CN113771943A - Steering control system and working machine - Google Patents
Steering control system and working machine Download PDFInfo
- Publication number
- CN113771943A CN113771943A CN202111138693.7A CN202111138693A CN113771943A CN 113771943 A CN113771943 A CN 113771943A CN 202111138693 A CN202111138693 A CN 202111138693A CN 113771943 A CN113771943 A CN 113771943A
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- steering
- rear axle
- telescopic
- control system
- rod
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- 230000005540 biological transmission Effects 0.000 claims abstract description 54
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 239000003921 oil Substances 0.000 description 35
- 238000013461 design Methods 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000009795 derivation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000009428 plumbing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1554—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention provides a steering control system and an operating machine. The telescopic device is provided with a telescopic rod hinged with the rear axle steering transmission rod system, and the driving device is used for controlling whether the telescopic rod makes telescopic motion according to the rear axle steering information. According to the arrangement, when each rear axle steers, the driving device controls the telescopic rod to do corresponding telescopic motion according to the current steering information so as to drive the rear axle steering transmission rod system to move. When each rear axle can not turn to, the driving device controls the telescopic rod to be incapable of stretching, and the rear axle steering transmission rod system is locked. The steering of each rear axle is realized through the transmission connection of the mechanical lever system, and the multiple steering modes during driving can be met by controlling the motion of the telescopic rod, so that the structure is simple, the use of parts is greatly reduced, the production cost is reduced, and the reliability and the accuracy of the corner relation during steering of each rear axle are effectively improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a steering control system and an operating machine.
Background
The all-terrain crane is a mobile crane, and is a high-performance product with the characteristics of an automobile crane and a cross-country crane. The vehicle-mounted crane can be quickly transferred and run for a long distance like a truck crane, and can meet the requirements of operation on narrow and rugged or muddy fields, namely, the vehicle-mounted crane is high in running speed, large in ground clearance, high in climbing capacity and the like, and is a product with great development prospect.
At present, a front axle rod system is generally adopted for steering of a crane, and each rear axle is assisted to steer through an angle sensor and a steering oil cylinder. However, each rear axle is provided with an angle sensor, and each rear axle can drive each rear axle to steer by installing a steering oil cylinder, so that the structure is complex, the production cost is high, and the steering accuracy and the reliability of the angle sensor are not ideal.
Disclosure of Invention
The invention aims to provide a steering control system and a working machine, which are used for solving the problems in the prior art.
The present invention provides a steering control system, including:
the rear axle steering transmission rod system is hinged with at least two rear axles and can drive each rear axle to steer;
one end of the telescopic device is hinged with the vehicle body, the other end of the telescopic device is hinged with the rear axle steering transmission rod system, and the telescopic device is provided with a telescopic rod hinged with the rear axle steering transmission rod system;
the steering information acquisition unit is used for acquiring steering information of a rear axle;
and the driving device is in communication connection with the steering information acquisition unit and is used for controlling whether the telescopic rod makes telescopic motion or not according to the rear axle steering information.
According to the steering control system provided by the present invention, the steering information acquisition unit includes:
the first angle sensor is used for acquiring front axle steering information;
and the second angle sensor is in communication connection with the first angle sensor and the driving device respectively, and is used for determining the rear axle steering information according to the front axle steering information.
According to the steering control system provided by the invention, the telescopic device is set to be a telescopic hydraulic cylinder, the telescopic hydraulic cylinder comprises a cylinder body and a piston rod, the cylinder body is hinged with the vehicle body, the piston rod is hinged with the rear axle steering transmission rod system, and the piston rod can do telescopic motion in the cylinder body to form the telescopic rod.
According to the steering control system provided by the present invention, the drive device includes:
the hydraulic lock is respectively connected with the rod cavity and the rodless cavity of the telescopic hydraulic cylinder;
and the reversing valve is respectively connected with the main oil way and the hydraulic lock and is used for controlling the oil supply flow of the hydraulic lock and switching the oil inlet way and the oil return way of the hydraulic lock.
According to the invention, the steering control system comprises at least one steering mode of an all-wheel steering mode, a high-speed driving mode and a crab mode,
in the all-wheel steering mode, the steering of a rear axle is opposite to the steering of a front axle, and the driving device controls the telescopic rod to do telescopic motion, so that the telescopic rod drives each rear axle to steer through the rear axle steering transmission rod system;
in the high-speed driving mode, each rear axle cannot steer, and the driving device controls the telescopic rod not to be telescopic, so that the rear axle steering transmission rod system cannot move;
in the crab walking mode, the steering of the rear axle is the same as the steering of the front axle, and the driving device controls the telescopic rod to do telescopic motion, so that the telescopic rod drives each rear axle to steer through the rear axle steering transmission rod system.
The steering control system further comprises a locking mechanism for locking and unlocking the rear axle steering transmission rod system,
wherein, in the high-speed travel mode, the locking mechanism locks the rear axle steering gear train so that each rear axle cannot steer; in the all-wheel steering mode and the crab mode, the locking mechanism unlocks the rear axle steering linkage to enable each rear axle to steer.
According to the steering control system provided by the present invention, the lock mechanism includes:
the locking hole is arranged in the rear axle steering transmission rod system;
the locking part is matched with the locking hole and can extend into or withdraw from the locking hole;
the driving part is used for driving the locking part to extend into or withdraw from the locking hole;
the rear axle steering transmission rod system is in a locked state under the condition that the driving part drives the locking part to extend into the locking hole; and under the condition that the driving part drives the locking part to exit the locking hole, the rear axle steering transmission rod system is in an unlocking state.
According to the steering control system provided by the invention, the locking part is a pin shaft, the driving part is a hydraulic cylinder, and a piston rod of the hydraulic cylinder is connected with the pin shaft.
The steering control system further comprises a front axle steering transmission rod system, wherein the front axle steering transmission rod system is hinged with the front axle and can drive the front axle to steer.
The invention also provides a working machine, which comprises a vehicle body and a steering control system arranged on the vehicle body, wherein the steering control system is the steering control system as described in any one of the above.
The steering control system comprises a rear axle steering transmission rod system, a steering control system and a control system, wherein the rear axle steering transmission rod system is hinged with at least two rear axles and can drive each rear axle to steer; one end of the telescopic device is hinged with the vehicle body, the other end of the telescopic device is hinged with the rear axle steering transmission rod system, and the telescopic device is provided with a telescopic rod hinged with the rear axle steering transmission rod system; the steering information acquisition unit is used for acquiring steering information of a rear axle; and the driving device is in communication connection with the steering information acquisition unit and is used for controlling whether the telescopic rod performs telescopic motion or not according to the steering information of the rear axle. According to the arrangement, when each rear axle steers, the driving device controls the telescopic rod to do corresponding telescopic motion according to the current steering information so as to drive the rear axle steering transmission rod system to move. When each rear axle can not turn to, the driving device controls the telescopic rod to be incapable of stretching, and the rear axle steering transmission rod system is locked. The steering of each rear axle is realized through the transmission connection of the mechanical lever system, and the multiple steering modes during driving can be met by controlling the motion of the telescopic rod, so that the structure is simple, the use of parts is greatly reduced, the production cost is reduced, and the reliability and the accuracy of the corner relation during the steering of the rear axle are effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a front view of a steering control system provided by the present invention;
FIG. 2 is a schematic view of a portion of FIG. 1 at A;
FIG. 3 is a top plan view of each axle provided by the present invention;
reference numerals:
1: a rear axle steering drive linkage; 2: a front axle steering linkage; 3: a piston rod;
4: a first angle sensor; 5: a second angle sensor; 6: a telescopic hydraulic cylinder;
7: hydraulic locking; 8: a diverter valve; 9: a main oil path;
10: a diverter; 11: a steering cylinder;
101: a first rocker arm; 102: a rear axle drawbar; 103: a first pull rod;
104: a second rocker arm; 105: a rear second axle draw bar;
201: a second pull rod; 202: a third rocker arm; 203: a front axle link;
204: a third pull rod; 205: a fourth rocker arm; 206: the front two bridge pull rods.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The steering control system of the invention is described below with reference to fig. 1 to 3.
As shown in fig. 1, an embodiment of the present invention provides a steering control system, which includes a rear axle steering transmission linkage 1, a telescopic device, a steering information acquisition unit, and a driving device. Specifically, the rear axle steering gear train 1 is used to articulate with at least two rear axles and can drive each rear axle to steer, thereby realizing each rear wheel to steer. It should be noted that the technical solution provided by the present invention is not limited to two rear axles as shown in fig. 1, but refers to all rear axles with the same steering relationship behind the vehicle, which includes at least two rear axles. The automobile body is provided with a fixed shaft, the left end of the telescopic device is hinged with the fixed shaft, the right end of the telescopic device is hinged with the rear axle steering transmission rod system 1, and specifically, the telescopic device is provided with a telescopic rod hinged with the rear axle steering transmission rod system 1. The steering information acquisition unit is used for acquiring the steering information of the rear axle so as to control each rear wheel to accurately steer according to the current steering requirement. The driving device is in communication connection with the steering information acquisition unit and controls whether the telescopic rod performs telescopic motion or not according to the steering information of the rear axle, so that the rear wheels meet the requirements of a steering mode. In the placement position of the steering control system shown in fig. 1, the vertical direction in the drawing is the left-right direction, the lower portion in the drawing is the left end, and the upper portion in the drawing is the right end.
For example, taking two rear axles as an example, each linkage is hinged as shown in fig. 1, the rear axle steering linkage 1 includes a first rocker arm 101, a rear axle pull rod 102, a first pull rod 103, a second rocker arm 104, and a rear axle pull rod 105, wherein the middle portions of the first rocker arm 101 and the second rocker arm 104 are hinged on the vehicle body, and the right end of the telescopic rod is hinged with the upper end of the first rocker arm 101. It should be noted that all the linkage arrangements meet the steering angle relationship requirements of the steering mode. If the driving device controls the telescopic rod to move rightwards, the upper end of the first rocker arm 101 moves rightwards, the lower end of the first rocker arm 101 moves leftwards, the upper end of the second rocker arm 104 moves rightwards, and the lower end of the second rocker arm 104 moves leftwards, so that each rear axle is driven to rotate leftwards, and the left rotation of the rear wheels is realized. If the driving device controls the telescopic rod to move leftwards, the upper end of the first rocker arm 101 moves leftwards, the lower end of the first rocker arm 101 moves rightwards, the upper end of the second rocker arm 104 moves leftwards, and the lower end of the second rocker arm 104 moves rightwards, so that each rear axle is driven to rotate rightwards, and the right rotation of the rear wheels is realized. If the driving device controls the telescopic rod to be incapable of stretching, the rear axle steering transmission rod system 1 is locked, and therefore the rear wheels cannot steer. In the placement position of the steering control system shown in fig. 1, the left-right direction in the drawing is the upward-downward direction, the left side in the drawing is the upper end, and the right side in the drawing is the lower end.
According to the arrangement, when each rear axle needs to be steered, the driving device controls the telescopic rod to do corresponding telescopic motion according to the current steering information, and unlocks the rear axle steering transmission rod system 1 to drive the rear axle steering transmission rod system 1 to move. When each rear axle can not turn to, drive arrangement then controls the telescopic link and can not stretch out and draw back, turns to drive linkage 1 locking with the rear axle for rear axle turns to drive linkage 1 and can not move. The steering of each rear axle is realized through the transmission connection of the mechanical lever system, and the motion through the control telescopic link can satisfy multiple steering modes when driving, and simple structure need not all install angle sensor and steering cylinder at every rear axle and drive corresponding rear axle and turn to, and the use of spare part that has significantly reduced reduces manufacturing cost, has effectively promoted reliability and the accuracy of corner relation when each rear axle turns to.
In the embodiment of the present invention, the steering information acquisition unit includes the first angle sensor 4 and the second angle sensor 5. The first angle sensor 4 is configured to acquire front axle steering information, including a rotation direction and a rotation angle of the front axle. Second angle sensor 5 is connected with first angle sensor 4 and drive arrangement communication respectively, and second angle sensor 5 is used for turning to information according to the front axle and confirming rear axle steering information, including the direction of rotation and the turned angle etc. of rear axle. Generally, a vehicle is provided with a steering control module for a driver to select a steering mode, and when the steering mode is selected, the steering device 10 receives a steering command to drive each of the front axle and the rear axle to steer. At this time, the first angle sensor 4 acquires real-time steering information of the front axle, and the second angle sensor 5 confirms corresponding rear axle steering information by reading the real-time steering information of the front axle of the first angle sensor 4, so that the rear axle steering is matched with the front axle steering, the real-time steering relation between the rear axle and the front axle is ensured, and the selected steering mode is realized.
It should be noted that, the steering control system further includes a front axle steering transmission rod system 2, and the front axle steering transmission rod system 2 is used for being articulated with the front axle and being capable of driving the front axle to steer, so that each front wheel is steered through the mechanical rod system. The front axle refers to all front axles with the same steering relation in front of the vehicle, and comprises at least one front axle. For example, taking two front axles as an example, each linkage is hinged as shown in fig. 1, the front axle steering linkage 2 includes a second tie rod 201, a third rocker arm 202, a front axle tie rod 203, a third tie rod 204, a fourth rocker arm 205 and a front axle tie rod 206, wherein the output end of the steering knuckle arm of the steering gear 10 is hinged with the left end of the second tie rod 201, and the middle parts of the third rocker arm 202 and the fourth rocker arm 205 are hinged on the vehicle body. It should be noted that all the linkage arrangements meet the steering angle relationship requirements of the steering mode. If the steering plumbing arm of the steering gear 10 drives the second pull rod 201 to swing leftwards, the lower end of the third rocker arm 202 swings leftwards, the upper end of the third rocker arm 202 swings rightwards, the upper end of the fourth rocker arm 205 swings rightwards, and the lower end of the fourth rocker arm 205 swings leftwards, so that the front axle turns leftwards, and the left turning of the front wheel is realized. If the steering plumbing arm of the steering gear 10 drives the second pull rod 201 to swing rightwards, the lower end of the third rocker arm 202 swings rightwards, the upper end of the third rocker arm 202 swings leftwards, the upper end of the fourth rocker arm 205 swings leftwards, and the lower end of the fourth rocker arm 205 swings rightwards, so that the front axle turns rightwards, and the front wheels turn rightwards. According to the arrangement, the front axles are driven and steered through the mechanical bar system, and the steering reliability of the front axles is ensured. Like this as shown in fig. 3, can install a first angle sensor 4 and a second angle sensor 5 on preceding axle and the next axle respectively can, the cost that significantly reduces drops into, has realized the front and back axle and has turned to the matching.
In the embodiment of the invention, the telescopic device is set as a telescopic hydraulic cylinder 6, and the telescopic hydraulic cylinder 6 comprises a cylinder body and a piston rod 3. The left end of the cylinder body is hinged with a fixed shaft on the vehicle body, and the right end of the piston rod 3 is hinged with the upper end of a first rocker arm 101 in the rear axle steering transmission rod system 1. The piston rod 3, i.e. the telescopic rod, can do telescopic motion in the cylinder body, thereby realizing the switching of various steering modes. Specifically, if the rear axle is turned left, the piston rod 3 extends rightward to drive the lower end of the first rocker arm 101 to move leftward, so that the rear axle can be driven to turn left. If the rear axle is rotated to the right, the piston rod 3 retracts to the left to drive the lower end of the first rocker arm 101 to move to the right, so that the rear axle can be driven to rotate to the right. If the rear axle is not steered, the piston rod 3 cannot be extended and retracted to disable the first rocker arm 101 from turning and the rear wheels cannot be steered.
Further, the drive means comprise a hydraulic lock 7 and a reversing valve 8. The hydraulic lock 7 and the reversing valve 8 are existing mature products, and therefore are not described in detail herein. Specifically, the hydraulic lock 7 is connected to the rod chamber and the rodless chamber of the telescopic hydraulic cylinder 6, respectively, and supplies oil to the rod chamber or the rodless chamber of the telescopic hydraulic cylinder 6, so that the piston rod 3 can perform telescopic motion. As shown in fig. 2, when the oil inlet path of the hydraulic lock 7 is communicated with the rodless cavity of the telescopic hydraulic cylinder 6, and the oil return path is communicated with the rod cavity of the telescopic hydraulic cylinder 6, that is, hydraulic oil enters the rodless cavity of the telescopic hydraulic cylinder 6 from the port V1, and hydraulic oil in the rod cavity returns from the port V2, the piston rod 3 extends rightward, corresponding to a left-turn state of the rear axle. When the oil inlet path of the hydraulic lock 7 is communicated with the rod cavity of the telescopic hydraulic cylinder 6 and the oil return path is communicated with the rodless cavity of the telescopic hydraulic cylinder 6, namely hydraulic oil enters the rod cavity of the telescopic hydraulic cylinder 6 from the port V2, and hydraulic oil in the rodless cavity returns from the port V1, the piston rod 3 retracts leftwards, which corresponds to the right-turning state of the rear axle. If oil is not supplied to the hydraulic lock 7, the piston rod 3 cannot be extended or contracted.
The reversing valve 8 is respectively connected with the main oil path 9 and the hydraulic lock 7 and is used for controlling the oil supply flow of the hydraulic lock 7 and switching the oil inlet path and the oil return path of the hydraulic lock 7. For example, the change-over valve 8 can be a three-position four-way electromagnetic change-over valve, the oil inlet and the oil return port of which are respectively connected with the main oil path 9, and the first working oil port and the second working oil port of which are respectively connected with the port C1 and the port C2 of the hydraulic lock 7, so that the oil path switching of the hydraulic lock 7 can be conveniently controlled.
So set up, provide high-low pressure oil through hydraulic lock 7 for telescopic hydraulic cylinder 6's the pole chamber with no pole chamber to switch the oil circuit of hydraulic lock 7 through switching-over valve 8, thereby the motion of control piston rod 3, in order to satisfy multiple mode demand that turns to.
In the embodiment of the invention, the steering control system comprises an all-wheel steering mode, a high-speed driving mode and a crab mode. Specifically, the arrangement of all the linkages shown in fig. 1 satisfies the steering angle relationship requirement of the steering mode, when the telescopic hydraulic cylinder 6 is in the neutral state. If the steering mode is switched to the all-wheel steering mode, the rear axle steering is opposite to the front axle steering, and the rotation angle relationship of the first angle sensor 4 and the second angle sensor 5 is matched as follows: when the front axle turns left, the rear axle needs to turn right, and the reversing valve 8 switches the oil way to supply oil to the hydraulic lock 7, so that the piston rod 3 of the telescopic hydraulic cylinder 6 retracts leftwards, and the right turning of each rear axle is realized. In order to ensure the real-time corner relation between the steering rear axle and the steering front axle, the second angle sensor 5 controls the retraction stroke of the telescopic hydraulic cylinder 6 by reading the real-time left-turning angle of the first angle sensor 4. In addition, whether the steering cylinder 11 is mounted on the axle or not can be considered according to actual design requirements. When the front axle turns to the right, the rear axle needs to turn to the left, and the reversing valve 8 switches the oil way to supply oil to the hydraulic lock 7, so that the piston rod 3 of the telescopic hydraulic cylinder 6 extends to the right, and the left turning of each rear axle is realized. The second angle sensor 5 controls the extension stroke of the telescopic hydraulic cylinder 6 by reading the real-time right turning angle of the first angle sensor 4, so that the turning angle relation of the front wheel and the rear wheel is ensured. In addition, whether or not the steering cylinder 11 is mounted on the axle may be considered according to actual design requirements. Therefore, the telescopic rod is controlled to do telescopic motion through the driving device, so that the telescopic rod drives each rear axle to steer through the rear axle steering transmission rod system 1, and an all-wheel steering mode is realized.
When the vehicle is switched to the high-speed travel mode, the oil passage of the selector valve 8 is switched at this time, and the supply of oil to the hydraulic lock 7 is stopped, so that the piston rod 3 of the telescopic hydraulic cylinder 6 cannot be extended and contracted, and becomes a rigid body. This disables the first rocker arm 101 from turning and is locked to ensure that the rear axles are not able to steer. At this time, the second angle sensor 5 does not need to read the real-time rotation angle of the first angle sensor 4. Thereby can not stretch out and draw back through drive arrangement control telescopic link to make rear axle steering drive rod system 1 can not move, lock rear axle steering drive rod system 1, realize the high-speed mode of traveling, guarantee that the rear wheel is not got rid of the tail, ensure driving safety.
If the crab mode is switched, the rear axle steering is the same as the front axle steering, and the rotation angle relationship between the first angle sensor 4 and the second angle sensor 5 is matched as follows: when the front axle turns left, the rear axle needs to turn left, and the reversing valve 8 switches the oil way to supply oil to the hydraulic lock 7, so that the piston rod 3 of the telescopic hydraulic cylinder 6 extends out to the right, and the left turning of each rear axle is realized. The second angle sensor 5 controls the extension stroke of the telescopic hydraulic cylinder 6 by reading the real-time left-turning angle of the first angle sensor 4, so that the turning angle relation of the front wheel and the rear wheel is ensured. In addition, whether the steering cylinder 11 is mounted on the axle or not can be considered according to actual design requirements. When the front axle turns right, the rear axle needs to turn right, and the reversing valve 8 switches the oil way to supply oil to the hydraulic lock 7, so that the piston rod 3 of the telescopic hydraulic cylinder 6 retracts leftwards, and the right turning of each rear axle is realized. The second angle sensor 5 controls the retracting stroke of the telescopic hydraulic cylinder 6 by reading the real-time right turning angle of the first angle sensor 4, so that the turning angle relation of the front wheel and the rear wheel is ensured. In addition, whether or not the steering cylinder 11 is mounted on the axle may be considered according to actual design requirements. Thereby control the telescopic link through drive arrangement and make concertina movement to make the telescopic link turn to through rear axle steering drive linkage 1 drive rear axle, realize the crab's mode.
According to the arrangement, the telescopic device is controlled to drive the rear axle to steer the motion of the transmission rod system 1 through the mutual steering command relationship of the front axle and the rear axle, so that multiple steering modes are realized, the driving requirements of vehicles under different road conditions are met, and the operation is convenient and reliable.
In another embodiment, the steering control system further includes a lock mechanism for locking and unlocking the rear axle steering gear train 1, which is different from the above-described embodiments. Specifically, when in the high-speed travel mode, the lock mechanism locks the rear axle steering gear train 1 so that each rear axle cannot steer. When in the all-wheel steering mode and the crab mode, the locking mechanism unlocks the rear axle steering transmission rod system 1 so as to enable each rear axle to steer. So set up, also can be with rear axle steering drive rod system 1 locking and unblock through locking mechanism, the rear wheel can not turn to when can further guaranteeing to go at high speed to can guarantee that the vehicle can not take place the drift phenomenon when going at high speed, guarantee vehicle security of going.
Specifically, the lock mechanism includes a lock hole, a lock portion, and a drive portion. The locking hole is formed in the rear axle steering transmission rod system 1, the locking portion is matched with the locking hole and can stretch into or withdraw from the locking hole, and the driving portion is used for driving the locking portion to stretch into or withdraw from the locking hole. For example, as shown in fig. 2, a latch hole is provided in the first rocker arm 101, and the latch portion moves in a direction perpendicular to the paper surface, and protrudes into or out of the latch hole. Specifically, the locking part is a pin shaft, the driving part is a hydraulic cylinder, and a piston rod of the hydraulic cylinder is connected with the pin shaft.
When a piston rod of the hydraulic cylinder drives the pin shaft to be inserted into the locking hole, the first rocker arm 101 cannot rotate, the rear axle steering transmission rod system 1 is in a locking state at the moment, and each rear axle cannot steer. When a piston rod of the hydraulic cylinder drives the pin shaft to exit from the locking hole, the first rocker arm 101 can rotate, at the moment, the rear axle steering transmission rod system 1 is in an unlocking state, and each rear axle can steer. So set up, also can realize locking and unblock rear axle steering drive rod system 1 through locking hole and locking portion matched with mode to the vehicle does not get rid of the tail when can ensure high-speed driving.
In summary of the above embodiments, the present invention provides a steering control system, which includes a rear axle steering transmission rod system 1, a front axle steering transmission rod system 2, a first angle sensor 4, a second angle sensor 5, a telescopic hydraulic cylinder 6, a hydraulic lock 7, a reversing valve 8, and the like. The steering of each rear axle is realized by the transmission connection of a rear axle mechanical rod system, and the steering of each front axle is realized by the transmission connection of a front axle mechanical rod system, so that the reliability of the corner relation of each axle during the steering can be ensured by the mechanical rod system. Meanwhile, only the first angle sensor 4 is installed on the front axle, the second angle sensor 5 is installed on the rear axle, and the steering relation between the front axle and the rear axle is controlled through the mutual instruction relation between the first angle sensor 4 and the second angle sensor 5, and then the steering relation is transmitted to each steering axle through the mechanical rod system. The action of the piston rod 3 of the telescopic hydraulic cylinder 6 is controlled by the hydraulic lock 7 and the reversing valve 8, so that various steering modes such as an all-wheel steering mode, a high-speed running mode, a crab walking mode and the like can be realized. Compared with the prior art, the structure and the working principle are relatively simple, the related working parts are few, and the cost investment is greatly reduced.
In the following, a description is given of a working machine provided by the present invention, and the working machine described below and the steering control system described above may be referred to in correspondence with each other.
The embodiment of the invention also provides the working machine, and particularly the working machine is a crane and the like. The working machine includes a vehicle body and a steering control system provided on the vehicle body, the steering control system being the steering control system in each of the above embodiments. So set up, the turning to of each rear axle is connected and is realized through the mechanical linkage transmission, and the motion through control telescopic link can satisfy the multiple mode that turns to when traveling moreover, simple structure, and the use of the spare part that has significantly reduced reduces, reduction in production cost has effectively promoted reliability and the accuracy of corner relation when each rear axle turns to. The derivation process of the advantageous effect is substantially similar to the derivation process of the advantageous effect of the steering control system, and therefore, the description thereof is omitted.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A steering control system, characterized by comprising:
the rear axle steering transmission rod system is hinged with at least two rear axles and can drive each rear axle to steer;
one end of the telescopic device is hinged with the vehicle body, the other end of the telescopic device is hinged with the rear axle steering transmission rod system, and the telescopic device is provided with a telescopic rod hinged with the rear axle steering transmission rod system;
the steering information acquisition unit is used for acquiring steering information of a rear axle;
and the driving device is in communication connection with the steering information acquisition unit and is used for controlling whether the telescopic rod makes telescopic motion or not according to the rear axle steering information.
2. The steering control system according to claim 1, characterized in that the steering information acquisition unit includes:
the first angle sensor is used for acquiring front axle steering information;
and the second angle sensor is in communication connection with the first angle sensor and the driving device respectively, and is used for determining the rear axle steering information according to the front axle steering information.
3. The steering control system according to claim 1 or 2, wherein the telescopic device is configured as a telescopic hydraulic cylinder, the telescopic hydraulic cylinder comprises a cylinder body and a piston rod, the cylinder body is hinged to the vehicle body, the piston rod is hinged to the rear axle steering linkage, and the piston rod can move telescopically in the cylinder body to form the telescopic rod.
4. The steering control system according to claim 3, characterized in that the drive device includes:
the hydraulic lock is respectively connected with the rod cavity and the rodless cavity of the telescopic hydraulic cylinder;
and the reversing valve is respectively connected with the main oil way and the hydraulic lock and is used for controlling the oil supply flow of the hydraulic lock and switching the oil inlet way and the oil return way of the hydraulic lock.
5. The steering control system according to claim 1 or 2, characterized in that the steering control system includes at least one of an all-wheel steering mode, a high-speed travel mode, and a crab travel mode,
in the all-wheel steering mode, the steering of a rear axle is opposite to the steering of a front axle, and the driving device controls the telescopic rod to do telescopic motion, so that the telescopic rod drives each rear axle to steer through the rear axle steering transmission rod system;
in the high-speed driving mode, each rear axle cannot steer, and the driving device controls the telescopic rod not to be telescopic, so that the rear axle steering transmission rod system cannot move;
in the crab walking mode, the steering of the rear axle is the same as the steering of the front axle, and the driving device controls the telescopic rod to do telescopic motion, so that the telescopic rod drives each rear axle to steer through the rear axle steering transmission rod system.
6. The steering control system according to claim 5, further comprising a lock mechanism for locking and unlocking the rear axle steering gear train,
wherein, in the high-speed travel mode, the locking mechanism locks the rear axle steering gear train so that each rear axle cannot steer; in the all-wheel steering mode and the crab mode, the locking mechanism unlocks the rear axle steering linkage to enable each rear axle to steer.
7. The steering control system according to claim 6, characterized in that the lock mechanism includes:
the locking hole is arranged in the rear axle steering transmission rod system;
the locking part is matched with the locking hole and can extend into or withdraw from the locking hole;
the driving part is used for driving the locking part to extend into or withdraw from the locking hole;
the rear axle steering transmission rod system is in a locked state under the condition that the driving part drives the locking part to extend into the locking hole; and under the condition that the driving part drives the locking part to exit the locking hole, the rear axle steering transmission rod system is in an unlocking state.
8. The steering control system according to claim 7, wherein the locking portion is a pin, the driving portion is a hydraulic cylinder, and a piston rod of the hydraulic cylinder is connected to the pin.
9. The steering control system according to claim 1 or 2, further comprising a front axle steering linkage adapted to articulate with and steer the front axle.
10. A working machine comprising a vehicle body and a steering control system provided on the vehicle body, characterized in that the steering control system is a steering control system according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111138693.7A CN113771943A (en) | 2021-09-27 | 2021-09-27 | Steering control system and working machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111138693.7A CN113771943A (en) | 2021-09-27 | 2021-09-27 | Steering control system and working machine |
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| Publication Number | Publication Date |
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| CN113771943A true CN113771943A (en) | 2021-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111138693.7A Pending CN113771943A (en) | 2021-09-27 | 2021-09-27 | Steering control system and working machine |
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| CN (1) | CN113771943A (en) |
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Application publication date: 20211210 |
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