CN110745183B - Multi-steering mode walking frame capable of guaranteeing synchronous steering - Google Patents
Multi-steering mode walking frame capable of guaranteeing synchronous steering Download PDFInfo
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- CN110745183B CN110745183B CN201911207550.XA CN201911207550A CN110745183B CN 110745183 B CN110745183 B CN 110745183B CN 201911207550 A CN201911207550 A CN 201911207550A CN 110745183 B CN110745183 B CN 110745183B
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- travelling wheel
- clamping plate
- frame
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 11
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 239000003921 oil Substances 0.000 description 17
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 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
- 230000008602 contraction 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
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 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
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—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 travelling wheels, steering arms, steering connecting rods and steering hydraulic cylinders. The front end of the frame is provided with front steering travelling wheels, and the rear end of the frame is provided with rear steering travelling wheels. Steering connecting rods are respectively connected between steering arms of the front steering travelling wheel and the rear steering travelling wheel, two groups of four steering hydraulic cylinders are respectively arranged in the middle of the front end and the rear end of the frame, and the steering arms of the steering travelling wheels are respectively connected. 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 pipes. The invention discloses a walking frame which has a plurality of steering modes. Meanwhile, the synchronous, same-angle and simultaneous steering functions of the frame steering travelling wheels are realized through the cooperative cooperation between the hydraulic cylinder and the steering connecting rod. The travelling carriage has the advantages of flexible steering, small turning radius, good operability and strong stability.
Description
Technical Field
The invention relates to the field of engineering machinery frames, in particular to a walking frame with multiple steering modes, which can ensure that steering wheels steer simultaneously.
Background
Along with the development of society, the infrastructure is continuously enlarged, the application range of engineering machinery is wider and wider, and meanwhile, the performance requirements on the machinery are higher and higher, and particularly, the requirements on the steering mode are also higher and higher. The steering modes of the general engineering machinery are mostly single two-wheel steering, four-wheel steering or crab steering, and the requirements of various construction environments cannot be met at the same time. For example, in a narrow area or factory building, the machine is required to be flexibly steered, the turning radius is small, and a four-wheel steering mode can be used. In large-area construction or factory transfer, the machine is required to be stable in steering and good in control, and a two-wheel steering mode can be used. And when the construction is performed in a specific environment in which turning cannot be performed, a crab steering mode can be used.
At present, a frame with multiple steering modes is also commonly arranged on engineering machinery, but independent steering control is needed to be carried out on four travelling wheels, the structure is complex, the structure is limited by the influence of a rod cavity and a rodless cavity structure of a hydraulic cylinder, the steering action of a steering wheel cannot be ensured to be synchronously carried out when the plurality of hydraulic cylinders are adopted to cooperatively steer, through practical verification, the conventional travelling frame with the plurality of hydraulic cylinders cooperatively for realizing steering has a certain time difference when two wheels steer, and the same steering angle has one side wheel driven by the rod cavity to finish the steering action in advance before one side wheel driven by the rodless cavity.
Disclosure of Invention
The invention aims to solve the technical problems and provide a multi-steering mode walking frame capable of guaranteeing 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 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 front steering travelling wheels, and the rear end of the frame is provided with rear steering travelling wheels. The steering travelling wheel is provided with a hydraulic motor and a steering arm, steering connecting rods are respectively connected between the steering arms of the front steering travelling wheel and the rear steering travelling wheel, two groups of four steering hydraulic cylinders are respectively arranged in the middle of the front end and the rear end of the frame, the steering arms of the steering travelling wheels are respectively connected, one of the steering hydraulic cylinders in each group is a common hydraulic cylinder, and the other steering hydraulic cylinder 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 pipes.
Further, the frame include front axle, rear axle and link, be provided with the stabilizer blade respectively at four minutes of link, be provided with circuit controller and hydraulic control valves on the link, the rear end at the link is fixed to 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 at the middle position of the rear axle. The front axle is provided with a front pin shaft hole A and a front pin shaft hole B at two ends respectively, a rotating shaft sleeve is arranged at the upper end of the middle position of the front axle, and a front fixing plate is arranged at the lower end of the middle position of the front axle. The rotating shaft sleeve of the front axle is movably connected with the rotating shaft at the front end of the connecting frame. The rear pin shaft hole A and the rear pin shaft hole B are respectively provided with a rear steering travelling wheel A and a rear steering travelling wheel B in a rotating way. The front pin shaft hole A and the front pin shaft hole B are respectively provided with a front steering travelling wheel A and a front steering travelling wheel B in a rotating way.
Further, the front steering travelling wheels comprise a front steering travelling wheel A and a front steering travelling wheel B. The inner side of the front steering travelling wheel A is provided with a front supporting shaft seat A. The front support shaft seat A is internally provided with a hydraulic motor, the upper end of the front support shaft seat A is fixedly provided with a front pin shaft A, and one side of the front support shaft seat A is fixedly provided with a front steering arm A. The front pin shaft A is rotatably arranged in the front pin shaft hole A in a penetrating mode. The front steering arm A is provided with a front connecting rod clamping plate A at the upper side and a front hydraulic cylinder clamping plate A at the lower side. The front steering travelling wheel B comprises a front supporting 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 each component of the front steering travelling wheel B corresponds to each component of the front steering travelling wheel A in arrangement mode. One end of the steering connecting rod is hinged in the front connecting rod clamping plate A, and the other end is hinged in the front connecting rod clamping plate B. One end of the steering hydraulic cylinder is hinged in the front hydraulic cylinder clamping 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 clamping plate B, and the other end of the other steering hydraulic cylinder is hinged on the front fixing plate.
Further, the rear steering travelling wheels comprise a rear steering travelling wheel A and a rear steering travelling wheel B. And a rear supporting shaft seat A is arranged on the inner side of the rear steering travelling wheel A. The rear supporting shaft seat A is internally provided with a hydraulic motor, the upper end of the rear supporting shaft seat A is fixedly provided with a rear pin shaft A, and one side of the rear supporting shaft seat A is fixedly provided with a rear steering arm A. The rear pin shaft A is rotatably arranged in the rear pin shaft hole A in a penetrating mode. The upper side of the rear steering arm A is provided with a rear connecting rod clamping plate A, and the lower side of the rear steering arm A is provided with a rear hydraulic cylinder clamping plate A. The rear steering travelling wheel B comprises a rear supporting 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 each component of the rear steering travelling wheel B corresponds to each component of the rear steering travelling wheel A in arrangement mode.
Further, 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, a position sensor is arranged on the position sensing hydraulic cylinder, 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. The rod cavity of the common hydraulic cylinder is communicated with the rod cavity of the position sensing hydraulic cylinder through an oil pipeline, and the rod cavity of the common hydraulic cylinder is communicated with the rod cavity of the position sensor through the oil pipeline. The two steering hydraulic cylinders are respectively communicated with the hydraulic control valve group through oil delivery pipes.
Further, one end of the common hydraulic cylinder is hinged in the rear hydraulic cylinder clamping plate A, the other end of the common hydraulic cylinder is hinged on the rear fixing plate, a position sensor is arranged on the position sensing hydraulic cylinder, one end of the position sensing hydraulic cylinder is hinged in the rear hydraulic cylinder clamping plate B, and the other end of the position sensing hydraulic cylinder is hinged in the rear fixing plate. The rod cavity of the common hydraulic cylinder is communicated with the rod cavity of the position sensing hydraulic cylinder through an oil pipeline, and the rod cavity of the common hydraulic cylinder is communicated with the rod cavity of the position sensor through the oil pipeline. The two steering hydraulic cylinders are respectively communicated with the hydraulic control valve group through oil delivery 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 oil delivery pipes to form a loop.
The technology according to the present invention is described below:
1. 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 steering arms of steering wheels at two ends, so that the steering angles of the front steering travelling wheels A and the front steering travelling wheels B at two ends of the front axle are the same; and the steering angles of the rear steering travelling wheels A and the rear steering travelling wheels B at the two ends of the rear axle are the same.
2. Position sensing hydraulic cylinder and ordinary hydraulic cylinder: the position sensor hydraulic cylinder and the common hydraulic cylinder are mutually matched to form a group of steering hydraulic cylinders. 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 normal hydraulic cylinder are respectively provided inside the front axle and the rear axle; the steering travelling wheel frame realizes multiple steering modes, and the synchronous, simultaneous and same-angle steering of the steering travelling wheel is realized based on the detection of the offset by the position sensing hydraulic cylinder, the auxiliary matching of the common hydraulic cylinder and the cooperative matching of the steering connecting rod.
3. And (3) supporting legs: four supporting legs are respectively arranged at the front and rear corner positions of the frame. When the four support legs are needed by the walking frame, the four support legs can extend out simultaneously to support the frame, so that the frame is kept stable.
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 the middle position, the wheels are automatically centered and in a straight running state, and at the moment, the position sensor in the position sensing hydraulic cylinder is in a zero position. In the two-wheel steering mode state, the circuit controller firstly analyzes and processes the received steering handle signals, then controls the corresponding solenoid valves 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 back displacement signals to the circuit controller through the position sensor in the position sensing hydraulic cylinder, and the circuit controller analyzes and processes the displacement signals. When the steering handle rotates leftwards, the two front steering travelling wheels simultaneously rotate leftwards by a corresponding angle; when the steering handle rotates rightwards, the two front steering travelling wheels simultaneously rotate rightwards by a corresponding angle.
(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, then simultaneously controls the corresponding solenoid valve on the hydraulic control valve group to act, and transmits the hydraulic power provided by the hydraulic pump to the front steering hydraulic cylinder and the rear steering hydraulic cylinder, and then the position sensors in the front position sensing hydraulic cylinder and the rear position sensing hydraulic cylinder feed back the displacement signals to the circuit controller respectively, and the circuit controller analyzes and processes the displacement signals. When the steering handle rotates leftwards, the front steering travelling wheel and the rear steering travelling wheel simultaneously rotate leftwards by corresponding angles; when the steering handle rotates rightwards, the front steering travelling wheel and the rear steering travelling wheel simultaneously rotate rightwards by corresponding angles.
(3) Crab type 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, then simultaneously controls the corresponding solenoid valve on the hydraulic control valve group to act, and transmits the hydraulic power provided by the hydraulic pump to the front steering hydraulic cylinder and the rear steering hydraulic cylinder, and then the position sensors in the front position sensing hydraulic cylinder and the rear position sensing hydraulic cylinder feed back the displacement signals to the circuit controller respectively, and the circuit controller analyzes and processes the displacement signals. When the steering handle rotates leftwards, the two steering travelling wheels of the front axle rotate leftwards by a corresponding angle, and the two steering travelling wheels of the rear axle rotate rightwards by a corresponding angle; when the steering handle rotates rightwards, the two steering travelling wheels of the front axle rotate rightwards by corresponding angles, and the two steering travelling wheels of the rear axle rotate leftwards by corresponding angles.
Therefore, when the steering mode is required to be switched, the displacement signals are fed back to the circuit controller through the position sensor in the position sensing hydraulic cylinder, and the circuit controller sends out different control signals to enable the hydraulic cylinders at different positions to stretch and retract, so that two-wheel steering, four-wheel steering or crab steering of the walking frame can be realized.
The working principle of the invention is as follows: according to the walking frame disclosed by the invention, the telescopic change of the steering hydraulic cylinders arranged on the front axle and the rear axle is controlled through the operation of an operator, and the multi-mode steering of the frame is realized by matching with the hydraulic motor and the walking wheels. When steering is performed, the position sensing hydraulic cylinder detects the displacement of the oil cylinder in real time, and the expansion and contraction amount of the steering hydraulic cylinder is accurately controlled by combining the analysis and processing of the circuit controller, so that the steering of the walking steering wheel under different modes is realized. Meanwhile, steering arms on the front axle and the rear axle are connected through a steering connecting rod mechanism to form an action linkage mechanism, so that the position sensing hydraulic cylinders on the front axle and the rear axle and the common hydraulic cylinder can synchronously move. Meanwhile, the rod cavity and the rodless cavity of the position sensing hydraulic cylinder are respectively communicated with the rodless cavity and the rod cavity of the common hydraulic rod, and according to the conduction effect of hydraulic oil, the left steering speed and the right steering speed can be guaranteed to be the same.
Description of the drawings:
Fig. 1: a three-dimensional schematic diagram of a walking frame;
Fig. 2: schematic diagram of front axle and steering travelling wheel;
Fig. 3: a front steering travelling wheel and a steering arm schematic diagram;
Fig. 4: rear axle and steering travelling wheel schematic diagrams;
fig. 5: rear steering road wheels and steering arm schematic diagrams;
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: four-wheel steering mode schematic.
Fig. 9: crab-type steering mode schematic.
Wherein: 1-a frame, 10-a circuit controller, 11-a hydraulic control valve group, 12-a front axle, 121-a front pin shaft hole A, 122-a front pin shaft hole B, 123-a swivel sleeve, 124-a front fixing plate, 13-a rear axle, 131-a rear pin shaft hole A, 132-a rear pin shaft hole B, 133-a rear fixing plate, 14-a connecting frame, 15-a support leg, 16-a rotating shaft, 2-a steering road wheel, 20-a front axial road wheel, 201-a front steering road wheel A, 2011-a front support shaft seat A, 2012-a front pin shaft A, 2013-a front steering arm A, 2014-a front link clamp plate A, 2015-a front hydraulic cylinder clamp plate A, 202-a front steering road wheel B, 2021-a front support shaft seat B, 2022-a front pin shaft B, 2023-a front steering arm B, 2024-front link clamp B, 2025-front cylinder clamp B, 21-rear steering road wheel, 211-rear steering road wheel a, 2111-rear support shaft seat a, 2112-rear steering wheel a, 2113-rear steering wheel a, 2114-rear link clamp a, 2115-rear cylinder clamp a, 212-rear steering road wheel B, 2121-rear support shaft seat B, 2122-rear pin B, 2123-rear steering arm B, 2124-rear link clamp B, 2125-rear cylinder clamp B, 22-hydraulic motor, 3-steering arm, 4-steering link, 5-steering cylinder, 50-ordinary cylinder, 51-position sensing cylinder, 52-rod cavity, 53-rodless cavity, 54-oil delivery pipe, 55-position sensor.
The specific embodiment is as follows:
the present invention will be described in detail with reference to the accompanying drawings.
Referring to the 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 the four corners of the connecting frame 14 are provided with supporting legs 15, the connecting frame 14 is provided with a circuit controller 10 and a hydraulic control valve group 11, the rear end of the connecting frame 14 is fixedly provided with the rear axle 13, and the middle position of the front end is provided with a rotating shaft 16; the two ends of the rear axle 13 are respectively provided with a rear pin shaft hole A131 and a rear pin shaft hole B132, and a rear fixing plate 133 is arranged in the middle of the rear axle 13; front pin shaft holes A121 and 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 of the middle position of the front axle 12; 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 travelling wheel A211 and a rear steering travelling wheel B212 are respectively rotatably arranged in the rear pin shaft hole A131 and the rear pin shaft hole B132; front steering travelling wheels A201 and front steering travelling wheels B202 are respectively arranged in the front pin shaft hole A121 and the front pin shaft hole B122 in a rotating mode. The front steering road wheels 20 comprise a front steering road wheel A201 and a front steering road wheel B202; a front supporting 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, a front pin A2012 is fixedly arranged at the upper end of the front support shaft seat A2011, and a front steering arm A2013 is fixedly arranged at one side of the front support shaft seat A2012; the front pin shaft A2012 is rotatably arranged in the front pin shaft hole A121 in a penetrating manner; a front connecting rod clamping plate A2014 is arranged on the upper side of the front steering arm A2013, and a front hydraulic cylinder clamping plate A2015 is arranged on the lower side of the front steering arm A2013; the front steering travelling wheel B202 comprises a front supporting shaft seat B2021, a front pin shaft B2022, a front steering arm B2023, a front connecting rod clamping plate B2024 and a front hydraulic cylinder clamping plate B2025, and each component of the front steering travelling wheel B202 corresponds to each component of the front steering travelling wheel A201 in arrangement mode; 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 common hydraulic cylinder 50 is hinged in a front hydraulic cylinder clamping plate A2015, the other end of the common hydraulic cylinder is hinged on a front fixing plate 124, a position sensor 55 is arranged on the position sensing hydraulic cylinder 51, one end of the common hydraulic cylinder is hinged in a front hydraulic cylinder clamping plate B2025, and the other end of the common hydraulic cylinder is hinged in the front fixing plate 124; the rod cavity 52 of the common hydraulic cylinder 50 is communicated with the rod-free cavity 53 of the position sensing hydraulic cylinder 51 through an oil delivery pipe 54, and the rod-free cavity 53 of the common hydraulic cylinder 50 is communicated with the rod cavity 52 of the position sensor 55 through the oil delivery pipe 54; the two steering hydraulic cylinders 5 are respectively communicated with the hydraulic control valve group 11 through oil delivery pipes 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 supporting shaft seat A2111, a rear pin A2112 is fixedly arranged at the upper end of the rear supporting shaft seat A2111, and a rear steering arm A2113 is fixedly arranged at one side of the rear supporting shaft seat A2113; the rear pin shaft A2112 is rotatably arranged in the rear pin shaft hole A131 in a penetrating manner; 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 of the rear steering arm A2113; the rear steering travelling wheel B212 comprises a rear supporting shaft seat B2121, a rear pin shaft B2122, a rear steering arm B2123, a rear connecting rod clamping plate B2124 and a rear hydraulic cylinder clamping plate B2125, and each component of the rear steering travelling wheel B212 corresponds to each component of the rear steering travelling wheel A211 in arrangement mode. One end of the common hydraulic cylinder 50 is hinged in the rear hydraulic cylinder clamping 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 clamping plate B2125, and the other end of the position sensing hydraulic cylinder is hinged in the rear fixing plate 133; the rod cavity 52 of the common hydraulic cylinder 50 is communicated with the rod-free cavity 53 of the position sensing hydraulic cylinder 51 through an oil delivery pipe 54, and the rod-free cavity 53 of the common hydraulic cylinder 50 is communicated with the rod cavity 52 of the position sensor 55 through the oil delivery pipe 54; the two steering hydraulic cylinders 5 are respectively communicated with the hydraulic control valve group 11 through oil delivery pipes 54. The circuit controller 10 is electrically connected with an external power supply, external control signals 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 delivery pipe 54 and forms a loop.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
The invention has the advantages that: the invention discloses a walking frame which has a plurality of steering modes. Meanwhile, the synchronous, same-angle and simultaneous steering functions of the frame steering travelling wheels are realized through the cooperative cooperation between the position sensing hydraulic cylinder, the common hydraulic cylinder and the steering connecting rod. The travelling carriage has the advantages of flexible steering, small turning radius, good operability and strong stability.
Claims (2)
1. The multi-steering mode walking frame for 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 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 travelling wheel (20) is arranged at the front end of the frame, and a rear steering travelling wheel (21) is arranged at the rear end of the frame; the steering travelling wheel (2) is provided with a hydraulic motor (22) and a steering arm (3), steering connecting rods (4) are respectively connected between the steering arms (3) of the front steering travelling wheel (2) and the rear steering travelling wheel (2), two groups of four steering hydraulic cylinders (5) are respectively arranged in the middle of the front end and the rear end of the frame (1), the steering arms (3) of the steering travelling wheel (2) are respectively connected, one of the steering hydraulic cylinders (5) in each group 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 the rodless cavity (53) and the rod cavity (52) of the other steering hydraulic cylinder (5) through oil delivery pipes (54), the frame (1) comprises a front axle (12), a rear axle (13) and a connecting frame (14), 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 end of the connecting frame (14) is fixedly provided with the rear axle (13), and the middle position of the front end is provided with a rotating shaft (16); the two ends of the rear axle (13) are respectively provided with a rear pin shaft hole A (131) and a rear pin shaft hole B (132), and a rear fixing plate (133) is arranged at the middle position of the rear axle (13); front pin shaft holes A (121) and front pin shaft holes B (122) are respectively formed in 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 of the front axle; 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); the rear pin shaft hole A (131) and the rear pin shaft hole B (132) are respectively provided with a rear steering travelling wheel A (211) and a rear steering travelling wheel B (212) in a rotating way; the front pin shaft hole A (121) and the front pin shaft hole B (122) are respectively provided with a front steering travelling wheel A (201) and a front steering travelling wheel B (202) in a rotating way;
The front steering travelling wheel (20) comprises a front steering travelling wheel A (201) and a front steering travelling wheel B (202); a front supporting 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), a front pin shaft A (2012) is fixedly arranged at the upper end of the hydraulic motor, and a front steering arm A (2013) is fixedly arranged at one side of the front support shaft seat A; the front pin shaft A (2012) is rotatably arranged in the front pin shaft hole A (121); a front connecting rod clamping plate A (2014) is arranged on the upper side of the front steering arm A (2013), and a front hydraulic cylinder clamping 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 supporting shaft seat B (2021), a front pin shaft B (2022), a front steering arm B (2023), a front connecting rod clamping plate B (2024) and a front hydraulic cylinder clamping plate B (2025), and each component of the front steering travelling wheel B (202) corresponds to each component 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 clamping plate A (2015), the other end of the steering hydraulic cylinder is hinged on the front fixing plate (124), one end of the other steering hydraulic cylinder (5) is hinged in the front hydraulic cylinder clamping plate B (2025), and the other end of the other steering hydraulic cylinder is hinged on the front fixing plate (124);
The rear steering travelling wheel (21) comprises a rear steering travelling wheel A (211) and a rear steering travelling wheel B (212); a rear supporting 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), a rear pin A (2112) is fixedly arranged at the upper end of the rear supporting shaft seat A, and a rear steering arm A (2113) is fixedly arranged at one side of the rear supporting shaft seat A; the rear pin shaft A (2112) is rotatably arranged in the rear pin shaft hole A (131) in a penetrating manner; 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; the rear steering travelling wheel B (212) comprises a rear supporting 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 each component of the rear steering travelling wheel B (212) corresponds to each component of the rear steering travelling wheel A (211) in arrangement mode;
One end of the common hydraulic cylinder (50) is hinged in a front hydraulic cylinder clamping plate A (2015), the other end of the common hydraulic cylinder is hinged on a front fixing plate (124), a position sensor (55) is arranged on the position sensing hydraulic cylinder (51), one end of the common hydraulic cylinder is hinged in a front hydraulic cylinder clamping plate B (2025), and the other end of the common hydraulic cylinder is hinged in the front fixing plate (124); the rod cavity (52) of the common hydraulic cylinder (50) is communicated with the rod cavity (53) of the position sensing hydraulic cylinder (51) through an oil delivery pipe (54), and the rod cavity (53) of the common hydraulic cylinder (50) is communicated with the rod cavity (52) of the position sensor (55) through the oil delivery pipe (54); the two steering hydraulic cylinders (5) are respectively communicated with the hydraulic control valve group (11) through oil delivery pipes (54);
One end of the common hydraulic cylinder (50) is hinged in the rear hydraulic cylinder clamping plate A (2115), the other end of the common hydraulic cylinder is hinged on the rear fixing plate (133), a position sensor (55) is arranged on the position sensing hydraulic cylinder (51), one end of the common hydraulic cylinder is hinged in the rear hydraulic cylinder clamping plate B (2125), and the other end of the common hydraulic cylinder is hinged in the rear fixing plate (133); the rod cavity (52) of the common hydraulic cylinder (50) is communicated with the rod cavity (53) of the position sensing hydraulic cylinder (51) through an oil delivery pipe (54), and the rod cavity (53) of the common hydraulic cylinder (50) is communicated with the rod cavity (52) of the position sensor (55) through the oil delivery pipe (54); the two steering hydraulic cylinders (5) are respectively communicated with the hydraulic control valve group (11) through oil delivery pipes (54).
2. 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 delivery pipe (54) and forms a loop.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| 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 CN110745183A (en) | 2020-02-04 |
| CN110745183B true CN110745183B (en) | 2024-05-28 |
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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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| CN110745183A (en) | 2020-02-04 |
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