CN110371185A

CN110371185A - The automatically controlled steering hydraulic system of multi-mode and walking arrangement

Info

Publication number: CN110371185A
Application number: CN201910270449.2A
Authority: CN
Inventors: 张亚; 方毅; 梁科峰; 吴迪; 姚远; 孙舒畅; 徐鹏
Original assignee: FJ Dynamics Technology Co Ltd
Current assignee: FJ Dynamics Technology Co Ltd
Priority date: 2019-04-04
Filing date: 2019-04-04
Publication date: 2019-10-25

Abstract

The invention discloses the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, bridge steering pattern before wherein the multi-mode electrically control steering hydraulic system has one, one rear-axle steering mode, one or eight word steering patterns and a diagonal mode, and when the automatically controlled steering hydraulic system of the multi-mode is in the preceding bridge steering pattern, the rear-axle steering mode, when eight word pattern and the diagonal mode, rotational angle using each wheel of a walking arrangement of the automatically controlled steering system of the multi-mode matches, when the automatically controlled steering hydraulic system of the multi-mode is in the diagonal mode, the rotational angle of each wheel of the walking arrangement is consistent, avoid the non-pure rolling of piece wheel, thereby reduce the steering resisting moment of the walking arrangement, reduce running resistance, thereby reduce the energy consumption of the traveling apparatus.

Description

The automatically controlled steering hydraulic system of multi-mode and walking arrangement

Technical field

The present invention relates to a steering system, in particular to the automatically controlled steering hydraulic system of a multi-mode and walking arrangement.

Background technique

Since large scale equipment, such as heavy construction vehicle, steering resistence are larger, it usually needs use all hydraulic pressure steering-gear Steering torque is provided.In order to meet the needs of various steering situations, steering system may need to have preceding bridge steering, rear axle simultaneously It turns to, eight words turn to and diagonal steering pattern.It is main to use such as when there is the vehicle high-speed operation of multi-mode steering Preceding bridge turns to, rear-axle steering and eight words turn to；It moves or stops under narrow environment, what is generallyd use is diagonal mode.

In existing steering system, in order to which there is these steering patterns simultaneously, each vehicle bridge independent steering is generallyd use , it is monitored by angular transducer, and adjust the corner requirement for realizing each wheel, in subsequent for realizing each wheel steering angle Match.But such steering system is in the actual operation process, there is also many problems.Such as to include four vehicle bridge Vehicle for, due to four vehicle bridge independent steerings of vehicle, control point is more, and it is equal at any time to be unable to ensure all wheels Meet steering angle matching to require, in this way, the phenomenon that being easy to appear piece wheel non-pure rolling, and then lead to tire side grinding, and The driving moment of resistance is increased, energy consumption increases, also, its higher influence of speed is bigger.Therefore, using each vehicle bridge independent steering Corner harmony of the vehicle when turning to and steering precision are poor.Moreover, each vehicle bridge of the vehicle using above-mentioned steering pattern Size model number have differences, it is difficult to produce in enormous quantities, increase the production cost of the vehicle with multi-steering mode.

The front axle and rear axle independent control of another multi-mode steering vehicle on the market.Specifically, work as front truck When bridge turns to, rear-axle steering oil cylinder is locked, and when rear axle independent steering, preceding bridge steering cylinder is locked, then utilizes the steering of vehicle Link mechanism is completed to turn to, and when eight words turn to, the rotational angle of interior outboard wheels determines by adjusting the drag link of vehicle.It is logical Such mode is crossed, the harmony for improving interior outside wheel steering angle is conducive to.But when vehicle carries out diagonal, due to vehicle bridge Interior outside wheel steering angle is only determined by steering linkage, and vehicle interior outboard wheels in diagonal is caused to there will necessarily be corner Difference causes tire side grinding obvious, shortens the service life of tire, increases running resistance, and the energy consumption of vehicle is caused to increase.

Summary of the invention

It is an object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described more Bridge steering pattern, a rear-axle steering mode, one or eight word steering patterns and one are oblique before the automatically controlled steering hydraulic system of mode has one Row mode, and the multi-mode electric-controlled hydraulic steering system can be in the preceding bridge steering pattern, the rear-axle steering mode institute It states and is converted between eight word steering patterns and the diagonal mode, with subsequent, using the multi-mode electric-controlled hydraulic steering system One walking arrangement of system can adapt to different running environments by front-wheel steer, rear-axle steering, the steering of eight words and diagonal, Improve the flexibility of the walking arrangement.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein utilizing The walking arrangement of the automatically controlled steering hydraulic system of multi-mode is when front-wheel steer, rear-axle steering and eight words turn to, institute Each wheel for stating the interior outside of traveling apparatus meets the requirement of outer corner difference, and then improves the harmony of the walking arrangement, has Conducive to steering resisting moment is reduced, reduce energy consumption.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described When the automatically controlled steering hydraulic system of multi-mode is in the diagonal mode, all vehicle wheel rotation angles of the walking arrangement are consistent, Running resistance is reduced, the energy consumption of the traveling apparatus is thereby reduced.

It is another object of the present invention to provide the automatically controlled steering system of a multi-mode and walking arrangements, wherein the multimode When the automatically controlled steering hydraulic system of formula is in the diagonal mode, the wheel pure rolling of the walking arrangement is conducive to avoid The wheel side grinding, and then improve the service life of the wheel of the walking arrangement.

It is another object of the present invention to provide the automatically controlled steering system of a multi-mode and walking arrangements, wherein the multimode The automatically controlled steering hydraulic system of formula includes at least two adjusting oil cylinders, and the institute of the walking arrangement is controlled by the adjusting oil cylinder Wheel is stated, the steering linkage mutual cooperation for adjusting oil cylinder and the walking arrangement improves the multi-mode electrically The flexibility ratio of steering hydraulic system, and each wheel in the interior outside of the traveling apparatus is enabled to meet the requirement of outer corner difference, And then the harmony of the walking arrangement is improved, steering resisting moment is advantageously reduced, energy consumption is reduced.

It is another object of the present invention to provide the automatically controlled steering system of a multi-mode and walking arrangements, wherein the multimode The automatically controlled steering hydraulic system of formula includes at least two steering cylinders, and before adjusting by the steering cylinder the one of the walking arrangement The rotational angle of bridge and a rear axle, the steering link for adjusting oil cylinder, the steering cylinder and the walking arrangement Mechanism cooperate so that the walking arrangement neatly by front-wheel steer, rear-axle steering, eight words turn to and diagonal come Different running environments is adapted to, and is conducive to improve the consistency of the rotational angle of each wheel of the walking arrangement.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described The automatically controlled steering hydraulic system of multi-mode includes a steering valve group, wherein the switching valve group includes multiple reversing solenoid valves, by Multiple reversing solenoid valves cooperate, and to control the adjusting oil cylinder and the steering cylinder, and then adjust the walking The steering of equipment.

Another object of the present invention is to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described more The automatically controlled steering hydraulic system of mode includes multiple angular transducers, wherein each angular transducer is arranged at the walking The wheel of equipment, to monitor the rotational angle of each wheel of the walking arrangement, in subsequent, the commutation electricity Magnet valve can control the adjusting oil cylinder and the steering cylinder according to the feedback data of the angular transducer, accurately to control Make the rotational angle of the wheel of the walking arrangement.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described During the automatically controlled steering hydraulic system of multi-mode switches to the preceding bridge mode and the rear bridge mode, the adjusting oil cylinder lock Extremely, the rotational angle that the wheel is adjusted by the steering linkage of the walking arrangement is conducive to improve the vehicle The harmony of wheel.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described During the automatically controlled steering hydraulic system of multi-mode switches to the preceding bridge steering pattern and the rear bridge mode, the angle is passed Sensor only as display signal, is not involved in the control of steering, and the steering of the wheel of the walking arrangement is set by the walking The standby steering linkage determines, by way of rigidly adjusting the rotation direction of the wheel, is conducive to improve institute State the matching of the wheel in the interior outside of walking arrangement.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described During the automatically controlled steering hydraulic system of multi-mode switches to the eight words steering pattern, the adjusting oil cylinder is locked, by institute The rotation that steering oil vessel controls the preceding bridge and the rear axle of the walking arrangement is stated, and then controls the rotation of the wheel, And each wheel in the interior outside of the traveling apparatus is made to meet the requirement of outer corner difference, and then improve the walking arrangement Harmony, advantageously reduce steering resisting moment, reduce energy consumption.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described During the automatically controlled steering hydraulic system of multi-mode switches to the eight words steering pattern, according to being installed in the preceding bridge extremely Electromagnetism described in the Numerical Control of the angular transducer feedback of at least one wheel of a few wheel and the rear axle The opening and closing of valve and the size of current signal, and then the preceding bridge and the rear axle of the walking arrangement are controlled, and make institute The corner for stating wheel is consistent, to improve the consistency of the rotational angle of the wheel, reduces running resistance.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described When the automatically controlled steering hydraulic system of multi-mode switches to the diagonal mode, the steering oil vessel controls the preceding bridge and the rear axle Steering, meanwhile, it is described adjust oil cylinder control the preceding bridge and the rear axle rotational angle so that the walking arrangement Interior outside the wheel corner it is consistent.

It is another object of the present invention to provide the automatically controlled steering hydraulic mode of a multi-mode and walking arrangements, wherein described When the automatically controlled steering hydraulic system of multi-mode switches to the diagonal mode, each angular transducer monitors corner position simultaneously It sets, with subsequent, according to the opening and closing of the Numerical Control solenoid valve of angular transducer feedback and the size of current signal, into And the steering cylinder and the adjusting oil cylinder are controlled, to adjust the angle of turn of the wheel of inside and or outside, with true The corner of the wheel in outside is consistent in protecting.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described The automatically controlled steering hydraulic system of multi-mode, in non-diagonal mode, reduces the control amount to the walking arrangement by reduction, into And the response time of the wheel steering is saved, it has been improved the followability of each wheel.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described The length of one drag link of the steering linkage of walking arrangement allows to be conditioned, and then by adjusting the drag link The rotational angle of wheel described in length adjustment, to ensure the corner requirement of the wheel in interior outside.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described The adjusting oil cylinder of the automatically controlled steering hydraulic system of multi-mode is installed in the drag link, by adjusting the adjusting oil cylinder Collapsing length can change the length of the drag link, and then accurately adjust the rotational angle of the wheel.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described The automatically controlled steering hydraulic system of multi-mode includes multiple balance pressure valve groups, wherein the balance pressure power valve group is installed in the tune Between fuel-economizing cylinder and the solenoid valve, to prevent the adjusting oil cylinder from changing locating distance because of leakage, and then the row has been ensured Walk the corner harmony of the interior outboard wheels of equipment.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein by setting The balance pressure valve being placed between the adjusting oil cylinder and the solenoid valve, when the wheel is by unexpected impact, energy Pressure release in time to guarantee the pressure security for adjusting oil cylinder, and then improves the stability and safety of the walking arrangement Property.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described Turning to valve group further comprises a pressure-compensated valve, and each solenoid valve is configured the pressure-compensated valve, to ensure The flow of the solenoid valve is not influenced by load variation.

It is another object of the present invention to provide the automatically controlled steering hydraulic system of a multi-mode and walking arrangements, wherein described Turning to valve group further comprises multiple repairing overflow valves, wherein the repairing overflow valve, which is installed on, controls the institute for adjusting oil cylinder Solenoid valve is stated, for ensureing the pressure security for adjusting oil cylinder.

One aspect under this invention, the present invention further provides the automatically controlled steering hydraulic systems of a multi-mode comprising:

Oil cylinder is adjusted before at least one, wherein adjusting the front steering track-rod that oil cylinder is connected to a walking arrangement before described；

Oil cylinder is adjusted after at least one, wherein adjusting the rear steering drawing that oil cylinder is connected to the walking arrangement after described Bar；

An at least front steering oil cylinder, wherein the front steering oil cylinder is connected to the Yi Qianqiao of the walking arrangement；

An at least rear steering oil cylinder, wherein the rear steering oil cylinder is connected to a rear axle of the walking arrangement；

One turns to valve group, wherein the switching valve group includes an at least front-wheel reversing solenoid valve, at least rear-wheel commutation electricity Bridge reversing solenoid valve and an at least rear axle reversing solenoid valve before magnet valve, at least one, wherein the front-wheel reversing solenoid valve is connected It is connected to the preceding adjusting oil cylinder, the rear-wheel reversing solenoid valve is connected to the rear adjusting oil cylinder, the preceding bridge commutation electromagnetism Valve is connected to the front steering oil cylinder, and the rear axle reversing solenoid valve is connected to the rear steering oil cylinder；And

Multiple angular transducers, wherein the angular transducer is installed in each wheel of the walking arrangement respectively.

According to one embodiment of present invention, the automatically controlled steering hydraulic system of the multi-mode have one before bridge steering pattern, One rear-axle steering mode, one or eight word steering patterns and a diagonal mode, when the automatically controlled steering hydraulic system switching of the multi-mode To the preceding bridge steering pattern, oil cylinder is adjusted before described and the rear oil cylinder that adjusts is locked, the rear axle commutation electricity Magnet valve controls the rear steering cylinder movement, and the rear axle is turned to middle position, when steering, the preceding bridge reversing solenoid valve control The front steering cylinder movement, the preceding bridge left and right turn, a steering mechanism of a steering linkage of the walking arrangement Main body rigidly adjusts the rotation of the wheel；When the automatically controlled steering hydraulic system of the multi-mode switches to the rear-axle steering mould During formula, oil cylinder is adjusted before described and the rear oil cylinder that adjusts is locked, the preceding bridge reversing solenoid valve controls the forward To cylinder movement, the preceding bridge is turned to middle position, and when steering, the rear axle reversing solenoid valve controls the rear steering oil cylinder fortune Dynamic, the rear axle left and right turn, steering mechanism's main body rigidly adjusts the rotation of the wheel；Automatically controlled turn of the multi-mode During switching to the eight words steering pattern to hydraulic system, oil cylinder is adjusted before described and the rear oil cylinder that adjusts is locked, When steering, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve are respectively according to being installed on an at least front vehicle wheel and at least The data of the angular transducer feedback of one rear wheel control the movement of the front steering oil cylinder and the rear steering oil cylinder, together When, the rotation of the wheel is rigidly adjusted by steering mechanism's main body；The automatically controlled steering hydraulic system of multi-mode is cut During shifting to diagonal mode, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve control the front steering respectively Oil cylinder and the rear steering cylinder movement, the preceding bridge and the rear axle left and right turn, when steering, the front-wheel reversing solenoid valve The front-wheel steer oil cylinder and described is controlled according to each angular transducer is installed in the rear-wheel reversing solenoid valve The movement of rear-axle steering oil cylinder.

According to one embodiment of present invention, the preceding adjusting oil cylinder and the rear adjusting oil cylinder elongation and contraction change institute State the front steering track-rod of walking arrangement and the length of the rear steering pull rod.

According to one embodiment of present invention, eight word pattern is switched in the automatically controlled steering hydraulic system of the multi-mode When, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve are respectively according to the front vehicle wheel and the institute for being installed on the same side The data for stating the angular transducer feedback of rear wheel control the movement of the front steering oil cylinder and the rear steering oil cylinder.

According to one embodiment of present invention, eight word pattern is switched in the automatically controlled steering hydraulic system of the multi-mode When, basis is installed on the not ipsilateral front vehicle wheel and institute respectively for the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve The data for stating the angular transducer feedback of rear wheel control the movement of the front steering oil cylinder and the rear steering oil cylinder.

According to one embodiment of present invention, the automatically controlled steering hydraulic system of the multi-mode further comprises at least two flat Weigh pressure valve group, one of them described balance pressure valve group is installed between the preceding adjusting oil cylinder and the steering valve group, One balance pressure valve group is installed between the rear adjusting oil cylinder and the steering valve group.

According to one embodiment of present invention, the balance pressure valve group includes two hydraulic control one-way valves, the fluid-control one-way Valve is connected the adjusting oil cylinder and the steering valve group.

According to one embodiment of present invention, the balance pressure valve group includes an overflow valve and a check valve, wherein institute It states check valve and is connected to the steering linkage and the overflow valve.

According to one embodiment of present invention, the steering valve group further comprises multiple repairing overflow valves, plurality of The repairing overflow valve is respectively arranged in the preceding bridge and turns to solenoid valve and the rear axle reversing solenoid valve.

According to one embodiment of present invention, the front-wheel reversing solenoid valve, the rear-wheel reversing solenoid valve, the preceding bridge Reversing solenoid valve and the rear axle reversing solenoid valve are solenoid-operated proportional reversal valve.

Other side under this invention, the present invention further provides a walking arrangements comprising:

One apparatus body；

Bridge before one, wherein the preceding bridge is installed in the front of the apparatus body；

One rear axle, wherein the rear axle is installed in the rear portion of the apparatus body；

Multiple wheels, wherein the wheel is installed in the both ends of the preceding bridge and the rear axle；

One rotation linkage assembly, wherein the rotation linkage assembly include steering mechanism's main body, a front steering track-rod with And a rear steering pull rod, wherein the front steering track-rod and the rear steering pull rod are operably connected to the steering respectively Mechanism body, steering mechanism's main body are connected to the wheel；

The automatically controlled steering hydraulic system of one multi-mode, wherein the multi-mode electrically control steering hydraulic system includes: to include:

Oil cylinder is adjusted before at least one, wherein adjusting oil cylinder before described is connected to the front steering track-rod；

Oil cylinder is adjusted after at least one, wherein adjusting oil cylinder after described is connected to the rear steering pull rod；

An at least front steering oil cylinder, wherein the front steering oil cylinder is connected to the preceding bridge；

An at least rear steering oil cylinder, wherein the rear steering oil cylinder is connected to the rear axle；

According to one embodiment of present invention, the front steering track-rod of the rotation linkage assembly and the rear steering are drawn The length of bar allows to be adjusted.

According to one embodiment of present invention, the front steering track-rod and the rear steering pull rod are a drag link.

According to one embodiment of present invention, the automatically controlled steering hydraulic system of the multi-mode switches to eight word pattern When, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve are respectively according to the front vehicle wheel and the institute for being installed on the same side The data for stating the angular transducer feedback of rear wheel control the movement of the front steering oil cylinder and the rear steering oil cylinder.

According to one embodiment of present invention, the automatically controlled steering hydraulic system of the multi-mode further comprises at least two balances Pressure valve group, one of them described balance pressure valve group are installed between the preceding adjusting oil cylinder and the steering valve group, and one A balance pressure valve group is installed between the rear adjusting oil cylinder and the steering valve group.

Detailed description of the invention

Figure 1A is the schematic diagram of the automatically controlled steering hydraulic system of a multi-mode according to a preferred embodiment of the present invention.

Figure 1B is the part knot of the automatically controlled steering hydraulic system of the multi-mode of above-mentioned preferred embodiment according to the present invention Structure schematic diagram.

Fig. 1 C is the part knot of the automatically controlled steering hydraulic system of the multi-mode of above-mentioned preferred embodiment according to the present invention Structure schematic diagram.

Fig. 1 D is the part knot of the automatically controlled steering hydraulic system of the multi-mode of above-mentioned preferred embodiment according to the present invention Structure schematic diagram.

Fig. 2 is the application drawing signal of the multi-mode electronically controlled hydraulic system of above-mentioned preferred embodiment according to the present invention Figure.

Fig. 3 is the application drawing signal of the multi-mode electronically controlled hydraulic system of above-mentioned preferred embodiment according to the present invention Figure.

Fig. 4 is the application drawing signal of the multi-steering electronically controlled hydraulic system of above-mentioned preferred embodiment according to the present invention Figure.

Fig. 5 is the application drawing signal of the multi-steering electronically controlled hydraulic system of above-mentioned preferred embodiment according to the present invention Figure.

Specific embodiment

It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back Other technologies scheme from the spirit and scope of the present invention.

It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper", The orientation of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" or position are closed System is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to Show or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned art Language is not considered as limiting the invention.

It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment, The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no It can be interpreted as the limitation to quantity.

Referring to Figure of description 1A to Fig. 5, the automatically controlled steering hydraulic system of a multi-mode of a preferred embodiment under this invention System 100 will be set forth in following description, wherein bridge turns to before the multi-mode electrically control steering hydraulic system 100 has one Mode, a rear-axle steering mode, one or eight word steering patterns and a diagonal mode, and the automatically controlled steering hydraulic mode of the multi-mode 100 allow the preceding bridge steering pattern, the rear-axle steering mode, the eight words steering pattern and the diagonal mode it Between switch, and the walking arrangement 200 using the automatically controlled steering hydraulic system 100 of the multi-mode is enabled to pass through preceding rotation Different running environments is adapted to, rear-axle steering, all-wheel steering and diagonal, and then improves the spirit of the walking arrangement 200 Activity.Also, when the walking arrangement 200 carries out front-wheel steer, rear-wheel using the automatically controlled steering hydraulic system 100 of the multi-mode When steering and eight words turn to, each wheel 201 in the interior outside of the traveling apparatus 200 meets the requirement of outer corner difference, that is, each The rotational angle of the wheel 201 can cooperate, and avoid the non-pure rolling of the part wheel 201.In addition, working as the multimode When the automatically controlled steering hydraulic system 100 of formula is in the diagonal mode, the angle of rotation of the wheel 201 of the walking arrangement 200 Degree is consistent, and each 201 pure rolling of the wheel.In this way, the harmony of the walking arrangement 200 is improved, Steering resisting moment is reduced, running resistance is reduced, not only reduces the energy consumption of the traveling apparatus 200, and is conducive to keep away Exempt from 201 side grinding of wheel, and then improves the service life of the walking arrangement 200.

It is noted that it will be understood by those skilled in the art that triggering the automatically controlled steering hydraulic system of the multi-mode System 100 is between the preceding bridge steering pattern, the rear-axle steering mode, the eight words steering pattern and the diagonal mode The mode of switching is unrestricted, such as, it can be rotationally movable thereby, that the modes such as remote control trigger the multi-mode is automatically controlled Steering hydraulic system 100 switch steering pattern so that the walking arrangement 200 can by front-wheel steer, rear-axle steering, Eight words turn to and diagonal adapts to different running environments.

A, Figure 1B and Fig. 2 and Fig. 5 referring to Fig.1, the walking arrangement 200 include an equipment body 210, one before bridge 220, One rear axle 230 and multiple wheels 201, the preceding bridge 220 and the rear axle 230 are held in the equipment body respectively 210 front and rears, and the preceding bridge 220 and the rear axle 230 are mutually indepedent, multiple wheels 201 are installed in described The both ends of preceding bridge 220 and the both ends of the rear axle 230.A referring to Fig.1 is with arrow direction in this embodiment in accordance with the invention The headstock direction of the walking arrangement 200, arrow direction two sides are respectively left and right side, the particular number of the wheel 201 Four are implemented as, wherein the wheel 201 that definition is installed in the both ends of the preceding bridge 220 is respectively a front left wheel 2011 and a right front wheel 2012；The wheel 201 that definition is installed in the both ends of the rear axle 230 is respectively a left back vehicle Wheel 2013 and a right rear wheel 2014.It will be understood by those skilled in the art that the particular number and implementation of the wheel 201 Mode is as just signal, and the direction in attached drawing can't be as just signal to automatically controlled turn of multi-mode of the present invention Limitation to hydraulic system 100 and the content and range of the walking arrangement 200.

Further, the walking arrangement 200 include a steering linkage 240, the steering linkage 240, Described in steering linkage 240 be connected to the preceding bridge 220, the rear axle 230 and the wheel 201, by described Steering linkage 240 can control the rotation of the preceding bridge 220, the rear axle 230 and the wheel 201, and then realize The steering of the walking arrangement 200.

A and Figure 1B referring to Fig.1, the steering linkage 240 further comprise steering mechanism's main body 241 and at least two Steering linkage 242, wherein steering mechanism's main body 241 is connected to preceding bridge 220, the rear axle 230 and the wheel 201, to control turning for the preceding bridge 220, the rear axle 230 and the wheel 201 when the walking arrangement 200 turns to Dynamic angle.The steering linkage 242 is operably connected to the steering linkage 241, and by the steering linkage 242 can accurately adjust the rotational angle of the wheel 201.Further, the length permission of the steering linkage 242 is adjusted It is whole, in turn, the rotation of the wheel 201 is controlled by adjusting the length of the steering linkage 242, in favor of improving the row Walk the steering precision of the wheel 201 of equipment 200.That is, passing through the flexible length for controlling the steering linkage 242 It is short, the rotational angle of the wheel 201 can be changed, accurately to improve interior outside of the walking arrangement 200 when turning to The wheel 201 corner harmony.

In a preferred embodiment of the invention, the particular number of the steering linkage 242 is implemented as two, wherein fixed It is a front steering track-rod 2421 that justice, which controls the front left wheel 2011 and the steering linkage 242 of the right front wheel 2012, It is a rear steering pull rod that definition, which controls the right rear wheel 2013 and the steering linkage 242 of the right rear wheel 2014, 2422.It will be understood by those skilled in the art that the particular number of the steering linkage 242 is merely exemplary, Bu Nengcheng For the limitation to the automatically controlled steering hydraulic system of multi-mode of the present invention 100 and the content and range of the walking arrangement 200.Root According to a preferred embodiment of the invention, the steering linkage 242 is a drag link of the walking arrangement 200.

The automatically controlled steering hydraulic system 100 of multi-mode includes at least two adjusting oil cylinders 110, wherein the adjusting oil cylinder 110 are connected to the steering linkage 242, can accurately be adjusted by stretching or compressing the length for adjusting oil cylinder 110 The length of the steering linkage 242 is saved, and then adjusts the rotational angle of the wheel 201.According to the present invention one preferably implements Example, the adjusting oil cylinder 110 are a hydraulic cylinder.Preferably, the adjusting oil cylinder 110 is a telescopic hydraulic oil cylinder.

Further, definition is connected before the adjusting oil cylinder 110 of the front steering track-rod 2421 is one and adjusts oil cylinder 111, the collapsing length that oil cylinder 111 controls the front steering track-rod 2421 is adjusted before described, and then adjust the front left wheel 2011 and the right front wheel 2012 steering；Definition is connected to the adjusting oil cylinder 110 of the rear steering pull rod 2422 Oil cylinder 112 is adjusted after being one, the collapsing length that oil cylinder 112 controls the rear steering pull rod 2422 is adjusted after described, and then adjust The steering of the rear left wheel 2013 and the right rear wheel 2014.It will be understood by those skilled in the art that the adjusting The particular number of the particular number of oil cylinder 110 and the steering linkage 242 matches.

A referring to Fig.1, the automatically controlled steering hydraulic system 100 of multi-mode further comprise at least two steering cylinders 120, In two steering cylinders 120 be connected to the preceding bridge 220 and the rear axle 230 respectively, and by the steering cylinder The rotational angle of the preceding bridge 220 and the rear axle 230 of the 120 adjustment walking arrangements 200, and then change and be installed in institute The rotational angle of the wheel 201 of bridge 220 and the rear axle 230 before stating, to change the steering of the walking arrangement 200.

Further, at least one steering cylinder 120 is connected to the preceding bridge 220 of the walking arrangement 200, until A few steering cylinder 120 is connected to the rear axle 230 of the walking arrangement 200.Preferably, two steering cylinders 120 are connected to the both ends of the preceding bridge 220 of the walking arrangement 200 respectively, to control turn at the both ends of the preceding bridge 220 To, and then the rotational angle of the preceding bridge 220 is steadily controlled, to improve the automatically controlled steering hydraulic system 100 of the multi-mode Precision.The steering cylinder 120 that definition connects the left part of the preceding bridge 220 is left front steering cylinder 121, definition connection institute The steering cylinder 120 of the right part of bridge 220 is right front steering oil cylinder 122, the left front steering cylinder 121 and the right side before stating Front steering oil cylinder 122 cooperates to control the steering of the preceding bridge 220, that is, before the left front steering cylinder 121 and the right side Steering cylinder 122 is a front steering oil cylinder.Preferably, two steering cylinders 120 are connected to the walking arrangement respectively 200 rear axle 230 to control the steering at the both ends of the preceding bridge 220, and then steadily controls turning for the rear axle 230 Dynamic angle, to improve the precision of the automatically controlled steering hydraulic system 100 of the multi-mode.Definition connects the left part of the rear axle 230 The steering cylinder 120 be left back steering cylinder 123, definition connects the steering cylinder 120 of the right part of the rear axle 230 For right rear steering oil cylinder 124, the left back steering cylinder 123 and the right mutual cooperation of rear steering oil cylinder 124 are described to control The steering of rear axle 230, i.e., the described left back steering cylinder 123 and the right rear steering oil cylinder 124 are a rear steering oil cylinder.This field Technical staff should be understood that the particular number of the steering cylinder 120 and be distributed as just signal, can't be to this Invent the limitation of the content and range of the automatically controlled steering hydraulic system 100 of the multi-mode and the walking arrangement 200.Such as In other some embodiments of the invention, controlled respectively by a front steering oil cylinder and a rear steering oil cylinder The rotation of the preceding bridge 220 and the rear axle 230.

A and 1C referring to Fig.1, the automatically controlled steering hydraulic system of multi-mode further comprise a steering valve group 130, described turn It is connected to the adjusting oil cylinder 110 and the steering cylinder 120 to valve group 130, and controls institute by the steering valve group 130 It states and adjusts oil cylinder 110 and the steering cylinder 120, and then control the steering of the walking arrangement 200.

Specifically, the steering valve group 130 further comprises multiple reversing solenoid valves 131, wherein the reversing solenoid valve 131 are connected to the adjusting oil cylinder 110 and the steering cylinder 120, and the reversing solenoid valve 131 passes through described in control process Flow, pressure, flow direction, flowing velocity and the other parameters of the hydraulic oil of oil cylinder 110 and the steering cylinder 120 are adjusted, To control the adjusting oil cylinder 110 and the steering cylinder 120.Preferably, the reversing solenoid valve 131 is implemented as electromagnetism ratio Example reversal valve, that is, the reversing solenoid valve 131 can control the flow of hydraulic oil in proportion and change the flow direction of hydraulic oil, To control the movement for adjusting oil cylinder 110 and the steering cylinder 120, so that the automatically controlled steering hydraulic system of the multi-mode System 100 is neatly in the preceding bridge steering pattern, the rear-axle steering mode, the eight words steering pattern and the diagonal mould Switch between formula, and the rotational angle by accurately adjusting each wheel 201, improves each wheel 201 Harmony reduces steering resisting moment and running resistance, not only reduces the energy consumption of the traveling apparatus 200, and be conducive to keep away Exempt from 201 side grinding of wheel, and then improves the service life of the walking arrangement 200.

Further, defining the connection preceding reversing solenoid valve 131 for adjusting oil cylinder 111 is front-wheel commutation electromagnetism Valve 1311, the front-wheel reversing solenoid valve 1311 adjust the forward by controlling the preceding movement for adjusting oil cylinder 111 To the length of pull rod 2421, to change the steering of the front left wheel 2011 and the right front wheel 2012；Described in definition connection The reversing solenoid valve 131 for adjusting oil cylinder 112 afterwards is a rear-wheel reversing solenoid valve 1312, the rear-wheel reversing solenoid valve 1312 The rear movement for adjusting oil cylinder 112 is controlled, and then adjusts the length of the rear steering pull rod 2422, to change the left back vehicle The steering of wheel 2013 and the right rear wheel 2014；Definition connects the left front steering cylinder 121 and the right front steering oil cylinder 122 reversing solenoid valve 131 is bridge reversing solenoid valve 1313 before one, and the preceding bridge reversing solenoid valve 1313 controls the left side Front steering oil cylinder 121 and the right front steering oil cylinder 122, and then adjust the rotational angle of the preceding bridge 220；Described in definition connection The reversing solenoid valve 131 of left back steering cylinder 123 and the right rear steering oil cylinder 124 is a rear axle reversing solenoid valve 1314, the rear axle reversing solenoid valve 1314 controls the fortune of the left back steering cylinder 123 and the right rear steering oil cylinder 124 It is dynamic, and then control the rotational angle of the rear axle 230.

A referring to Fig.1, the automatically controlled steering hydraulic system 100 of multi-mode further comprises multiple angular transducers 140, Described in angular transducer 140 be arranged at each of described walking arrangement 200 wheel 201, and monitor the wheel 201 Rotational angle.Also, the angular transducer 140 is communicatively connected in a network in the reversing solenoid valve 131, with subsequent, The reversing solenoid valve 131 can control the adjusting oil cylinder 110 and described turn according to the feedback data of the angle sensor 140 Movement to oil cylinder 120, so that the automatically controlled steering hydraulic system 100 of the multi-mode is in the preceding bridge steering pattern, the rear axle Switch between steering pattern, the eight words steering pattern and the diagonal mode, and can accurately control the walking and set The rotational angle of standby 200 wheel 201, to ensure that each wheel 201 in interior outside meets the requirement of outer corner difference, in turn The harmony for improving the walking arrangement advantageously reduces steering resisting moment, reduces energy consumption.

In this specific embodiment of the invention, the particular number of the angular transducer 140 is implemented as four, And it is a left front angular transducer 141 that definition, which is installed on the angular transducer 140 of the front left wheel 2011, it is described left front Angular transducer 141 is used to monitor the rotational angle of the front left wheel 2011；It is installed on the described of the right front wheel 2012 Angular transducer 140 is angular transducer 142 before a right side, and angular transducer 142 is for monitoring the right front wheel before the right side 2012 rotational angle；The angular transducer 140 for being installed on the rear left wheel 2013 is a left back angular transducer 143, the left back angular transducer 143 is used to monitor the rotational angle of the rear left wheel 2013；It is installed on the right rear car The angular transducer 140 of wheel 2014 is angular transducer 144 behind a right side, for monitoring the rotation of the right rear wheel 2014 Angle.

Specifically, referring to Fig. 2, the automatically controlled steering hydraulic system 100 of multi-mode switches to the preceding bridge steering pattern During, the front-wheel reversal valve 1311 and the rear-wheel reversal valve 1312 control the preceding adjusting oil cylinder 111 and institute respectively The Length Contraction of oil cylinder 112 is adjusted after stating to most short, that is, adjusted before described oil cylinder 111 and it is described after to adjust oil cylinder 112 locked, The rear axle reversing solenoid valve 1314 controls the left back steering cylinder 123 and the right rear steering oil cylinder 124 moves, and controls The rear axle 230 turns to middle position, that is, the direction of the rear left wheel 2013 and the right rear wheel 2014 is set with the walking Standby 200 length extending direction is consistent.When steering, the front-wheel reversal valve 1311, the rear-wheel reversal valve 1312 and The rear axle reversing solenoid valve 1314 stops working, and the preceding bridge reversing solenoid valve 1313 controls the left front steering cylinder 121 It is moved with the right front steering oil cylinder 122, and then controls preceding 220 left and right turn of bridge of the walking arrangement 200, and by Steering mechanism's main body 241 of the steering linkage 240 of the walking arrangement 200 rigidly adjusts the wheel 201 rotation, and ensure that each wheel 201 in interior outside meets the requirement of outer corner difference, so that each wheel 201 Corner be mutually matched, avoid the non-pure rolling of the part wheel 201, pass through the harmony for improving the walking arrangement 200, drop The low steering resisting moment of the walking arrangement 200 reduces energy consumption.It is noted that in the automatically controlled steering system of the multi-mode During system 100 switches to the preceding bridge steering pattern, angle sensor before the left front angular transducer 141 or the right side Device 142 is fed back for corner, when steering, the left front angular transducer 141 or it is described it is right before the only conduct of angular transducer 142 It shows signal, is not involved in course changing control.

Referring to Fig. 3, during the automatically controlled steering hydraulic system 100 of multi-mode switches to the rear-axle steering mode, The front-wheel reversal valve 1311 and the rear-wheel reversal valve 1312 control the preceding adjusting oil cylinder 111 and the rear adjusting oil respectively The Length Contraction of cylinder 112 is to most short, that is, adjusted before described oil cylinder 111 and it is described after adjust that oil cylinder 112 is locked, and the preceding bridge changes The left front steering cylinder 121 is controlled to solenoid valve 1313 and the right front steering oil cylinder 122 moves, and controls the preceding bridge 220 turn to middle position, that is, the direction and the walking arrangement 200 of the front left wheel 2011 and the right front wheel 2012 Length extending direction is consistent.When steering, the front-wheel reversal valve 1311, the rear-wheel reversal valve 1312 and the preceding bridge Reversing solenoid valve 1313 stops working, and the rear axle reversing solenoid valve 1314 controls the left back steering cylinder 123 and the right side Rear steering oil cylinder 124 moves, and to control 230 left and right turn of the rear axle of the walking arrangement 200, and sets by the walking Steering mechanism's main body 241 of standby 200 steering linkage 240 rigidly adjusts the rotation of the wheel 201, and Each wheel 201 in outside meets the requirement of outer corner difference in ensureing, so that mutual of the corner of each wheel 201 Match, avoids the non-pure rolling of the part wheel 201, the coordination of each wheel 201 by improving the walking arrangement 200 Property, the rotational resistance torque of the walking arrangement 200 is reduced, energy consumption is reduced.It is noted that at automatically controlled turn of the multi-mode During switching to the rear-axle steering mode to system 100, angle after the left back angular transducer 143 or the right side Sensor 144 is fed back for corner, when steering, the left back angular transducer 143 or it is described it is right after angular transducer 144 only As display signal, it is not involved in course changing control.

Referring to Fig. 4, during the automatically controlled steering hydraulic system 100 of multi-mode switches to the eight words steering pattern, The front-wheel reversal valve 1311 and the rear-wheel reversal valve 1312 control the preceding adjusting oil cylinder 111 and the rear adjusting oil respectively The Length Contraction of cylinder 112 is to most short, that is, adjusted before described oil cylinder 111 and it is described after to adjust oil cylinder 112 locked.It is described when steering Preceding bridge reversing solenoid valve 1313 controls the left front steering cylinder 121 and the right front steering oil cylinder 122 moves, and the rear axle changes The left back steering cylinder 123 is controlled to solenoid valve 1314 and the right rear steering oil cylinder 124 moves, and then controls the preceding bridge 220 and the rear axle 230 turn to respectively；Meanwhile the angle of at least one wheel 201 for being installed on the preceding bridge 220 Degree sensor 140 and the angular transducer 140 that at least one is installed on the wheel 201 of the rear axle 220 are anti-respectively The angle that the preceding bridge 220 and the rear axle 230 rotate is presented, and receives and locates by a processor of the walking arrangement 200 The numerical value that the angular transducer 140 is fed back is managed, and the preceding bridge reversing solenoid valve 1313 and institute are controlled by the processor It states the opening and closing of rear axle reversing solenoid valve 1314 and the size of current signal, and then controls the front steering oil cylinder 121 and described The movement of rear steering oil cylinder 122 to adjust the rotational angle of the preceding bridge 220 and the rear axle 230, and ensures the preceding bridge 220 is consistent with the rotational angle of the rear axle 230；Meanwhile by the steering linkage 240 of the walking arrangement 200 Steering mechanism's main body 241 rigidly adjust the rotation of the wheel 201, and in ensureing outside each wheel 201 meet a turn poor requirement avoids the part wheel 201 non-so that the corner of each wheel 201 is mutually matched Pure rolling reduces 201 side grinding of wheel, reduces the rotational resistance torque of the walking arrangement 200, reduces energy consumption.Ability Field technique personnel should be understood that in some embodiments of the invention other, the data that the angular transducer 140 is fed back Opening and closing and the current signal of the preceding bridge reversing solenoid valve 1313 and the rear axle reversing solenoid valve 1314 can be directly controlled Size, and then control the movement of the front steering oil cylinder 121 and the rear steering oil cylinder 122.

Preferably, it when the automatically controlled steering hydraulic system 100 of the multi-mode switches to the eight words steering pattern, is installed on The angular transducer 140 of the same side of the preceding bridge 220 and the rear axle 230 feeds back the preceding bridge 220 and described respectively The angle that rear axle 230 rotates, with the preceding bridge reversing solenoid valve 1313 described in subsequent control and the rear axle reversing solenoid valve 1314, And then adjust the rotational angle of the preceding bridge 220 and the rear axle 230.Such as when steering, according to the left front angle sensor The data of device 141 and the left back angular transducer 143 feedback control the preceding bridge reversing solenoid valve 1313 and the rear axle changes To the opening and closing of solenoid valve 1314 and the size of current signal, to control the angle of rotation of the preceding bridge 220 and the rear axle 230 Degree；Alternatively, when turning to, according to the data control of the feedback of angular transducer 144 behind angular transducer 142 behind the right side and the right side Make the opening and closing of the preceding bridge reversing solenoid valve 1313 and the rear axle reversing solenoid valve 1312 and the size of current signal.Pass through Such mode reduces control amount while having ensured the harmony of steering angle of each wheel 201, saves The response time that each wheel 201 turns to, and then be conducive to improve each wheel of the walking arrangement 200 201 followability.

It is noted that when the automatically controlled steering hydraulic system 100 of the multi-mode switches to the eight words steering pattern, Also it can choose the ipsilateral and/or not ipsilateral angular transducer 140 for being installed on the preceding bridge 220 and the rear axle 230 The data of feedback control opening and closing and the electric current letter of the preceding bridge reversing solenoid valve 1313 and the rear axle reversing solenoid valve 1314 Number size.Such as the data control fed back according to angular transducer 144 after the left front angular transducer 141 and the right side Make the preceding bridge reversing solenoid valve 1313 and the rear axle reversing solenoid valve 1314；Or according to the left front angular transducer 141, the data control of the angular transducer 142 and the left front angular transducer 143 feedback preceding bridge commutation before the right side The opening and closing of solenoid valve 1313 and the rear axle reversing solenoid valve 1314 and the size of current signal.Those skilled in the art should Understand, control the concrete mode of the preceding bridge reversing solenoid valve 1313 and the rear axle reversing solenoid valve 1314 as just Example can't be content to the automatically controlled steering hydraulic system of multi-mode of the present invention 100 and walking arrangement 200 and range Limitation.

It is described during the automatically controlled steering hydraulic system 100 of multi-mode switches to the diagonal mode referring to Fig. 5 Preceding bridge reversing solenoid valve 1313 controls the left front steering cylinder 121 and the right front steering oil cylinder 122 moves, and then controls institute The steering of bridge 220 before stating, the rear axle reversing solenoid valve 1314 control the left back steering cylinder 121 and the right rear steering oil Cylinder 122, and then control the steering of the rear axle 230；While steering, each angular transducer 140 monitors correspondence simultaneously The wheel 201 rotational angle, and data feedback is carried out, to control the front-wheel reversing solenoid valve 1311 and the rear-wheel The opening and closing and size of current of reversing solenoid valve 1312, so control it is described before adjust oil cylinder 111 and it is described after adjust oil cylinder 112 Length, to adjust the rotational angle of the wheel 201 in interior outside, it is ensured that the corner of the wheel 201 in interior outside is consistent, makes All 201 pure rolling of the wheel are obtained, the wheel 201 is reduced and wears, extend the service life of the wheel 201, And the running resistance of the walking arrangement 200 is reduced, reduce energy consumption.It is noted that the corner one of the wheel 201 Cause, be conducive to remote driving and it is unmanned when be precisely controlled.

It will be further appreciated that switching to the process of non-diagonal mode in the automatically controlled steering hydraulic system 100 of the multi-mode In, reduce the control amount to the walking arrangement 200, it is, however, still able to ensure each described of the walking arrangement 200 The rotational angle of wheel 201 cooperates, in this way, saving the response time that each wheel 201 turns to, and then is conducive to Improve the followability of each wheel 201 of the walking arrangement 200.

A referring to Fig.1, the automatically controlled steering hydraulic system 100 of multi-mode further comprise that a hydraulic oil container 150 and one turns to Pump 160, wherein the steering pump 160 is connected to the hydraulic oil container 150 and the steering valve group 20, the hydraulic oil container 150 for supplying hydraulic oil, and the hydraulic oil being stored in the hydraulic oil container 150 flow to described after the steering pump 160 Valve group 20 is turned to, and low pressure oil can be changed into high pressure oil by the steering pump 160, with to be capable of providing steering dynamic subsequent Power, and then the preceding bridge 220, the rear axle 230 and the wheel 201 of the walking arrangement 200 is pushed to rotate.

D referring to Fig.1, the automatically controlled steering hydraulic system 100 of multi-mode further comprise at least two balance pressure valve groups 170, one of them described balance pressure valve group 170 be installed in it is described before adjust oil cylinder 111 and the steering valve group 130 it Between, a balance pressure valve group 170 is installed between the rear adjusting oil cylinder 112 and the steering valve group 130, to protect Hinder the stability of the multi-mode automatically controlled steering hydraulic system 100 and the walking arrangement 200.Specifically, each balance Pressure valve group 170 includes two hydraulic control one-way valves 171, and the hydraulic control one-way valve 171 connects the adjusting oil cylinder 110 and the steering Valve group 130, when the adjusting oil cylinder 110 movement, the high pressure oil in oil circuit can open the hydraulic control one-way valve 171, so that The hydraulic control one-way valve 171 is channel status, and then is ensured between the adjusting oil cylinder 110 and the steering valve group 130 Oil circuit is unimpeded.When no high-pressure oil flow is through the hydraulic control one-way valve 171, the hydraulic control one-way valve 171 can play the work of pressure maintaining With, prevent the adjusting oil cylinder from changing locating distance because of pressure leakage, and influence the walking arrangement 200 interior outside it is described The rotational angle of wheel 201.In this way, it has not only ensured the harmony of 201 corner of wheel, but also has improved The stability and safety of the multi-mode automatically controlled steering hydraulic system 100 and the walking arrangement 200.

The balance pressure valve group 170 further comprises an overflow valve 172 and a check valve 173, and the check valve 172 connects It is connected to the steering linkage 242 and the overflow valve 172, when the wheel 201 of the walking arrangement 200 is impacted suddenly When, the pressure value that the steering linkage 242 is subject to increases, and presets when the pressure value that the steering linkage 242 is subject to reaches one When value, the high pressure oil in oil circuit is circulated to the overflow valve 172 by the check valve 173, and the unlatching of overflow valve 172 is let out Pressure is further improved described more with ensureing the pressure security for the adjusting oil cylinder 110 for being connected to the steering linkage 242 The safety and stability of mode automatically controlled steering hydraulic system 100 and the walking arrangement 200.

C referring to Fig.1, the steering valve group 130 further comprises multiple pressure-compensated valves 132, wherein each pressure Recuperation valve 132 is connected to each reversing solenoid valve 131 respectively, when the reversing solenoid valve 131 is powered, in oil circuit Hydraulic oil first passes through the pressure-compensated valve 132, then exports via the outlet of the reversing solenoid valve 131, to ensure described change The flow exported to solenoid valve 131 is not influenced by load variation.

The steering valve group 130 further comprises multiple repairing overflow valves 133, the plurality of repairing overflow valve 133 Be respectively arranged in the preceding bridge and turn to solenoid valve 1311 and the rear axle reversing solenoid valve 1312, for ensure be connected to it is described before Bridge turns to the pressure security of the steering cylinder 120 of solenoid valve 1311 and the rear axle reversing solenoid valve 1312, and in external force When effect forces the steering cylinder 120 to move, oil liquid can be supplemented in time.

The steering valve group 130 further comprises an overflow valve 172, wherein the overflow valve of the switching valve group 130 172 are connected to the reversing solenoid valve 131, and the pressure of oil circuit is ensured by the overflow valve 172 for turning to valve group 130 Power safety further improves the safety of the automatically controlled steering hydraulic system 100 of the multi-mode and the walking arrangement 200 and steady It is qualitative.

It will be appreciated by those skilled in the art that above embodiments are only for example, wherein the feature of different embodiments It can be combined with each other, with the reality that the content disclosed according to the present invention is readily conceivable that but is not explicitly pointed out in the accompanying drawings Apply mode.

It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.

Claims

1. the automatically controlled steering hydraulic system of a multi-mode characterized by comprising

Oil cylinder is adjusted after at least one, wherein adjusting the rear steering pull rod that oil cylinder is connected to the walking arrangement after described；

One reversing solenoid valve group, wherein the reversing solenoid valve group includes rotation after at least a front-wheel reversing solenoid valve, at least one To solenoid valve, bridge reversing solenoid valve and an at least rear axle reversing solenoid valve before at least one, wherein the front-wheel reversing solenoid valve It is connected to the preceding adjusting oil cylinder, the rear-wheel reversing solenoid valve is connected to the rear adjusting oil cylinder, the preceding bridge commutation Solenoid valve is connected to the front steering oil cylinder, and the rear axle reversing solenoid valve is connected to the rear steering oil cylinder；And

2. the automatically controlled steering hydraulic system of multi-mode according to claim 1, wherein the multi-mode electrically control steering hydraulic system Bridge steering pattern, a rear-axle steering mode, one or eight word steering patterns and a diagonal mode before system has one, when the multi-mode During automatically controlled steering hydraulic system switches to the preceding bridge steering pattern, oil cylinder and the rear adjusting oil cylinder are adjusted before described Locked, the rear axle reversing solenoid valve controls the rear steering cylinder movement, and the rear axle is turned to middle position, when steering, institute Bridge reversing solenoid valve controls the front steering cylinder movement, the preceding bridge left and right turn, a steering of the walking arrangement before stating One steering mechanism's main body of link mechanism rigidly adjusts the rotation of the wheel；When the automatically controlled steering hydraulic system of the multi-mode During switching to the rear-axle steering mode, oil cylinder is adjusted before described and the rear oil cylinder that adjusts is locked, the preceding bridge changes To front steering cylinder movement described in solenoid valve control, the preceding bridge is turned to middle position, when steering, the rear axle reversing solenoid valve The rear steering cylinder movement, the rear axle left and right turn are controlled, steering mechanism's main body rigidly adjusts the wheel Rotation；During the automatically controlled steering hydraulic system of multi-mode switches to the eight words steering pattern, oil cylinder is adjusted before described With it is described after to adjust oil cylinder locked, when steering, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve are respectively according to peace Data loaded on the angular transducer of an at least front vehicle wheel and at least rear wheel feedback control the front steering oil cylinder and The movement of the rear steering oil cylinder, meanwhile, the rotation of the wheel is rigidly adjusted by steering mechanism's main body；It is described more During the automatically controlled steering hydraulic system of mode switches to diagonal mode, the preceding bridge reversing solenoid valve and rear axle commutation electricity Magnet valve controls the front steering oil cylinder and the rear steering cylinder movement, the preceding bridge and the rear axle left and right turn respectively, turns Xiang Shi, the front-wheel reversing solenoid valve and the rear-wheel reversing solenoid valve are controlled according to each angular transducer is installed in The movement of the front-wheel steer oil cylinder and the rear-axle steering oil cylinder.

3. the automatically controlled steering hydraulic system of multi-mode according to claim 2, wherein adjusting oil cylinder and the rear tune before described The elongation of fuel-economizing cylinder and the length for shrinking the front steering track-rod and the rear steering pull rod that change the walking arrangement.

4. the automatically controlled steering hydraulic system of multi-mode according to claim 3, wherein in the automatically controlled steering hydraulic of the multi-mode When system switches to eight word pattern, basis is installed on respectively for the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve The data of the angular transducer of the front vehicle wheel of the same side and rear wheel feedback control the front steering oil cylinder and The movement of the rear steering oil cylinder.

5. the automatically controlled steering hydraulic system of multi-mode according to claim 4, wherein in the automatically controlled steering hydraulic of the multi-mode When system switches to eight word pattern, basis is installed on respectively for the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve The data of the angular transducer feedback of the not ipsilateral front vehicle wheel and the rear wheel control the front steering oil cylinder and The movement of the rear steering oil cylinder.

6. the automatically controlled steering hydraulic system of multi-mode according to any one of claims 1 to 5 further comprises at least two balance pressures Power valve group, one of them described balance pressure valve group are installed between the preceding adjusting oil cylinder and the steering valve group, and one The balance pressure valve group is installed between the rear adjusting oil cylinder and the steering valve group.

7. the automatically controlled steering hydraulic system of multi-mode according to claim 6, wherein the balance pressure power valve group includes two liquid Check valve is controlled, the hydraulic control one-way valve is connected the adjusting oil cylinder and the steering valve group.

8. the automatically controlled steering hydraulic system of multi-mode according to claim 7, wherein the balance pressure power valve group includes one excessive Valve and a check valve are flowed, wherein the check valve is connected to the steering linkage and the overflow valve.

9. the automatically controlled steering hydraulic valve of multi-mode according to claim 8, wherein the switching valve group further comprises multiple Repairing overflow valve, the plurality of repairing overflow valve are respectively arranged in the preceding bridge and turn to solenoid valve and rear axle commutation electricity Magnet valve.

10. the automatically controlled steering hydraulic system of multi-mode according to any one of claims 1 to 5, the electromagnetism wherein front-wheel commutates Valve, the rear-wheel reversing solenoid valve, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve are that solenoid-operated proportional changes To valve.

11. the automatically controlled steering hydraulic system of multi-mode according to claim 9, wherein the front-wheel reversing solenoid valve, described Rear-wheel reversing solenoid valve, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve are solenoid-operated proportional reversal valve.

12. a walking arrangement characterized by comprising

One apparatus body；

One rotation linkage assembly, wherein the rotation linkage assembly includes steering mechanism's main body, a front steering track-rod and one Rear steering pull rod, wherein the front steering track-rod and the rear steering pull rod are operably connected to the steering mechanism respectively Main body, steering mechanism's main body are connected to the wheel；

13. walking arrangement according to claim 12, wherein the multi-mode electrically control steering hydraulic system have one before bridge Steering pattern, a rear-axle steering mode, one or eight word steering patterns and a diagonal mode, when the automatically controlled steering hydraulic of the multi-mode During system switches to the preceding bridge steering pattern, oil cylinder is adjusted before described and the rear oil cylinder that adjusts is locked, after described Bridge reversing solenoid valve controls the rear steering cylinder movement, and the rear axle is turned to middle position, when steering, the preceding bridge commutation electricity The magnet valve control front steering cylinder movement, the preceding bridge left and right turn, the one of a steering linkage of the walking arrangement Steering mechanism's main body rigidly adjusts the rotation of the wheel；After the automatically controlled steering hydraulic system of the multi-mode switches to described During bridge steering pattern, oil cylinder is adjusted before described and the rear oil cylinder that adjusts is locked, the preceding bridge reversing solenoid valve control The front steering cylinder movement, the preceding bridge are turned to middle position, when steering, turn after the rear axle reversing solenoid valve control is described To cylinder movement, the rear axle left and right turn, steering mechanism's main body rigidly adjusts the rotation of the wheel；The multimode During the automatically controlled steering hydraulic system of formula switches to the eight words steering pattern, oil cylinder and the rear adjusting oil are adjusted before described Cylinder is locked, and when steering, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve are respectively according to being installed on an at least front truck The data that the angular transducer of wheel and an at least rear wheel is fed back control the front steering oil cylinder and the rear steering oil cylinder Movement, meanwhile, the rotation of the wheel is rigidly adjusted by steering mechanism's main body；The automatically controlled steering liquid of multi-mode During pressure system switches to diagonal mode, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve control institute respectively State front steering oil cylinder and the rear steering cylinder movement, the preceding bridge and the rear axle left and right turn, when steering, the preceding rotation The front-wheel steer oil is controlled according to each angular transducer is installed in solenoid valve and the rear-wheel reversing solenoid valve The movement of cylinder and the rear-axle steering oil cylinder.

14. walking arrangement according to claim 13, wherein the front steering track-rod of the rotation linkage assembly and institute The length for stating rear steering pull rod allows to be adjusted.

15. walking arrangement according to claim 14, wherein the front steering track-rod and the rear steering pull rod are one horizontal Pull rod.

16. walking arrangement according to claim 15, wherein the multi-mode electrically control steering hydraulic system switch to it is described When eight word patterns, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve respectively according to be installed on the same side it is described before The data of the angular transducer of wheel and rear wheel feedback control the front steering oil cylinder and the rear steering oil cylinder Movement.

17. walking arrangement according to claim 15, wherein the multi-mode electrically control steering hydraulic system further comprises At least two balance pressure valve groups, one of them described balance pressure valve group are installed in the preceding adjusting oil cylinder and the switching valve Between group, a balance pressure valve group is installed between the rear adjusting oil cylinder and the steering valve group.

18. 2 to 17 any walking arrangement according to claim 1, wherein the front-wheel reversing solenoid valve, the rear rotation It is solenoid-operated proportional reversal valve to solenoid valve, the preceding bridge reversing solenoid valve and the rear axle reversing solenoid valve.