, which is characterized in that including system as claimed in any one of claims 1 to 5.
7. a kind of sweeping machine rotating direction control method, which is characterized in that be applied to sweeping machine steering system as claimed in claim 2
In, this method comprises:
When sweeping machine meets two-wheeled steering pattern switching condition, control first switch valve open and control second switch valve and
Third switch valve is closed；
When sweeping machine meets four-wheel steering pattern switching condition, control first switch valve close and control second switch valve and
Third switch valve is opened.
8. the method for claim 7, which is characterized in that the method also includes:
Obtain the input instruction of input equipment；
The piston position of the piston position of bridge steering cylinder and rear-axle steering oil cylinder before obtaining；
When the piston for receiving two-wheeled steering pattern input instruction and rear-axle steering oil cylinder is located at middle position, determine that sweeping machine meets two
It rotates to mode changeover condition；
When the piston for receiving four-wheel steering pattern input instruction and preceding bridge steering cylinder is located at middle position, determine that sweeping machine meets four
It rotates to mode changeover condition.
9. a kind of sweeping machine steering control device, which is characterized in that be applied to sweeping machine steering system as claimed in claim 2
In, which includes:
First control unit, for when sweeping machine meets two-wheeled steering pattern switching condition, control first switch valve to be opened simultaneously
And control second switch valve and third switch valve are closed；
Second control unit, for when sweeping machine meets four-wheel steering pattern switching condition, control first switch valve to be closed simultaneously
And control second switch valve and third switch valve are opened.
10. device as claimed in claim 9, which is characterized in that described device further include:
First acquisition unit, the input for obtaining input equipment instruct；
Second acquisition unit, for the piston position of the piston position of bridge steering cylinder and rear-axle steering oil cylinder before obtaining；
First determination unit, for being located at middle position when the piston for receiving two-wheeled steering pattern input instruction and rear-axle steering oil cylinder
When, determine that sweeping machine meets two-wheeled steering pattern switching condition；
Second determination unit, for being located at middle position when the piston for receiving four-wheel steering pattern input instruction and preceding bridge steering cylinder
When, determine that sweeping machine meets four-wheel steering pattern switching condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510828235.4A CN106741152B (en) | 2015-11-24 | 2015-11-24 | Sweeping machine steering system, sweeping machine and sweeping machine rotating direction control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510828235.4A CN106741152B (en) | 2015-11-24 | 2015-11-24 | Sweeping machine steering system, sweeping machine and sweeping machine rotating direction control method and device |
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| Publication Number | Publication Date |
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| CN106741152A CN106741152A (en) | 2017-05-31 |
| CN106741152B true CN106741152B (en) | 2019-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510828235.4A Active CN106741152B (en) | 2015-11-24 | 2015-11-24 | Sweeping machine steering system, sweeping machine and sweeping machine rotating direction control method and device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108128349B (en) * | 2017-11-22 | 2020-11-13 | 徐州重型机械有限公司 | Steering neutral position control system and adjustment method for wheeled heavy-duty vehicle |
| CN112937676B (en) * | 2021-03-10 | 2022-06-24 | 吉林大学 | Mechanical four-wheel steering system |
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| US4199038A (en) * | 1977-10-18 | 1980-04-22 | O & K Orenstein & Koppel Aktiengesellschaft | Steering gear with steering drop arm |
| CN202175091U (en) * | 2011-08-08 | 2012-03-28 | 徐州重型机械有限公司 | Multi-mode steering hydraulic control system and wheel crane applying same |
| CN203427872U (en) * | 2013-08-30 | 2014-02-12 | 徐州重型机械有限公司 | Wheeled crane and steering hydraulic control system thereof |
| CN104309683A (en) * | 2014-09-22 | 2015-01-28 | 三一汽车起重机械有限公司 | Hydraulic steering system and wheel crane |
| CN103192874B (en) * | 2013-03-29 | 2015-09-16 | 常州科研试制中心有限公司 | Four-wheel transport vehicle steering controlling device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4199038A (en) * | 1977-10-18 | 1980-04-22 | O & K Orenstein & Koppel Aktiengesellschaft | Steering gear with steering drop arm |
| CN202175091U (en) * | 2011-08-08 | 2012-03-28 | 徐州重型机械有限公司 | Multi-mode steering hydraulic control system and wheel crane applying same |
| CN103192874B (en) * | 2013-03-29 | 2015-09-16 | 常州科研试制中心有限公司 | Four-wheel transport vehicle steering controlling device |
| CN203427872U (en) * | 2013-08-30 | 2014-02-12 | 徐州重型机械有限公司 | Wheeled crane and steering hydraulic control system thereof |
| CN104309683A (en) * | 2014-09-22 | 2015-01-28 | 三一汽车起重机械有限公司 | Hydraulic steering system and wheel crane |
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| CN106741152A (en) | 2017-05-31 |
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