CN110745183A - Multi-steering mode walking frame capable of ensuring synchronous steering - Google Patents
Multi-steering mode walking frame capable of ensuring synchronous steering Download PDFInfo
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- CN110745183A CN110745183A CN201911207550.XA CN201911207550A CN110745183A CN 110745183 A CN110745183 A CN 110745183A CN 201911207550 A CN201911207550 A CN 201911207550A CN 110745183 A CN110745183 A CN 110745183A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 14
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 239000003921 oil Substances 0.000 description 17
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—Links, e.g. track rods
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- 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
- B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
- B62D5/12—Piston and cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/16—Arrangement of linkage connections
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
A multi-steering mode walking frame capable of ensuring synchronous steering comprises a frame, steering walking wheels, steering arms, steering connecting rods and steering hydraulic cylinders. The front end of the frame is provided with a front steering walking wheel, and the rear end of the frame is provided with a rear steering walking wheel. And the middle parts of the front end and the rear end of the frame are respectively provided with two groups of four steering hydraulic cylinders which are respectively connected with the steering arms of the steering walking wheels. In each group of steering hydraulic cylinders, a rod cavity and a rodless cavity of one steering hydraulic cylinder are respectively communicated with a rodless cavity and a rod cavity of the other steering hydraulic cylinder through oil conveying pipes. The invention discloses a walking frame which has multiple steering modes. Meanwhile, the hydraulic cylinder and the steering connecting rod are cooperatively matched, so that the function of synchronously steering the traveling wheels of the frame at the same angle and synchronously steering is realized. The walking frame is flexible in steering, small in turning radius, good in controllability and strong in stability.
Description
Technical Field
The invention relates to the field of frames of engineering machinery, in particular to a walking frame with multiple steering modes, which can ensure that steering wheels can steer simultaneously.
Background
With the social development, the infrastructure is continuously enlarged, the application range of the engineering machinery is wider and wider, the requirements on the performance of the machine are higher and higher, and the requirements on the steering mode are higher and higher. However, the steering modes of general engineering machinery are single two-wheel steering, four-wheel steering or crab steering, and cannot meet the requirements of various construction environments. For example, in a narrow area or in a factory building, the steering of the machine is required to be flexible, the turning radius is small, and a four-wheel steering mode can be used. When large-area construction or factory transfer is carried out, the steering stability and the controllability of the machine are required to be good, and a two-wheel steering mode can be used. And when the construction is carried out under the environment that the turning around can not be carried out, the crab steering mode can be used.
At present, also ubiquitous frame that possesses multiple mode of turning to simultaneously on engineering machine tool, but need carry out independent steering control to four walking wheels, its structure is complicated, and be subject to the influence that the pneumatic cylinder has pole chamber and no pole chamber structure, when current adoption a plurality of pneumatic cylinders cooperations turned to, can not guarantee that the steering action of directive wheel goes on in step, through practical verification, the walking frame that current many pneumatic cylinders cooperation realized turning to, the turning to of two wheels has certain time difference when turning to, the same angle of turning to have a side wheel of pole chamber drive to accomplish the action of turning to earlier than the side wheel of no pole chamber drive in advance.
Disclosure of Invention
The invention aims to solve the technical problems and provides a multi-steering mode walking frame capable of ensuring synchronous steering.
The invention relates to a multi-steering mode walking frame capable of ensuring synchronous steering, which comprises a frame, steering walking wheels, a steering arm, a steering connecting rod and a steering hydraulic cylinder, wherein the steering walking wheels further comprise front steering walking wheels and rear steering walking wheels. The steering hydraulic cylinder comprises a common hydraulic cylinder and a position sensing hydraulic cylinder. The frame is provided with a circuit controller and a hydraulic control valve group, the front end of the frame is provided with a front steering walking wheel, and the rear end of the frame is provided with a rear steering walking wheel. The hydraulic motor and the steering arms are arranged on the steering travelling wheels, the steering connecting rods are respectively connected and arranged between the steering arms of the front and the rear groups of steering travelling wheels, two groups of four steering hydraulic cylinders are respectively arranged in the middle of the front and the rear ends of the frame and are respectively connected with the steering arms of the steering travelling wheels, one of the steering hydraulic cylinders in each group is a common hydraulic cylinder, and the other steering hydraulic cylinder in each group is a position sensing hydraulic cylinder. In each group of steering hydraulic cylinders, a rod cavity and a rodless cavity of one steering hydraulic cylinder are respectively communicated with a rodless cavity and a rod cavity of the other steering hydraulic cylinder through oil conveying pipes.
Furthermore, the frame include front axle, rear axle and link, be provided with the stabilizer blade respectively at four angles of link, be provided with circuit controller and hydraulic control valves on the link, fix at the rear end of link and be provided with the rear axle, front end intermediate position department is provided with the pivot. The two ends of the rear axle are respectively provided with a rear pin shaft hole A and a rear pin shaft hole B, and a rear fixing plate is arranged in the middle of the rear axle. The two ends of the front axle are respectively provided with a front pin shaft hole A and a front pin shaft hole B, the upper end of the middle position of the front axle is provided with a rotating shaft sleeve, and the lower end of the middle position of the front axle is provided with a front fixing plate. The rotating shaft sleeve of the front axle is movably connected with the rotating shaft at the front end of the connecting frame. And a rear steering travelling wheel A and a rear steering travelling wheel B are respectively and rotatably arranged in the rear pin hole A and the rear pin hole B. And a front steering travelling wheel A and a front steering travelling wheel B are respectively and rotatably arranged in the front pin shaft hole A and the front pin shaft hole B.
Furthermore, the front steering travelling wheels comprise a front steering travelling wheel A and a front steering travelling wheel B. And a front support shaft seat A is arranged on the inner side of the front steering travelling wheel A. A hydraulic motor is arranged in the front support shaft seat A, a front pin shaft A is fixedly arranged at the upper end of the front support shaft seat A, and a front steering arm A is fixedly arranged at one side of the front support shaft seat A. The front pin shaft A is rotatably arranged in the front pin shaft hole A in a penetrating mode. A front connecting rod clamping plate A is arranged on the upper side of the front steering arm A, and a front hydraulic cylinder clamping plate A is arranged on the lower side of the front steering arm A. The front steering travelling wheel B comprises a front support shaft seat B, a front pin shaft B, a front steering arm B, a front connecting rod clamping plate B and a front hydraulic cylinder clamping plate B, and the arrangement mode of each component of the front steering travelling wheel B corresponds to that of each component of the front steering travelling wheel A. One end of the steering connecting rod is hinged in the front connecting rod clamping plate A, and the other end of the steering connecting rod is hinged in the front connecting rod clamping plate B. One end of the steering hydraulic cylinder is hinged in the front hydraulic cylinder clamp plate A, the other end of the steering hydraulic cylinder is hinged on the front fixing plate, one end of the other steering hydraulic cylinder is hinged in the front hydraulic cylinder clamp plate B, and the other end of the other steering hydraulic cylinder is hinged on the front fixing plate.
Furthermore, the rear steering road wheels comprise a rear steering road wheel A and a rear steering road wheel B. And a rear support shaft seat A is arranged on the inner side of the rear steering travelling wheel A. A hydraulic motor is arranged in the rear support shaft seat A, a rear pin shaft A is fixedly arranged at the upper end of the rear support shaft seat A, and a rear steering arm A is fixedly arranged at one side of the rear support shaft seat A. The rear pin shaft A is rotatably arranged in the rear pin shaft hole A in a penetrating mode. And a rear connecting rod clamping plate A is arranged on the upper side of the rear steering arm A, and a rear hydraulic cylinder clamping plate A is arranged on the lower side of the rear steering arm A. The rear steering walking wheel B comprises a rear support shaft seat B, a rear pin shaft B, a rear steering arm B, a rear connecting rod clamping plate B and a rear hydraulic cylinder clamping plate B, and the arrangement mode of each component of the rear steering walking wheel B corresponds to that of each component of the rear steering walking wheel A.
Furthermore, one end of the common hydraulic cylinder is hinged in the front hydraulic cylinder clamping plate A, the other end of the common hydraulic cylinder is hinged on the front fixing plate, the position sensing hydraulic cylinder is provided with a position sensor, one end of the position sensing hydraulic cylinder is hinged in the front hydraulic cylinder clamping plate B, and the other end of the position sensing hydraulic cylinder is hinged in the front fixing plate. A rod cavity of the common hydraulic cylinder is communicated with a rodless cavity of the position sensing hydraulic cylinder through an oil conveying pipe, and the rodless cavity of the common hydraulic cylinder is communicated with a rod cavity of the position sensor through the oil conveying pipe. And the two steering hydraulic cylinders are respectively communicated with the hydraulic control valve group through oil conveying pipes.
Furthermore, one end of the common hydraulic cylinder is hinged in the rear hydraulic cylinder clamp plate A, the other end of the common hydraulic cylinder is hinged on the rear fixing plate, the position sensing hydraulic cylinder is provided with a position sensor, one end of the position sensing hydraulic cylinder is hinged in the rear hydraulic cylinder clamp plate B, and the other end of the position sensing hydraulic cylinder is hinged in the rear fixing plate. A rod cavity of the common hydraulic cylinder is communicated with a rodless cavity of the position sensing hydraulic cylinder through an oil conveying pipe, and the rodless cavity of the common hydraulic cylinder is communicated with a rod cavity of the position sensor through the oil conveying pipe. And the two steering hydraulic cylinders are respectively communicated with the hydraulic control valve group through oil conveying pipes.
Further, the circuit controller is electrically coupled to an external power source, an external control signal, and a position sensor. The hydraulic control valve group is communicated with an external hydraulic power source, a hydraulic motor and a steering hydraulic cylinder through an oil conveying pipe to form a loop.
The technique according to the present invention is explained as follows:
1. a steering connecting rod: the steering connecting rods are respectively arranged at the inner sides of the front axle and the rear axle and are respectively connected with the steering arms of the steering wheels at the two ends, so that the steering angles of the front steering travelling wheels A and the front steering travelling wheels B at the two ends of the front axle are the same; and the steering angles of the rear steering road wheels A and the rear steering road wheels B at the two ends of the rear axle are the same.
2. Position sensing hydraulic cylinder and ordinary hydraulic cylinder: a position sensor hydraulic cylinder and a common hydraulic cylinder are mutually matched to form a group of steering hydraulic cylinders. And a group of steering hydraulic cylinders are respectively arranged on the inner sides of the front axle and the rear axle of the walking workshop. That is, a position sensing hydraulic cylinder and a common hydraulic cylinder are respectively arranged on the inner sides of the front axle and the rear axle; the walking frame realizes multiple steering modes, and the steering walking wheels realize synchronous, simultaneous and same-angle steering based on the detection of the offset of the position sensing hydraulic cylinder, the auxiliary cooperation of the common hydraulic cylinder and the cooperative cooperation of the steering connecting rods.
3. Support leg: four supporting legs are respectively arranged at the front corner position and the rear corner position of the frame. When the four legs are needed by the walking frame, the four legs can be extended out simultaneously to support the frame, so that the stability of the frame is kept.
4. Three steering modes:
(1) two-wheel steering mode: referring to fig. 6, when the frame is switched to different steering modes, the circuit controller first determines the state of the steering mode according to the signal provided by the steering mode switch. Under different steering modes, when the steering handle is in a neutral position, the wheels are automatically centered and in a straight-going state, and the position sensor in the position sensing hydraulic cylinder is at a zero position. In the two-wheel steering mode state, the circuit controller firstly analyzes and processes the received steering handle signal, then controls the corresponding solenoid valve on the hydraulic control valve group to act, transmits the hydraulic power provided by the hydraulic pump to the corresponding steering hydraulic cylinder, and then feeds the displacement signal back to the circuit controller by the position sensor in the position sensing hydraulic cylinder, and the circuit controller analyzes and processes the displacement signal. When the steering handle rotates leftwards, the two front steering travelling wheels rotate leftwards by corresponding angles at the same time; when the steering handle rotates rightwards, the two front steering road wheels rotate rightwards by corresponding angles at the same time.
(2) Four-wheel steering mode: referring to fig. 7, when the frame is switched to the four-wheel steering mode, the circuit controller analyzes and processes the received steering handle signal, and then controls the corresponding solenoid valves on the hydraulic control valve set to operate, so as to transmit the hydraulic power provided by the hydraulic pump to the front and rear steering hydraulic cylinders, and then the position sensors in the front and rear position sensing hydraulic cylinders respectively feed back the displacement signal to the circuit controller, and the circuit controller analyzes and processes the displacement signal. When the steering handle rotates leftwards, the front and the rear steering road wheels rotate leftwards by corresponding angles at the same time; when the steering handle rotates rightwards, the front steering road wheel and the rear steering road wheel rotate rightwards by corresponding angles at the same time.
(3) Crab steering mode: referring to fig. 8, when the frame is switched to the crab steering mode, the circuit controller analyzes and processes the received steering handle signal, and then controls the corresponding solenoid valves on the hydraulic control valve group to operate, so as to transmit the hydraulic power provided by the hydraulic pump to the front and rear steering hydraulic cylinders, and then the position sensors in the front and rear position sensing hydraulic cylinders respectively feed back the displacement signal to the circuit controller, and the circuit controller analyzes and processes the displacement signal. When the steering handle rotates leftwards, the two steering travelling wheels of the front axle rotate leftwards by a corresponding angle, and meanwhile, the two steering travelling wheels of the rear axle rotate rightwards by a corresponding angle; when the steering handle rotates rightwards, the two steering walking wheels of the front axle rotate rightwards by a corresponding angle, and meanwhile, the two steering walking wheels of the rear axle rotate leftwards by a corresponding angle.
Therefore, when the steering mode needs to be switched, the two-wheel steering, the four-wheel steering or the crab steering of the walking frame can be realized only by feeding back the displacement signal to the circuit controller through the position sensor in the position sensing hydraulic cylinder and sending out different control signals by the circuit controller to enable the hydraulic cylinders at different positions to extend and retract.
The working principle of the invention is as follows: the invention discloses a walking frame, which is operated by an operator to control the telescopic change of steering hydraulic cylinders arranged on a front axle and a rear axle and realizes the steering of the frame in various modes by matching a hydraulic motor and walking wheels. When the steering is carried out, the position sensing hydraulic cylinder accurately controls the expansion amount of the steering hydraulic cylinder by detecting the displacement of the oil cylinder in real time and combining the analysis and the processing of the circuit controller, so that the steering of the walking steering wheel under different modes is realized. Meanwhile, the steering arms on the front axle and the rear axle are connected through a steering connecting rod mechanism to form a mechanism with action linkage, so that the position sensing hydraulic cylinders on the front axle and the rear axle and the common hydraulic cylinder can synchronously move. Meanwhile, a rod cavity and a rodless cavity of the position sensing hydraulic cylinder are respectively communicated with a rodless cavity and a rod cavity of a common hydraulic rod, and left and right steering speeds can be guaranteed to be the same according to the conduction effect of hydraulic oil.
Description of the drawings:
FIG. 1: a schematic perspective view of a walking frame;
FIG. 2: a schematic diagram of a front axle and a steering travelling wheel;
FIG. 3: schematic diagrams of front steering travelling wheels and steering arms;
FIG. 4: a schematic diagram of a rear axle and a steering travelling wheel;
FIG. 5: schematic diagrams of rear steering travelling wheels and steering arms;
FIG. 6: schematic diagrams of a rod cavity and a rodless cavity of the hydraulic cylinder;
FIG. 7: two-wheel steering mode schematic.
FIG. 8: a four-wheel steering mode schematic.
FIG. 9: crab-type steering mode.
Wherein: 1-vehicle frame, 10-circuit controller, 11-hydraulic control valve group, 12-front axle, 121-front pin shaft hole A, 122-front pin shaft hole B, 123-rotating shaft sleeve, 124-front fixing plate, 13-rear axle, 131-rear pin shaft hole A, 132-rear pin shaft hole B, 133-rear fixing plate, 14-connecting frame, 15-support leg, 16-rotating shaft, 2-steering walking wheel, 20-front axial walking wheel, 201-front steering walking wheel A, 2011-front support shaft seat A, 2012-front pin shaft A, 2013-front steering arm A, 2014-front connecting rod clamp plate A, 2015-front hydraulic cylinder clamp plate A, 202-front steering walking wheel B, 2021-front support shaft seat B, 2022-front pin shaft B, 2023-front steering arm B, 2024-front link bar clamp B, 2025-front hydraulic cylinder clamp B, 21-rear steering road wheel, 211-rear steering road wheel a, 2111-rear support shaft seat a, 2112-rear pin shaft a, 2113-rear steering arm a, 2114-rear link bar clamp a, 2115-rear hydraulic cylinder clamp a, 212-rear steering road wheel B, 2121-rear support shaft seat B, 2122-rear pin shaft B, 2123-rear steering arm B, 2124-rear link bar clamp B, 2125-rear hydraulic cylinder clamp B, 22-hydraulic motor, 3-steering arm, 4-steering link bar, 5-steering hydraulic cylinder, 50-common hydraulic cylinder, 51-position sensing hydraulic cylinder, 52-rod cavity, 53-rodless cavity, 54-oil pipe, 55-position sensor.
The specific implementation mode is as follows:
the present invention will be described in detail below with reference to the accompanying drawings.
With reference to the attached drawings, the multi-steering mode walking frame capable of ensuring synchronous steering comprises a frame 1, steering walking wheels 2, a steering arm 3, a steering connecting rod 4 and a steering hydraulic cylinder 5, wherein the steering walking wheels 2 comprise front steering walking wheels 20 and rear steering walking wheels 21; the steering cylinder 5 includes a normal cylinder 50 and a position sensing cylinder 51. The frame 1 comprises a front axle 12, a rear axle 13 and a connecting frame 14, wherein four corners of the connecting frame 14 are respectively provided with a support leg 15, the connecting frame 14 is provided with a circuit controller 10 and a hydraulic control valve group 11, the rear axle 13 is fixedly arranged at the rear end of the connecting frame 14, and a rotating shaft 16 is arranged at the middle position of the front end; a rear pin shaft hole A131 and a rear pin shaft hole B132 are respectively arranged at two ends of the rear axle 13, and a rear fixing plate 133 is arranged in the middle of the rear axle 13; a front pin shaft hole A121 and a front pin shaft hole B122 are respectively arranged at two ends of the front axle 12, a rotating shaft sleeve 123 is arranged at the upper end of the middle position of the front axle 12, and a front fixing plate 124 is arranged at the lower end; the rotating shaft sleeve 123 of the front axle 12 is movably connected with the rotating shaft 16 at the front end of the connecting frame 14; a rear steering road wheel A211 and a rear steering road wheel B212 are respectively and rotatably arranged in the rear pin hole A131 and the rear pin hole B132; the front pin shaft hole A121 and the front pin shaft hole B122 are respectively and rotatably provided with a front steering road wheel A201 and a front steering road wheel B202. The front steering travelling wheels 20 comprise front steering travelling wheels A201 and front steering travelling wheels B202; a front support shaft seat A2011 is arranged on the inner side of the front steering travelling wheel A201; a hydraulic motor 22 is arranged in the front support shaft seat A2011, the upper end of the front support shaft seat A2011 is fixedly provided with a front pin shaft A2012, and one side of the front support shaft seat A2011 is fixedly provided with a front steering arm A2013; the front pin shaft A2012 is rotatably arranged in the front pin shaft hole A121 in a penetrating way; a front connecting rod clamp plate A2014 is arranged on the upper side of the front steering arm A2013, and a front hydraulic cylinder clamp plate A2015 is arranged on the lower side of the front steering arm A2013; the front steering travelling wheel B202 comprises a front support shaft seat B2021, a front pin shaft B2022, a front steering arm B2023, a front connecting rod clamp plate B2024 and a front hydraulic cylinder clamp plate B2025, and the arrangement mode of each component of the front steering travelling wheel B202 corresponds to that of each component of the front steering travelling wheel A201; one end of the steering connecting rod 4 is hinged in the front connecting rod clamping plate A2014, and the other end is hinged in the front connecting rod clamping plate B2024; one end of the ordinary hydraulic cylinder 50 is hinged in the front hydraulic cylinder clamp plate A2015, the other end is hinged on the front fixing plate 124, the position sensing hydraulic cylinder 51 is provided with a position sensor 55, one end of the position sensor is hinged in the front hydraulic cylinder clamp plate B2025, and the other end of the position sensor is hinged in the front fixing plate 124; a rod cavity 52 of the common hydraulic cylinder 50 is communicated with a rodless cavity 53 of the position sensing hydraulic cylinder 51 through an oil pipeline 54, and the rodless cavity 53 of the common hydraulic cylinder 50 is communicated with the rod cavity 52 of the position sensor 55 through the oil pipeline 54; the two steering hydraulic cylinders 5 are respectively communicated with the hydraulic control valve group 11 through oil pipelines 54. The rear steering road wheels 21 comprise rear steering road wheels A211 and rear steering road wheels B212; a rear supporting shaft seat A2111 is arranged on the inner side of the rear steering travelling wheel A211; a hydraulic motor 22 is arranged in the rear support shaft seat A2111, a rear pin shaft A2112 is fixedly arranged at the upper end of the rear support shaft seat, and a rear steering arm A2113 is fixedly arranged at one side of the rear support shaft seat; the rear pin shaft A2112 is rotatably arranged in the rear pin shaft hole A131 in a penetrating way; a rear connecting rod clamping plate A2114 is arranged on the upper side of the rear steering arm A2113, and a rear hydraulic cylinder clamping plate A2115 is arranged on the lower side; the rear steering walking wheel B212 comprises a rear supporting shaft seat B2121, a rear pin shaft B2122, a rear steering arm B2123, a rear connecting rod splint B2124 and a rear hydraulic cylinder splint B2125, and the arrangement mode of each component of the rear steering walking wheel B212 corresponds to that of each component of the rear steering walking wheel A211. One end of the common hydraulic cylinder 50 is hinged in the rear hydraulic cylinder clamp plate A2115, the other end is hinged on the rear fixing plate 133, the position sensing hydraulic cylinder 51 is provided with a position sensor 55, one end of the position sensing hydraulic cylinder is hinged in the rear hydraulic cylinder clamp plate B2125, and the other end of the position sensing hydraulic cylinder is hinged in the rear fixing plate 133; a rod cavity 52 of the common hydraulic cylinder 50 is communicated with a rodless cavity 53 of the position sensing hydraulic cylinder 51 through an oil pipeline 54, and the rodless cavity 53 of the common hydraulic cylinder 50 is communicated with the rod cavity 52 of the position sensor 55 through the oil pipeline 54; the two steering hydraulic cylinders 5 are respectively communicated with the hydraulic control valve group 11 through oil pipelines 54. The circuit controller 10 is electrically coupled to an external power source, an external control signal, and a position sensor 55; the hydraulic control valve group 11 is communicated with an external hydraulic power source, the hydraulic motor 22 and the steering hydraulic cylinder 5 through an oil pipeline 54 to form a loop.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The invention has the advantages that: the invention discloses a walking frame which has multiple steering modes. Meanwhile, the function of synchronously turning the frame steering walking wheels at the same angle and at the same time is realized through the cooperative matching of the position sensing hydraulic cylinder, the common hydraulic cylinder and the steering connecting rod. The walking frame is flexible in steering, small in turning radius, good in controllability and strong in stability.
Claims (7)
1. A multi-steering mode walking frame capable of guaranteeing synchronous steering comprises a frame (1), steering walking wheels (2), a steering arm (3), a steering connecting rod (4) and a steering hydraulic cylinder (5), wherein the steering walking wheels (2) comprise front steering walking wheels (20) and rear steering walking wheels (21); the steering hydraulic cylinder (5) comprises a common hydraulic cylinder (50) and a position sensing hydraulic cylinder (51), and is characterized in that a circuit controller (10) and a hydraulic control valve group (11) are arranged on the frame (1), a front steering walking wheel (20) is arranged at the front end of the frame, and a rear steering walking wheel (21) is arranged at the rear end of the frame; the hydraulic motor (22) and the steering arms (3) are arranged on the steering travelling wheels (2), a steering connecting rod (4) is respectively connected between the steering arms (3) of the front and rear groups of steering travelling wheels (2), two groups of four steering hydraulic cylinders (5) are respectively arranged in the middle of the front and rear ends of the frame (1), the four steering hydraulic cylinders are respectively connected with the steering arms (3) of the steering travelling wheels (2), one of the steering hydraulic cylinders (5) is a common hydraulic cylinder (50), and the other steering hydraulic cylinder is a position sensing hydraulic cylinder (51); in each group of steering hydraulic cylinders (5), a rod cavity (52) and a rodless cavity (53) of one steering hydraulic cylinder (5) are respectively communicated with a rodless cavity (53) and a rod cavity (52) of the other steering hydraulic cylinder (5) through oil conveying pipes (54).
2. A multi-steering-mode running carriage (1) ensuring synchronous steering according to claim 1, characterized in that: the frame (1) comprises a front axle (12), a rear axle (13) and a connecting frame (14), wherein supporting legs (15) are respectively arranged at four corners of the connecting frame (14), a circuit controller (10) and a hydraulic control valve group (11) are arranged on the connecting frame (14), the rear axle (13) is fixedly arranged at the rear end of the connecting frame (14), and a rotating shaft (16) is arranged in the middle position of the front end; a rear pin shaft hole A (131) and a rear pin shaft hole B (132) are respectively arranged at two ends of the rear axle (13), and a rear fixing plate (133) is arranged in the middle of the rear axle (13); a front pin shaft hole A (121) and a front pin shaft hole B (122) are respectively arranged at two ends of the front axle (12), a rotating shaft sleeve (123) is arranged at the upper end of the middle position of the front axle (12), and a front fixing plate (124) is arranged at the lower end; the rotating shaft sleeve (123) of the front axle (12) is movably connected with the rotating shaft (16) at the front end of the connecting frame (14); a rear steering road wheel A (211) and a rear steering road wheel B (212) are respectively and rotatably arranged in the rear pin hole A (131) and the rear pin hole B (132); and a front steering travelling wheel A (201) and a front steering travelling wheel B (202) are respectively and rotatably arranged in the front pin shaft hole A (121) and the front pin shaft hole B (122).
3. A multi-steering-mode running carriage (1) ensuring synchronous steering according to claim 2, characterized in that: the front steering travelling wheels (20) comprise front steering travelling wheels A (201) and front steering travelling wheels B (202); a front support shaft seat A (2011) is arranged on the inner side of the front steering travelling wheel A (201); a hydraulic motor (22) is arranged in the front support shaft seat A (2011), the upper end of the front support shaft seat A is fixedly provided with a front pin shaft A (2012), and one side of the front support shaft seat A is fixedly provided with a front steering arm A (2013); the front pin shaft A (2012) is rotatably arranged in the front pin shaft hole A (121) in a penetrating way; a front connecting rod clamp plate A (2014) is arranged on the upper side of the front steering arm A (2013), and a front hydraulic cylinder clamp plate A (2015) is arranged on the lower side of the front steering arm A; the front steering travelling wheel B (202) comprises a front support shaft seat B (2021), a front pin shaft B (2022), a front steering arm B (2023), a front connecting rod clamp plate B (2024) and a front hydraulic cylinder clamp plate B (2025), and all components of the front steering travelling wheel B (202) correspond to all components of the front steering travelling wheel A (201) in arrangement mode; one end of the steering connecting rod (4) is hinged in the front connecting rod clamping plate A (2014), and the other end is hinged in the front connecting rod clamping plate B (2024); one end of the steering hydraulic cylinder (5) is hinged in the front hydraulic cylinder clamp plate A (2015), the other end of the steering hydraulic cylinder (5) is hinged on the front fixing plate (124), one end of the other steering hydraulic cylinder (5) is hinged in the front hydraulic cylinder clamp plate B (2025), and the other end of the steering hydraulic cylinder (5) is hinged on the front fixing plate (124).
4. A multi-steering-mode running carriage (1) ensuring synchronous steering according to claim 2, characterized in that: the rear steering road wheels (21) comprise rear steering road wheels A (211) and rear steering road wheels B (212); a rear support shaft seat A (2111) is arranged on the inner side of the rear steering travelling wheel A (211); a hydraulic motor (22) is arranged in the rear supporting shaft seat A (2111), the upper end of the rear supporting shaft seat A is fixedly provided with a rear pin shaft A (2112), and one side of the rear supporting shaft seat A is fixedly provided with a rear steering arm A (2113); the rear pin shaft A (2112) is rotatably arranged in the rear pin shaft hole A (131) in a penetrating way; a rear connecting rod clamping plate A (2114) is arranged on the upper side of the rear steering arm A (2113), and a rear hydraulic cylinder clamping plate A (2115) is arranged on the lower side of the rear steering arm A (2113); the rear steering walking wheel B (212) comprises a rear support shaft seat B (2121), a rear pin shaft B (2122), a rear steering arm B (2123), a rear connecting rod clamping plate B (2124) and a rear hydraulic cylinder clamping plate B (2125), and all components of the rear steering walking wheel B (212) correspond to all components of the rear steering walking wheel A (211) in arrangement modes.
5. A multi-steering-mode running carriage (1) ensuring synchronous steering according to claim 3, characterized in that: one end of the common hydraulic cylinder (50) is hinged in the front hydraulic cylinder clamp plate A (2015), the other end of the common hydraulic cylinder is hinged on the front fixing plate (124), the position sensing hydraulic cylinder (51) is provided with a position sensor (55), one end of the position sensor is hinged in the front hydraulic cylinder clamp plate B (2025), and the other end of the position sensor is hinged in the front fixing plate (124); a rod cavity (52) of the common hydraulic cylinder (50) is communicated with a rodless cavity (53) of the position sensing hydraulic cylinder (51) through an oil pipeline (54), and the rodless cavity (53) of the common hydraulic cylinder (50) is communicated with the rod cavity (52) of the position sensor (55) through the oil pipeline (54); the two steering hydraulic cylinders (5) are respectively communicated with the hydraulic control valve group (11) through oil pipelines (54).
6. A multi-steering-mode running carriage (1) ensuring synchronous steering according to claim 4, characterized in that: one end of the common hydraulic cylinder (50) is hinged in the rear hydraulic cylinder clamp plate A (2115), the other end of the common hydraulic cylinder is hinged on the rear fixing plate (133), the position sensing hydraulic cylinder (51) is provided with a position sensor (55), one end of the position sensor is hinged in the rear hydraulic cylinder clamp plate B (2125), and the other end of the position sensor is hinged in the rear fixing plate (133); a rod cavity (52) of the common hydraulic cylinder (50) is communicated with a rodless cavity (53) of the position sensing hydraulic cylinder (51) through an oil pipeline (54), and the rodless cavity (53) of the common hydraulic cylinder (50) is communicated with the rod cavity (52) of the position sensor (55) through the oil pipeline (54); the two steering hydraulic cylinders (5) are respectively communicated with the hydraulic control valve group (11) through oil pipelines (54).
7. A multi-steering-mode running carriage (1) ensuring synchronous steering according to claim 1, characterized in that: the circuit controller (10) is electrically connected with an external power supply, an external control signal and a position sensor (55); the hydraulic control valve group (11) is communicated with an external hydraulic power source, a hydraulic motor (22) and a steering hydraulic cylinder (5) through an oil pipeline (54) to form a loop.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911207550.XA CN110745183B (en) | 2019-11-29 | 2019-11-29 | Multi-steering mode walking frame capable of guaranteeing synchronous steering |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911207550.XA CN110745183B (en) | 2019-11-29 | 2019-11-29 | Multi-steering mode walking frame capable of guaranteeing synchronous steering |
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| CN110745183A true CN110745183A (en) | 2020-02-04 |
| CN110745183B CN110745183B (en) | 2024-05-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112520654A (en) * | 2020-11-18 | 2021-03-19 | 北京林业大学 | Leveling hilly and mountainous area orchard mechanized operation platform |
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| CN110745183B (en) | 2024-05-28 |
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