CN201941836U

CN201941836U - Crane with nine-axle automobile chassis and steering control system

Info

Publication number: CN201941836U
Application number: CN2010206442544U
Authority: CN
Inventors: 朱亚夫; 丁宏刚; 朱长建; 刘东宏; 王东华; 王志芳
Original assignee: Xuzhou Heavy Machinery Co Ltd
Current assignee: Xuzhou Heavy Machinery Co Ltd
Priority date: 2010-12-06
Filing date: 2010-12-06
Publication date: 2011-08-24
Anticipated expiration: 2020-12-06

Abstract

The utility model discloses a steering control system of a nine-axle automobile chassis, which comprises a mechanical driving device, a power-assisted steering device, a hydraulic driving device and a steering control device which are used for driving wheels to steer, wherein the mechanical driving device and the power-assisted steering device respectively drive wheels on a first steering axle, a second steering axle, a third steering axle, a fourth steering axle and a fifth steering axle; neutral-position locking oil cylinders and steering oil cylinders are respectively arranged on a sixth steering axle, a seventh steering axle, an eighth steering axle and a ninth steering axle; protruding ends of respective neutral-position locking oil cylinders and steering oil cylinders are connected with steering knuckle arms on corresponding steering axles to form an interlocking mechanism; and the steering control device connects or disconnects oil inlet paths and oil return paths of corresponding neutral-position locking oil cylinders and steering oil cylinders according to steering modes and drives the wheels on corresponding steering axles to steer. As the mechanical driving device and the hydraulic driving device respectively drive the wheels on different steering axles to steer, a plurality of steering modes are provided. Based on the steering control system, the utility model also provides a crane adopting the steering control system.

Description

Nine car chassis hoisting cranes and steering control system thereof

Technical field

The utility model relates to the automobile control system, is specifically related to a kind of nine car chassis hoisting cranes and steering control system thereof.

Background technology

In recent years, along with construction, maintenance and the large-scale petrochemical of new forms of energy projects such as more and more large-scale wind electricities, the demand of power plant construction, hoisting crane market, the full ground of super-tonnage has obtained significant progress.

As everyone knows, at construction machinery industry, the technical sophistication coefficient is the highest, difficulty is maximum surely belongs to full ground hoisting crane, whenever rise to a hoisting capacity step, design difficulty will increase several times, as at complete machine from a plurality of technical fields such as dismounting, tower auxiliary, single-cylinder bolt telescopic boom, chassis Duo Qiao turn to, the design difficulty of the full ground of super-tonnage hoisting crane all is far longer than the full ground hoisting crane of little tonnage.

Because the maneuverability of height is the major advantage of the full ground of super-tonnage hoisting crane, therefore, it is to improve the bend carrying capacity of the full ground of super-tonnage hoisting crane, the gordian technique of maneuverability that chassis Duo Qiao turns to technology.The full ground of super-tonnage hoisting crane is because vehicle body is long, load carrying ability is big, what therefore adopt all is the multi-wheeler chassis, as 1200 tons of full ground hoisting crane LTM11200 of Liebherr, 1200 tons of full ground hoisting crane AC1000 of De Mage etc. have all adopted nine car chassiss.As its name suggests, nine car chassiss have nine steering shafts, in order to satisfy requirements such as vehicle handling stability, bend carrying capacity, maneuverability and driving safety, nine full ground hoisting cranes generally adopt the mechanical steering gear of bearing circle control and the control that turns to that double loop steering hydraulic force aid system is realized car load.

But, see also Fig. 1, the figure shows the integral structure scheme drawing of nine full ground car hosits, as shown in Figure 1, the supporting leg of nine full ground car hosits is arranged as the X type, the earrings that movable supporting legs connects to ground is arranged in the 5th, the 6th steering shaft and the 7th, between the 8th steering shaft, be subject to the chassis space structure, the design of the steering control system of nine car chassiss is quite complicated, therefore, existing nine car chassis hoisting cranes have only a kind of pattern that turns to, as shown in Figure 2, the figure shows existing nine full ground hoisting crane steering principle figure, turn under the pattern this, the steering direction of all wheels on first to the 5th steering shaft is all identical, and the steering direction of all wheels on the 7th to the 8th steering shaft is also identical but opposite with the steering direction of wheel on first to the 5th steering shaft, and the wheel on the 6th steering shaft does not turn to and remains the straight-line travelling state.

This shows, the steering control system of existing nine car chassiss exists bend carrying capacity and the relatively poor problem of maneuverability, and because the tire on the 6th steering shaft does not turn to all the time, and the turning center of car load is positioned on the extended line of the 6th steering shaft, therefore, wheel tyre wearing and tearing on the 6th steering shaft produce potential safety hazard at vehicle easily in the process of moving obviously greater than the wheel tyre on other steering shafts.

In view of this, demand urgently being optimized design at existing structure, with the stability of satisfied nine car chassis handling maneuvers and the requirement of bend carrying capacity and maneuverability, reduce local tyre irregular wear, and when the speed of a motor vehicle is higher, make the wheel on back four steering shafts keep the meta lock-out state automatically, guarantee driving safety.

The utility model content

At above-mentioned defective, the technical matters that the utility model solves is to provide a kind of steering control system of nine car chassiss, makes nine vehicles have a plurality of turning-circle diameters, has sensitive steering response simultaneously, road-holding property is strong and the wear on tyres amount is little.On this basis, the utility model also provides a kind of nine car chassis hoisting cranes with this steering control system.

The steering control system of nine car chassiss that the utility model provides, comprise the mechanical actuation device, power steering device, fluid pressure drive device and the steering controlling device that are used for drive wheels and turn to, described power steering device is used for auxiliary described mechanical actuation device and drives corresponding wheel steering; Described mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle, described rod-pulling type steering gear has five mouths, is respectively applied for to connect the track arm that drives the wheel steering on the first, second, third, fourth and the 5th steering shaft; Described fluid pressure drive device comprises the oil cylinder that turns to that is fixedly installed on the meta locked cylinder on the 6th, the 7th, the 8th and the 9th steering shaft respectively and drives wheel steering on the corresponding steering shaft; Described meta locked cylinder on each steering shaft all is connected with the track arm of corresponding steering shaft with the external part that turns to oil cylinder, forms interlocking gear; Described steering controlling device is according to turning to pattern output control signal, with oil-feed oil circuit and the oil return circuit that is switched on or switched off described meta locked cylinder and turns to oil cylinder.

Preferably, described steering controlling device comprises TIP, detecting unit and control unit, and described TIP is provided with little turning and turns to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of operating modes of pattern to turn to mode selecting key; Described detecting unit is exported current vehicle according to vehicle speed signal and is in the mode signal that turns to that low speed, middling speed or express highway travel, and according to the corresponding options button that the user selects, exports the mode signal that turns to of the residing corresponding operating mode of current vehicle; Described control unit is exported described control signal according to the described mode signal that turns to.

Preferably, be respectively arranged with the oil-feed electromagnetic switch valve on the oil-feed oil circuit of each described meta locked cylinder, receive the oil-feed oil circuit that described control signal is switched on or switched off corresponding described meta locked cylinder; Each is described to turn on the oil-feed oil circuit of oil cylinder and is respectively arranged with the solenoid-operated proportional change-over valve, receives described control signal and is switched on or switched off and correspondingly describedly turns to the oil-feed oil circuit of oil cylinder and adjust the described oil-feed flow that turns to oil cylinder; Six, the meta of the 7th, the 8th and the 9th steering shaft locking and release are received by described oil-feed electromagnetic switch valve on the corresponding steering shaft and described solenoid-operated proportional change-over valve that described control signal is switched on or switched off corresponding oil-feed, oil return circuit is realized.

Preferably, be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the described meta locked cylinder on each steering shaft, and with this meta locked cylinder oil-feed oil circuit on oil-feed electromagnetic switch valve and the interlock of the described solenoid-operated proportional change-over valve on the corresponding steering shaft; Six, the meta of the 7th, the 8th and the 9th steering shaft locking and release are received by the described oil-feed electromagnetic switch valve on the corresponding steering shaft, oil return electromagnetic switch valve and described solenoid-operated proportional change-over valve that described control signal is switched on or switched off corresponding oil-feed, oil return circuit is realized.

Preferably, the oil return circuit of the described meta locked cylinder on the 6th and the 7th steering shaft is communicated with, this connection oil circuit is communicated with and is communicated with oil circuit with the system oil return oil circuit and is provided with the first oil return electromagnetic switch valve, oil-feed electromagnetic switch valve on the oil-feed oil circuit of at least one the described meta locked cylinder on the 6th and the 7th steering shaft and the described first oil return electromagnetic switch valve receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 6th and the 7th steering shaft; The oil return circuit of the described meta locked cylinder on the 8th and the 9th steering shaft is communicated with, this connection oil circuit is communicated with and is communicated with oil circuit with the system oil return oil circuit and is provided with the second oil return electromagnetic switch valve, oil-feed electromagnetic switch valve on the oil-feed oil circuit of at least one the described meta locked cylinder on the 8th and the 9th steering shaft and the described second oil return electromagnetic switch valve receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 8th and the 9th steering shaft.

Preferably, six, be respectively equipped with connecting rod on the 7th, the 8th and the 9th steering shaft, the middle part of each described connecting rod is hinged on respectively on the corresponding steering shaft, the described meta locked cylinder on the corresponding steering shaft and turn to the external part of oil cylinder hinged with the both ends of described connecting rod respectively; Each described connecting rod respectively be used to be connected corresponding track arm, to drive the wheel steering on the corresponding steering shaft.

Preferably, described rod-pulling type steering gear comprises first rocking arm, second rocking arm and the 3rd rocking arm and first rod assembly, second rod assembly, the 3rd rod assembly, four-pull-rod assembly, the 5th rod assembly, the 6th rod assembly, the 7th rod assembly and the 8th rod assembly, and first rocking arm is between first, second steering shaft and be used for nine car chassiss hinged in the middle part of it; Second rocking arm is between second, third steering shaft and be used for nine car chassiss hinged on it; The 3rd rocking arm is between the 4th, the 5th steering shaft and be used for nine car chassiss hinged on it; One end of first rod assembly and the upper end of described first rocking arm are hinged, the other end be used for nine car chassiss on the mouth of steering drop arm hinged; One end of second rod assembly and the lower end of described first rocking arm are hinged, the other end be used for described first steering shaft on the input end of track arm hinged; One end of the 3rd rod assembly and the lower end of described first rocking arm are hinged, the other end be used for described second steering shaft on the input end of track arm hinged; The two ends of four-pull-rod assembly are hinged with the lower end of described first, second rocking arm respectively; One end of the 5th rod assembly and the lower end of described second rocking arm are hinged, and the input end of the track arm on the other end and described the 3rd steering shaft is hinged; The two ends of the 6th rod assembly are hinged with the middle part of described second, third rocking arm respectively; One end of the 7th rod assembly and the lower end of described the 3rd rocking arm are hinged, the other end be used for described the 4th steering shaft on the input end of track arm hinged; The 8th rod assembly, the lower end of an end and described the 3rd rocking arm is hinged, the other end be used for described the 5th steering shaft on the input end of track arm hinged.

Preferably, described power steering device comprises five groups of steering jacks, servo-steering pump and front-axle steering jury pump, described five groups of steering jacks are fixedly installed on respectively on the first, second, third, fourth and the 5th steering shaft, are used to drive the wheel steering on the corresponding steering shaft; The delivery port of described servo-steering pump is communicated with the oil-feed oil circuit of described steering jack; The delivery port of described front-axle steering jury pump is communicated with the oil-feed oil circuit of described steering jack through selector valve.

Preferably, described every group of steering jack comprises left and right power-assisted oil cylinder respectively, the external part of described left and right power-assisted oil cylinder respectively with corresponding wheel on track arm hinged, all described left steering oil cylinders are connected on the different oil circuits with all right steering oil cylinders, described servo-steering pump is a twin pump, the output of one of them single pump connects on the oil circuit in the described different oil circuit, and another single pump and described front-axle steering jury pump are respectively on the front-axle steering selector valve is connected another oil circuit in the described different oil circuit.

Preferably, described fluid pressure drive device also comprises the rear axle steering jury pump, and described rear axle steering jury pump communicates through the described meta locked cylinder of rear axle steering selector valve and each and each described oil-feed oil circuit of oil cylinder that turns to.

Preferably, described rear axle steering selector valve by the first auxiliary valve group with the 6th with the 7th steering shaft on the meta locked cylinder and turn to the oil-feed oil circuit of oil cylinder to be connected; By the second auxiliary valve group with the 8th with the 9th steering shaft on the meta locked cylinder and turn to the oil-feed oil circuit of oil cylinder to be connected.

Preferably, travel at low speed road and to turn under the pattern, described control unit is exported control signal respectively: connect the oil-feed oil circuit of the described meta locked cylinder on the 7th, the 8th and the 9th steering shaft, and disconnect the oil-feed oil circuit of the described meta locked cylinder on the 6th steering shaft; Connect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 7th, the 8th and the 9th steering shaft, and disconnect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 6th steering shaft; Seven, the wheel on the 8th and the 9th steering shaft under the corresponding effect that turns to oil cylinder with first steering shaft on the switched in opposite of wheel, the wheel on the 6th steering shaft does not turn to; Turn under the pattern at the middling speed road running, described control unit is exported control signal respectively: connect the oil-feed oil circuit of the described meta locked cylinder on the 8th and the 9th steering shaft, and disconnect the oil-feed oil circuit of the described meta locked cylinder on the 6th and the 7th steering shaft; Connect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 8th and the 9th steering shaft, and disconnect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 6th and the 7th steering shaft; Wheel on the 8th and the 9th steering shaft under the corresponding effect that turns to oil cylinder with first steering shaft on the switched in opposite of wheel, the wheel on the 6th and the 7th steering shaft does not turn to; Turning under the pattern that express highway travels, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.

Preferably, turn under the pattern in little turning, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the wheel on the 6th, the 7th, the 8th and the 9th steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on the switched in opposite of wheel.

Preferably, under the crab row mode, described control unit is exported control signal respectively: connect the oil-feed oil circuit of each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the 6th, the 7th, the 8th with the 9th steering shaft on wheel all identical and identical at steering angle under the corresponding driving that turns to oil cylinder with the steering direction of wheel on first steering shaft.

Preferably, turn under the pattern in the locking of rear axle meta, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.

Nine car chassis hoisting cranes that the utility model provides have the steering control system of controlling each wheel steering, the steering control system of concrete foregoing nine car chassiss of described steering control system.

The steering control system of nine car chassiss that the utility model provides, wheel on the first, second, third, fourth and the 5th steering shaft is cooperated by mechanical actuation device and power steering device to be realized turning to, and the wheel on the 6th, the 7th, the 8th and the 9th steering shaft is realized turning to by fluid pressure drive device respectively according to the control signal of steering controlling device.Compared with prior art, because the wheel on the 6th, the 7th, the 8th and the 9th steering shaft all can independent steering, therefore, when improving the wheel turning angle control accuracy, for nine car chassiss provide multiple different turning-circle diameter, to adapt to the needs that difference turns to pattern, the bend carrying capacity and the maneuverability of nine car chassiss have been improved greatly, in addition, also reduce wheel Tyte Wear on the 6th steering shaft, further improved the driving safety of nine car chassiss; And, six, the meta locked cylinder on the 7th, the 8th and the 9th steering shaft and the oil cylinder that turns to that drives wheel steering on the corresponding steering shaft form interlocking gear, can effectively evade the phenomenon that the transmission of power that turns to oil cylinder under the abnomal condition occurs rupturing to miscellaneous part and occur, improve the functional reliability of control system.

In a kind of preferred version of the steering control system of nine car chassiss that the utility model provides, automatically obtain current vehicle according to vehicle speed signal and be in low speed, middling speed or express highway travel turns to pattern, and send control signal and control the corresponding the 6th, the 7th, wheel on the 8th and the 9th steering shaft turns to accordingly, particularly travel and turn under the pattern at express highway, can automatically lock the 6th, the 7th, meta locked cylinder on the 8th and the 9th steering shaft, make the wheel on these steering shafts keep the straight-line travelling state, do not participate in turning to, improved the safety of high speed traveling greatly.

In a kind of preferred version of the steering control system of nine car chassiss that the utility model provides, provide the locking of rear axle meta to turn to pattern, turn under the pattern in the locking of rear axle meta, control unit is exported control signal respectively: disconnect each meta locked cylinder and turn to the oil-feed oil circuit of oil cylinder with each, that is to say, turn under the pattern in rear axle meta locking, the wheel on the 6th, the 7th, the 8th and the 9th steering shaft can only be along straight-line travelling, thereby guarantees traffic safety.The locking of rear axle meta turns to pattern to be applicable to following three kinds of situations: (1) when high vehicle speeds, steering controlling device starts the locking of rear axle meta automatically and turns to pattern, to guarantee traffic safety; (2) when chance failures such as any one link such as fluid pressure drive device or steering controlling device breaks down, the angular errors of wheel on first and second steering shaft is big, the angular transducer wire harness comes off occur, steering controlling device starts rear axle meta locking mode automatically, make the wheel on the 6th, the 7th, the 8th and the 9th steering shaft no longer participate in turning to, guarantee vehicle driving safety; (3) carry situation according to the vehicle band, chaufeur also can manually be controlled the pattern that turns to, and makes vehicle operation under rear axle meta locking mode, guarantees traffic safety; Particularly when the vehicle heavy load starts, at first manually boot rear axle meta locking mode, treat after vehicle launch steadily this options button of manual-lock again, guarantee the startup safety of vehicle under the heavy load situation.

In the another kind of preferred version of the steering control system of nine car chassiss that the utility model provides, be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the meta locked cylinder on each steering shaft, and with oil-feed electromagnetic switch valve that is provided with on this meta locked cylinder oil-feed oil circuit and the interlock of the solenoid-operated proportional change-over valve on the corresponding steering shaft, thereby guaranteed that the meta locked cylinder remains at the meta state when meta locks, avoided because the fluctuation of the meta locked cylinder piston rod that the system pressure loss causes.

In the another kind of preferred version of the steering control system of nine car chassiss that the utility model provides, fluid pressure drive device also comprises the rear axle steering jury pump, the rear axle steering jury pump through the rear axle steering selector valve with each meta locked cylinder with respectively turn to the oil-feed oil circuit of oil cylinder to communicate, like this, when steering hydraulic pump breaks down, provide power by the rear axle steering jury pump, finish the work that turns to of wheel, improve the emergency capability of vehicle, improved the safety of vehicle.

Description of drawings

Fig. 1 is the integral structure scheme drawing of nine full ground hoisting cranes;

Fig. 2 is the steering principle figure of nine full ground hoisting cranes of the prior art;

Fig. 3 is the scheme drawing of the mechanical actuation device of the wheel steering on realization first, second, third the 4th described in the specific embodiment and the 5th steering shaft;

Fig. 4 is the scheme drawing of the servo steering device of the wheel steering on realization first, second, third the 4th described in the specific embodiment and the 5th steering shaft;

Fig. 5 is meta locked cylinder on the 6th steering shaft and a kind of instantiation scheme drawing that turns to the interlocking gear of oil cylinder composition;

The fluid pressure drive device hydraulic schematic diagram of the wheel steering on realization the the 6th, the 7th, the 8th described in Fig. 6 specific embodiment and the 9th steering shaft;

Fig. 7 is meta locked cylinder in the fluid pressure drive device shown in Figure 6 and the connection diagram that turns to oil cylinder and first, second control cock group;

Fig. 8 is the steering principle scheme drawing that low speed road described in the specific embodiment travels and turns to pattern;

Fig. 9 is the steering principle scheme drawing that the road running of middling speed described in the specific embodiment turns to pattern;

Figure 10 is the steering principle scheme drawing that express highway described in the specific embodiment travels and turns to pattern;

Figure 11 is the steering principle scheme drawing that little turning described in the specific embodiment turns to pattern;

Figure 12 is the steering principle scheme drawing of the row mode of crab described in the specific embodiment;

Figure 13 is the steering principle scheme drawing that the locking of the meta of rear axle described in the specific embodiment turns to pattern;

Figure 14 is the structural representation of the locked cylinder of meta described in the specific embodiment;

Among the figure:

L1-first steering shaft, L2-second steering shaft, L3-the 3rd steering shaft, L4-the 4th steering shaft, L5-the 5th steering shaft, L6-the 6th steering shaft, L7-the 7th steering shaft, L8-the 8th steering shaft, L9-the 9th steering shaft;

10-first oil circuit, 20-second oil circuit, 30-servo-steering pump, 40-front-axle steering jury pump, 50-front-axle steering selector valve;

11,21,31,41, left steering oil cylinder on 51-first, second, third, fourth and the 5th steering shaft; 12,22,32,42, right steering oil cylinder on 52-first, second, third, fourth and the 5th steering shaft;

60-rear axle steering pump, 70-rear axle steering jury pump, 80-rear axle steering selector valve, the 81-first auxiliary valve group, the 82-second auxiliary valve group;

101-bearing circle, 102-deflector, 103-first rod assembly, 104-second rod assembly, 105-first rocking arm, 106-the 3rd rod assembly, 107-four-pull-rod assembly, 108-second rocking arm, 109-the 5th rod assembly, 110-the 6th rod assembly, 111-the 7th rod assembly, 112-the 3rd rocking arm, 113-the 8th rod assembly;

601, left side on 611-the 6th steering shaft, right wheel, 602, left side on 612-the 6th steering shaft, the right steering oil cylinder, 702, left side on 712-the 7th steering shaft, the right steering oil cylinder, 802, left side on 812-the 8th steering shaft, the right steering oil cylinder, 902, left side on 912-the 9th steering shaft, the right steering oil cylinder, 604,704,804,904-the 6th, the 7th, the 8th, meta locked cylinder on the 9th steering shaft, the 605-connecting rod, the 606-jointed shaft, the 607-pull bar, the 608-first control cock group, the 908-second control cock group, 609,709,809,909-the 6th, the 7th, the 8th, the 9th steering shaft is with the 3rd control cock group;

The 201-cylinder body, the right piston of 202-, 203-piston rod, 204-meta chamber, 205-rod chamber, 206-rodless cavity, 207-intermediate piston, 208-meta locating piece, 209-left piston.

The specific embodiment

Core of the present utility model is to provide a kind of steering control system of nine car chassiss, so that adopt the construction machinery and equipments such as full ground hoisting crane of this car chassis to have a plurality of turning-circle diameters, improve its bend carrying capacity, and have sensitive steering response, stronger road-holding property and turn to control accuracy, reduced Abnormity abrasion about tyre simultaneously, guarantee driving safety.Below in conjunction with Figure of description the specific embodiment of the present utility model is described.

Be without loss of generality, this paper is that example is elaborated with nine full ground hoisting cranes, sees also Fig. 1, the figure shows the integral structure scheme drawing of this hoisting crane.Need to prove that the technical scheme that the utility model provides is not limited in and is applied on nine full ground hoisting cranes, adopt the construction machinery and equipment of nine car chassiss all to be suitable for other.Mention nine, be defined as the first steering shaft L1, the second steering shaft L2, the 3rd steering shaft L3, the 4th steering shaft L4, the 5th steering shaft L5, the 6th steering shaft L6, the 7th steering shaft L7, the 8th steering shaft L8 and the 9th steering shaft L9 successively herein from headstock to the tailstock.The functional components such as chassis, winding plant and Lifting device of these nine full ground hoisting cranes are same as the prior art, and those skilled in the art can realize fully that based on prior art this paper repeats no more.

Only have a kind of defective that turns to pattern based on existing nine full ground hoisting cranes, the utility model has increased little turning and has turned to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of patterns; And under road running turns to pattern, being provided with low speed, middling speed and express highway travels three kinds and turns to pattern, therefore, adopt nine car chassiss of this specific embodiment to have six kinds and turn to pattern, be equivalent to provide six kinds of turning-circle diameters, improved the bend carrying capacity and the steering manipulation performance of nine car chassiss greatly.In addition, in the road running process, can travel to turn between the pattern at low speed, middling speed or express highway automatically according to the speed of a motor vehicle and switch, in time adjust the position at Vehicular turn center, make the vehicle attitude held stationary.

In the specific embodiment, the steering control system of these nine car chassiss comprises mechanical actuation device, power steering device, fluid pressure drive device and the steering controlling device that is used for drive wheels and turns to, and the power steering device is used for the accessory machinery actuating device and drives corresponding wheel steering.Wheel on the first, second, third, fourth and the 5th steering shaft drives it by mechanical actuation device and power steering device respectively and turns to, and the wheel on the 6th, the 7th, the 8th and the 9th steering shaft drives it by fluid pressure drive device respectively and turns to.

Mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle, the rod-pulling type steering gear has five mouths, be respectively applied for the track arm that connects the wheel steering on driving the first, second, third, fourth and the 5th steering shaft, turn to the wheel that drives on the corresponding steering shaft.See also Fig. 3, the figure shows the scheme drawing of the mechanical actuation device of realizing the wheel steering on the first, second, third, fourth and the 5th steering shaft.

As shown in Figure 3, mechanical actuation device comprises bearing circle 101 and rod-pulling type steering gear.The rod-pulling type steering gear comprises first rocking arm 105, second rocking arm 108 and the 3rd rocking arm 112 and first rod assembly 103, second rod assembly 104, the 3rd rod assembly 106, four-pull-rod assembly 107, the 5th rod assembly 109, the 6th rod assembly 110, the 7th rod assembly 111 and the 8th rod assembly 113, first rocking arm 105 is arranged on first, the second steering shaft L1, between the L2 and its middle part is used for nine car chassiss hinged, second rocking arm 108 is arranged on second, the 3rd steering shaft L2, between the L3 and its upper end is used for nine car chassiss hinged, the 3rd rocking arm is positioned at the 4th, between the 5th steering shaft and its upper end is used for nine car chassiss hinged, bearing circle 101 is passed to deflector 102 by the steerage gear device with turn sign, and the steering drop arm that drives in the deflector 102 rotates corresponding angle around the output shaft of deflector.One end of first rod assembly 103 is connected on the mouth of steering drop arm, the upper end of the other end and first rocking arm 105 is hinged, the lower end of first rocking arm 105 is hinged with an end of second rod assembly 104 and the 3rd rod assembly 106 respectively, the other end of second rod assembly 104 is as first mouth of rod-pulling type steering gear, hinged with the track arm that drives the wheel steering on first steering shaft, the other end of the 3rd rod assembly 106 is as second mouth of rod-pulling type steering gear, and is hinged with the track arm that drives the wheel steering on second steering shaft.The two ends of four-pull-rod assembly 107 are respectively with first, second rocking arm 105,108 lower end is hinged, the two ends of the 6th rod assembly 110 are respectively with second, the 3rd rocking arm 108,112 middle part is hinged, one end of the 5th rod assembly 109 and the lower end of second rocking arm 108 are hinged, the other end is as the 3rd mouth of rod-pulling type steering gear, hinged with the track arm that drives the wheel steering on the 3rd steering shaft, one end of the 7th rod assembly 111 and the lower end of the 3rd rocking arm 112 are hinged, the other end is as the 4th mouth of rod-pulling type steering gear, hinged with the track arm that drives the wheel steering on the 4th steering shaft, the lower end of the 8th rod assembly 113 1 ends and the 3rd rocking arm 112 is hinged, the other end is as the 5th mouth of rod-pulling type steering gear, and is hinged with the track arm that drives the wheel steering on the 5th steering shaft.When first rocking arm 105 during with the clockwise rotating of bearing circle 101, under the drive of first rod assembly 103, first rocking arm 105 is around the hinge rotating certain angle at its middle part, so, second rod assembly 104 drive on first turning cylinder the wheel right-hand turning to, the 3rd rod assembly 106 drive on second steering shaft the wheel right-hand turning to, the 5th rod assembly 109 drive on the 3rd steering shaft the wheel right-hand turning to, the 7th rod assembly 111 drive on the 4th steering shaft the wheel right-hand turning to, the 8th rod assembly 113 drive on the 5th steering shaft the wheel right-hand turning to.Otherwise, when first rocking arm 105 rotates counterclockwise with bearing circle and when rotating counterclockwise, the wheel on the first, second, third, fourth and the 5th steering shaft respectively left-handed turning to.

The power steering device that this specific embodiment provides as shown in Figure 4, the figure shows and realize first, second, the scheme drawing of the servo steering device of the wheel steering on the 3 4th and the 5th steering shaft, comprise five groups of steering jacks, servo-steering pump 30 and front-axle steering jury pump 40, five groups of steering jacks are fixedly installed on first respectively, second, the 3rd, on the 4th and the 5th steering shaft, be used to drive the wheel steering on the corresponding steering shaft, every group of steering jack comprises a left side respectively, right power-assisted oil cylinder, a left side, the external part of right power-assisted oil cylinder respectively with corresponding wheel on track arm hinged, all left

steering oil cylinders

11,21,31,41,51 oil-feed oil circuit all is connected on first oil circuit 10, all right

steering oil cylinders

12,22,32,42,52 oil-feed oil circuit all is connected on second oil circuit 20, servo-steering pump 30 is a twin pump, the output of a single pump is connected on the oil-feed oil circuit of second oil circuit 20, and another single pump and front-axle steering jury pump 40 are connected on the oil-feed oil circuit of first oil circuit 10 through front-axle steering selector valve 50 respectively.Different with existing power steering device is, increased front-axle steering jury pump 40 in this specific embodiment, this front-axle steering jury pump 40 is from the power taking mouth power taking of auxiliary gear box, delivery port is linked in the oil-feed oil circuit of left and right power-assisted oil cylinder through front-axle steering selector valve 50, break down maybe can not satisfy system's fuel feeding the time at servo-steering pump 30, by front-axle steering selector valve 50, front-axle steering jury pump 40 automatic participation system fuel feeding, finish the work that turns to of wheel, improve the emergency capability of vehicle, improved the safety of vehicle.

The power steering device is used for the accessory machinery actuating device and drives corresponding wheel steering, that is to say, the major impetus that drives each wheel steering is each left and right power-assisted oil cylinder, and the effect of rod-pulling type steering gear is that the steering angle that guarantees each wheel satisfies the Ackermam theorem.

Fluid pressure drive device comprises and is separately positioned on the meta locked cylinder on the 6th, the 7th, the 8th and the 9th steering shaft and drives the oil cylinder that turns to that wheel on the corresponding steering shaft turns to.Each meta locked cylinder and the external part that turns to oil cylinder all are connected to form linkage structure with the track arm of corresponding steering shaft, if promptly the oil-feed of meta locked cylinder and oil return circuit all disconnect, then the meta locked cylinder is in the lock state, because track arm is connected with the external part of meta locked cylinder, therefore, track arm can not move with regard to locked, at this moment, even connect and to turn to the oil-feed and the oil return circuit of oil cylinder, move and drive corresponding wheel and realize turning to thereby also can't drive track arm.Be example with wherein a steering shaft (the 6th steering shaft) below, a kind of specific embodiment of realizing this interlocking gear is illustrated.

See also Fig. 5, Fig. 5 is meta locked cylinder on the 6th steering shaft and a kind of specific embodiment scheme drawing that turns to the interlocking gear of oil cylinder composition.Left and right wheel 601,611 is arranged on the two ends of the 6th steering shaft 603 (being L6) respectively by steering swivel, meta locked cylinder 604 and turn to oil cylinder to be fixedly installed on the both sides of the 6th steering shaft 503 respectively, wherein, left and right turn to oil cylinder 602,612 to be respectively applied for to drive left and right wheel 601,611 turn to (top with drawing among Fig. 4 is right side, and the below is left).The middle part of connecting rod 605 is hinged on the right part of the 6th steering shaft 603, the external part of meta locked cylinder 604 and right steering oil cylinder 612 is hinged on the two ends of connecting rod 605 respectively, connecting rod 605 is connected with the track arm of right wheel 611, is used to drive right wheel 611 and realizes turning to.The external part of left steering oil cylinder 602 is connected on the track arm of left wheel 601, and the track arm on the left and right wheel 601,611 is connected to form connecting rod mechanism by pull bar 607, realizes interlock between the left and right track arm with this.When the oil-feed of meta locked cylinder 604 and oil return circuit are all connected, if the control infradextroversion at bearing circle stretches out to oil cylinder 612, then withdraw to oil cylinder 602 at the effect infralevoversion of pull bar 607, connecting rod 605 rotates counterclockwise around jointed shaft 606, so drive 604 withdrawals of meta locked cylinder, thus drive left and right wheel 601,611 left-handed turnings to; Otherwise if right steering oil cylinder 612 withdrawal, then the effect infralevoversion at pull bar 607 stretches out to oil cylinder 602, and connecting rod 605 clockwise rotates around jointed shaft 606, drives meta locked cylinder 604 and stretches out, drive left and right wheel 601,611 right-hand turnings to.But, if the oil-feed and the oil return circuit of meta locked cylinder 604 all disconnect, then meta locked cylinder 604 is locked, so stationkeeping of connecting rod 605, can not rotate around jointed shaft 606, therefore the left and right oil cylinder 602,612 that turns to can't be realized stretching, and also just can not drive track arm left and right wheel 601,611 is turned to, thereby only realized under the situation of meta locked cylinder 604 releases (oil-feed and oil return circuit are all connected), could handling wheel and turning to.

The steering controlling device basis turns to the control signal of pattern output, the oil-feed oil circuit and the oil return circuit that are switched on or switched off the meta locked cylinder and turn to oil cylinder, thus the wheel of controlling on the corresponding steering shaft turns to.Steering controlling device comprises detecting unit, TIP and control unit, and the function of detecting unit and control unit is realized by programming by micro controller system respectively.TIP is provided with little turning and turns to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of operating modes of pattern to turn to the model selection options button.Detecting unit is gathered the vehicle speed signal that obtains current vehicle in real time according to the gear of current engine speed of vehicle and change speed gear box, and export current vehicle automatically and be in low speed, middling speed or express highway travel turns to the mode signal (low speed of being mentioned here, middling speed or need at a high speed to carry the attitude of travelling under the operating mode in different band according to a certain concrete vehicle, the angle of comprehensive vehicle handling and stability and the best attitude of travelling is considered to determine, certainly, this accomplishes for the ordinary skill in the art easily, even can not obtain best speed setting value, also can not have influence on essence of the present utility model); Export the residing corresponding mode signal that turns to of current vehicle according to the corresponding options button that the user selects; Control unit is according to described control signal, the oil-feed oil circuit and the oil return circuit that are switched on or switched off described meta locked cylinder and turn to oil cylinder are so that the wheel on corresponding the 6th, the 7th, the 8th and the 9th steering shaft turns to or do not turn to the rotation of bearing circle.

The concrete scheme that realizes wheel steering is: each turns to the flexible by a solenoid-operated proportional change-over valve control of oil cylinder, the flexible of each meta locked cylinder controlled by at least one oil-feed electromagnetic switch valve, when only adopting an oil-feed electromagnetic switch valve, this oil-feed electromagnetic switch valve is arranged on the oil-feed oil circuit of meta locked cylinder, when needs improve the system works reliability, respectively be provided with an electromagnetic switch valve on the oil-feed of meta locked cylinder and the oil return circuit, promptly on the oil-feed oil circuit of meta locked cylinder, be provided with the oil-feed electromagnetic switch valve, oil return circuit is provided with the oil return electromagnetic switch valve, and oil-feed electromagnetic switch valve and the interlock of oil return electromagnetic switch valve, by oil-feed electromagnetic switch valve and the interlock of oil return electromagnetic switch valve, make the oil-feed of meta locked cylinder, oil return circuit is switched on or switched off simultaneously.Control unit turns to pattern to output control signals to corresponding oil-feed electromagnetic switch valve and oil return electromagnetic switch valve respectively according to the vehicle present located, and the rotation direction and the rotational angle signal of the bearing circle that collects according to detecting unit are exported control signal respectively, adjust the operative orientation and the valve port opening size of corresponding electromagnetism proportional reversing valve, thereby realize that vehicle turns to turning under the pattern in difference.The steering angle of the medial and lateral wheel on each steering shaft should satisfy Ackerman principle, and those skilled in the art can realize fully that based on prior art this paper repeats no more.

Fig. 6 is a kind of fluid pressure drive device hydraulic schematic diagram of the wheel steering on realization the the 6th, the 7th, the 8th described in the specific embodiment and the 9th steering shaft, Fig. 7 is fluid pressure drive device meta locked cylinder shown in Figure 6 and the connection diagram that turns to oil cylinder and first, second control cock group, and Fig. 8-Figure 13 is respectively aforementioned six kinds and turns to the cooresponding steering principle scheme drawing of pattern.Turn to pattern to be introduced one by one below in conjunction with Fig. 6, Fig. 7 and Fig. 8-Figure 13 to each.

As shown in Figure 6, meta locked cylinder 604 on the 6th and the 7th steering shaft, 704 respectively by corresponding the 3rd valve group 609,709 are connected on the first control cock group 608, meta locked cylinder 804 on the 8th and the 9th steering shaft, 904 respectively by corresponding the 3rd valve group 809,909 are connected on the second control cock group 908, first, the second control cock group 608,908 structure is identical, concrete structure and connection mode are as shown in Figure 6, the first control cock group 608 comprises two electro-hydraulic proportion reversing valve Y813 with pressure compensation, Y814 and three electromagnetic switch valve Y834, Y823, Y824, electromagnetic switch valve Y834 is as the first oil return electromagnetic switch valve, be used to control meta locked cylinder 604, the break-make of 704 oil return circuit, electromagnetic switch valve Y823 and Y824 are used to control the meta locked cylinder 604 on the 6th and the 7th steering shaft respectively as the oil-feed electromagnetic switch valve, the break-make of 704 oil-feed oil circuit.Each electro-hydraulic proportion reversing valve control is by flow that turns to oil cylinder and direction on the steering shaft, turn to oil cylinder comprise respectively two be symmetrically arranged turn to oil cylinder, equivalence is one a pair of hydraulic ram that goes out rod-type, guarantees that the execution load is advanced, the area ratio of oil back chamber is 1.Be applied to by control electro-hydraulic proportion reversing valve Y813, Y814 a, b two ends electromagnet order and the size of electric current, come the aperture of control ratio valve valve port, and then control flows is to the flow that turns to oil cylinder, to realize the adjusting of corresponding wheel steering angle size.Meta locked cylinder 604,704 oil return circuit is communicated with and the first electromagnetic switch valve Y834 is arranged on this connection oil circuit, this connection oil circuit is communicated to the system oil return oil circuit, by first electromagnetic switch valve Y834 control meta locked cylinder 604, the break-make of 704 oil return circuit, oil-feed electromagnetic switch valve Y823 is arranged on the oil-feed oil circuit of the meta locked cylinder 604 on the 6th steering shaft, oil-feed electromagnetic switch valve Y824 is arranged on the oil-feed oil circuit of the meta locked cylinder 704 on the 7th steering shaft, three electromagnetic switch valves the whether electric wheel of controlling on the 6th and the 7th steering shaft can turn to.When the first electromagnetic switch valve Y834 gets when electric, the oil return circuit of meta locked cylinder 604,704 all communicates with the system oil return oil circuit on the 6th and the 7th steering shaft, so meta locked cylinder 604,704 equal releases on the 6th and the 7th steering shaft, at this moment, among electromagnetic switch valve Y823, the Y824 any gets, the oil-feed oil circuit of corresponding meta locked cylinder communicates with the system high pressure oil circuit, cooperate electro-hydraulic proportion reversing valve Y813, Y814 to realize correspondingly turning to the flexible of oil cylinder, thereby the wheel that drives on the corresponding steering shaft turn to.If the first electromagnetic switch valve Y834 dead electricity, meta locked cylinder 604 on the 6th and the 7th steering shaft then, 704 oil return circuit all disconnects with the system oil return oil circuit, so meta locked cylinder 604,704 all lockings, can't realize stretching, like this, because a meta locked cylinder 604 and a corresponding left side, right steering oil cylinder 602,612 form interlocking gear, a meta locked cylinder 704 and a corresponding left side, right steering oil cylinder 702,712 form interlocking gear, therefore, even electro-hydraulic proportion reversing valve Y813 and/or Y814 get, turn to oil cylinder 602,612,702,712 also can't stretch, wheel on the 6th and the 7th steering shaft can only can't turn to along straight-line travelling.Similarly, the second control cock group 908 comprises two electro-hydraulic proportion reversing valve Y815, Y816 with pressure compensation and three electromagnetic switch valve Y865, Y825, Y805, electromagnetic switch valve Y865 is as the second oil return electromagnetic switch valve, be used to control the break-make of the oil return circuit of two the meta locked cylinders 804,904 on the 8th and the 9th steering shaft, electromagnetic switch valve Y825 and Y805 be respectively as the oil-feed electromagnetic switch valve, is used to control the break-make of the oil-feed oil circuit of meta locked cylinder 804,904.Electro-hydraulic proportion reversing valve Y815, Y816 control by left and right flow and the direction that turns to oil cylinder 802,812 and 902,912 on the 8th and the 9th steering shaft, three electromagnetic switch valves the whether electric wheel of controlling on the 8th and the 9th steering shaft can turn to.Electromagnetic switch valve Y865 is identical with electromagnetic switch valve Y834 function, and electromagnetic switch valve Y825, Y805 and electromagnetic switch valve Y823, Y824 function are identical.The control principle of the second control cock group 808 is identical with the control principle of the first control cock group 508, does not repeat them here.

In the such scheme, the break-make that meta locked cylinder on the 6th and the 7th, the 8th and the 9th steering shaft is controlled its oil return circuit by first, second oil return electromagnetic switch valve Y834 in first, second control cock group 608,908, Y865 respectively, obviously, each meta locked cylinder all realizes that by an electromagnetic switch valve break-make of its oil return circuit also can realize the technical program.Perhaps, only control the oil-feed of meta locked cylinder or the break-make of oil return circuit and also can realize the technical program.

See also Fig. 8, be in low speed road and travel when turning to pattern when detecting unit detects current vehicle, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y824 and Y805, Y825, connect meta locked cylinder 704,804 and 904 oil-feed and oil return circuit, meta locked cylinder 704,804 and 904 releases on the 7th, the 8th and the 9th steering shaft.By controlling the first oil return electromagnetic switch valve Y834 and oil-feed electromagnetic switch valve Y823, disconnect the oil-feed oil circuit of the meta locked cylinder 604 on the 6th steering shaft, make 604 lockings of meta locked cylinder, the wheel on the 6th steering shaft is in stays.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and control corresponding electro-hydraulic proportion reversing valve respectively according to the rotation direction and the rotational angle of bearing circle, for example, when bearing circle clockwise rotates, control unit output control signal makes electro-hydraulic proportion reversing valve Y814, Y815, the b of Y816 holds, and according to the size adjustment electro-hydraulic proportion reversing valve Y814 of bearing circle rotational angle, the aperture of the ratio valve port of Y815 and Y816 makes the 7th, the steering direction of the wheel on the wheel on the 8th and the 9th steering shaft and first steering shaft is opposite.When bearing circle rotated counterclockwise, control unit output control signal made a of electro-hydraulic proportion reversing valve Y814, Y815, Y816 hold electricly, and vehicle turns to along conter clockwise.

See also Fig. 9, when detecting unit detects vehicle and is in the middling speed road running and turns to pattern, by controlling first, the second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824, Y825, Y805, connect meta locked cylinder 804 on the 8th and the 9th steering shaft and 904 oil-feed and oil return circuit, meta locked cylinder 804 and 904 releases, disconnect meta locked cylinder 604 on the 6th and the 7th steering shaft and 704 oil-feed oil circuit, meta locked cylinder 604 and 704 lockings, wheel on the 6th and the 7th steering shaft does not participate in turning to all the time along straight-line travelling.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and control corresponding electro-hydraulic proportion reversing valve Y815 and Y816 respectively according to the rotation direction and the steering angle of bearing circle, make the 8th with the 9th steering shaft on wheel its turn under the effect of oil cylinder with first steering shaft on the steering direction of wheel mutually opposite.

See also Figure 10, be in express highway and travel when turning to pattern when detecting unit detects vehicle, by controlling first, the second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y805, Y825, disconnect the 6th, the 7th, meta locked cylinder 604 on the 8th and the 9th steering shaft, 704,804 and 904 oil-feed and oil return circuit, all meta locked cylinder lockings, like this, the 6th, the 7th, wheel on the 8th and the 9th steering shaft can not turn to along with the rotation of bearing circle, when avoiding turning under the express highway motoring condition, it is dangerous that rollover takes place owing to turning circle diameter is too small.

Above-mentioned three kinds of road runnings turn to pattern to be switched automatically according to the variation of the speed of a motor vehicle by steering control system, thereby attitude is steady in the assurance vehicle ' process.But, cause shake in order to prevent vehicle in specified speed of a motor vehicle point release or locked frequent movement, when having only the current vehicle speed signal in Preset Time length, to exceed low speed, middling speed or high-revolving critical value continuously, just change turns to pattern.Should be appreciated that Preset Time length described here can be according to different vehicle condition parameters settings, such as 3 seconds.

See also Figure 11, when the user selects little turning on the TIP to turn to mode selecting key, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y805, Y825, connect meta locked cylinder 604,704,804 on the 6th, the 7th, the 8th and the 9th steering shaft and 904 oil-feed and oil return circuit, all equal releases of meta locked cylinder.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and control corresponding electro-hydraulic proportion reversing valve respectively according to the rotation direction and the rotational angle of bearing circle, make wheel on the 6th, the 7th, the 8th and the 9th steering shaft opposite under the effect that turns to oil cylinder separately with the steering direction of wheel on first steering shaft, the center of gyration O of vehicle is on the extended line between the 5th, the 6th steering shaft, and this pattern has to travel than low speed road and turns to the littler turning-circle diameter of pattern.

See also Figure 12, when the user selects crab row mode options button on the TIP, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805, connect meta locked cylinder 604,704,804 on the 6th, the 7th, the 8th and the 9th steering shaft and 904 oil-feed and oil return circuit and all connect all meta locked cylinder releases.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and according to the rotation direction of bearing circle and rotational angle control electro-hydraulic proportion reversing valve, make the 6th, the 7th, the 8th with the 9th steering shaft on wheel all identical and identical at steering angle under the effect that turns to oil cylinder separately with the steering direction of wheel on first steering shaft.

See also Figure 13, when the user selects rear axle meta locking on the TIP to turn to pattern, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805, disconnect meta locked cylinder 604,704,804 on the 6th, the 7th, the 8th and the 9th steering shaft and 904 oil-feed and oil return circuit, all meta locked cylinder lockings, like this, the wheel on the 6th, the 7th, the 8th and the 9th steering shaft can not turn to along with the rotation of bearing circle.

The locking of rear axle meta turns to pattern to belong to a kind of manual protected mode.Generally under the normal highway travel situations, steering controller can be according to the current vehicle speed corresponding low speed that automaticallyes switch, middling speed or express highway travel and turn to pattern, so that vehicle keeps vehicle attitude steady in traveling process, certainly, if this moment, car load was bigger, chaufeur can turn to mode selecting key by the locking of the rear axle meta on the TIP, make the 6th of vehicle, the 7th, meta locked cylinder locking on the 8th and the 9th steering shaft, wheel on these steering shafts can only be along straight-line travelling, can not carry out active steering, thus the danger of avoiding vehicle to topple because turning circle diameter is too small.

Please again referring to Fig. 7, fluid pressure drive device also comprises rear axle steering pump 60 and rear axle steering jury pump 70, rear axle steering jury pump 70 reaches with each meta locked cylinder through rear axle steering selector valve 80 and respectively turns to the oil-feed oil circuit of oil cylinder to communicate, wherein, rear axle steering selector valve 80 by the first auxiliary valve group 81 with the 6th with the 7th steering shaft on the meta locked cylinder and turn to the oil-feed oil circuit of oil cylinder to be connected, by the second auxiliary valve group 82 with the 8th with the 9th steering shaft on the meta locked cylinder and turn to the oil-feed oil circuit of oil cylinder to be connected, first, the second auxiliary valve group 81,82 are used to guarantee the cleanliness level of steering hydraulic system fluid, prevent system overload.Rear axle steering pump 60 is the plunger variable pump of constant voltage control (DR), power is from power taking mouth of driving engine, rear axle steering pump 60 is the required flow of supply load only, and after the operation pressure of pump discharge reached setup pressure value, only the very little flow of output was used to keep delivery pressure.Rear axle steering jury pump 70 is the controllable capacity pump of constant voltage control, and power can be realized two-way rotation from power taking mouth of auxiliary gear box, satisfies the applying working condition that vehicle moves ahead, moves backward.Whether emergent steering swivel system works, and depends on the fuel-feed system P1 of rear axle steering selector valve 80, the flow of P2, can not satisfy under the condition of system's fuel feeding the then automatic participation system fuel feeding of emergent steering swivel system when main steering swivel system.

In order to improve the functional reliability of meta locked cylinder, the concrete structure of the meta locked cylinder that is adopted in the utility model as shown in figure 13, adopt the structural shape of piston rod and double-piston separation type, comprise cylinder body 201, the compartment of terrain is provided with a left side in the inner chamber of cylinder body 201, right piston 209,202, by a left side, right piston 209,202 inner chambers with cylinder body 201 are separated into rod chamber 205,206 3 parts of intermediate cavity and rodless cavity, piston rod 203 is step axle shape and large-diameter portion places in the intermediate cavity, minor diameter is stretched out after passing right piston 202 and cylinder body right end cap successively, fixedly install the meta locating piece 208 of tubulose on the inwall of intermediate cavity, be set with intermediate piston 207 on the outer circumference surface of the major diameter part of piston rod 203, gap between the outer circumference surface of intermediate piston 207 and meta locating piece 208 inwalls forms meta chamber 204, the length of intermediate piston 207 is more than or equal to the length of meta locating piece 208, the right side of the pars intermedia of the left side of intermediate piston 2907 and left piston 209 offsets and the peripheral part of left piston 209 right sides and the left side of meta locating piece 208 offset, reflux in meta chamber 204 welding system all the time, rod chamber 205 and rodless cavity 206 are by the pressure oil circuit or the oil return circuit of corresponding oil-feed and oil return electromagnetic switch valve while connected system, when rod chamber 205 and rodless cavity 206 are all connected the system oil return oil circuit, when the meta locked cylinder is in released state, is applied to external force on the piston rod 203 and promotes piston rod 203 and stretch out or withdraw; When rod chamber 205, the rodless cavity 206 of meta locked cylinder communicates with the pressure oil circuit of system, and meta chamber 204 is when communicating with the oil return circuit of system, when the meta locked cylinder is in the lock state, at this moment, under the effect of pressure oil, right piston 202 is moved to the left up to offseting with meta locating piece 208, left piston 209 moves right under the effect of pressure oil, contact with in intermediate piston 207 or the meta locating piece 208 at least one, guaranteed that the wheel on the corresponding steering shaft keeps straight-line travelling.The position by adjusting meta locating piece 208 and the length of intermediate piston 207 can be adjusted the meta locked cylinder and lock timer-operated particular location, and intermediate piston 208 and meta locating piece 208 are equivalent to provide the protection of dual location.

In order to ensure the reliability of steering control system work, to avoid danger occurring owing to the fault of electric, hydraulic pressure or component of machine, steering control system also possesses expeditious measures.Concrete measure is, first, second, the 6th, the 7th, on the wheel on the 8th and the 9th steering shaft angular transducer is set all, whether detecting unit collects the steering angle of wheel and the gap between the pairing standard value of this wheel turning angle characteristic curve according to any angular transducer is foundation greater than setting value, for example setting value is 3 °, obtain the current whether dangerous judged result that turns to, the deflection angle characteristic curve here is meant current and turns under the pattern, when judged result shows current turning to when dangerous, the control unit output alarm signal, prompting user parking checking makes all wheels be reset to the straight-line travelling state.

In fact, for avoiding occurring steering swivel system inefficacy, the hardover failure of travelling, situations such as slide-out, steering control system also possesses expeditious measures, when electric, hydraulic pressure or component of machine break down, automatically start the locking of rear axle meta and turn to pattern, such as, in case angle of arrival is measured situations such as mistake, bus controller deadlock, steering controller deadlock, solenoid-operated proportional change-over valve fault, the pollution of hydraulic efficiency pressure system oil circuit or obstruction in the rear axle steering hydraulic efficiency pressure system, promptly reporting to the police and starting the rear axle meta automatically locks the pattern that turns to.

Above-described only is preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.

Claims

1. the steering control system of nine car chassiss, comprise the mechanical actuation device, power steering device, fluid pressure drive device and the steering controlling device that are used for drive wheels and turn to, described power steering device is used for auxiliary described mechanical actuation device and drives corresponding wheel steering; Described mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle, it is characterized in that,

Described rod-pulling type steering gear has five mouths, is respectively applied for to connect the track arm that drives the wheel steering on the first, second, third, fourth and the 5th steering shaft;

Described fluid pressure drive device comprises the oil cylinder that turns to that is fixedly installed on the meta locked cylinder on the 6th, the 7th, the 8th and the 9th steering shaft respectively and drives wheel steering on the corresponding steering shaft; Described meta locked cylinder on each steering shaft all is connected with the track arm of corresponding steering shaft with the external part that turns to oil cylinder, forms interlocking gear;

Described steering controlling device is according to turning to pattern output control signal, with oil-feed oil circuit and the oil return circuit that is switched on or switched off described meta locked cylinder and turns to oil cylinder.

2. the steering control system of nine car chassiss according to claim 1 is characterized in that, described steering controlling device comprises:

TIP which is provided with little turning and turns to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of operating modes of pattern to turn to mode selecting key;

Detecting unit is exported current vehicle according to vehicle speed signal and is in the mode signal that turns to that low speed, middling speed or express highway travel; According to the corresponding options button that the user selects, export the mode signal that turns to of the residing corresponding operating mode of current vehicle;

Control unit is exported described control signal according to the described mode signal that turns to.

3. the steering control system of nine car chassiss according to claim 2 is characterized in that,

Be respectively arranged with the oil-feed electromagnetic switch valve on the oil-feed oil circuit of each described meta locked cylinder, receive the oil-feed oil circuit that described control signal is switched on or switched off corresponding described meta locked cylinder;

Each is described to turn on the oil-feed oil circuit of oil cylinder and is respectively arranged with the solenoid-operated proportional change-over valve, receives described control signal and is switched on or switched off and correspondingly describedly turns to the oil-feed oil circuit of oil cylinder and adjust the described oil-feed flow that turns to oil cylinder;

Six, the meta of the 7th, the 8th and the 9th steering shaft locking and release are received by described oil-feed electromagnetic switch valve on the corresponding steering shaft and described solenoid-operated proportional change-over valve that described control signal is switched on or switched off corresponding oil-feed, oil return circuit is realized.

4. the steering control system of nine car chassiss according to claim 3 is characterized in that,

Be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the described meta locked cylinder on each steering shaft, and with this meta locked cylinder oil-feed oil circuit on oil-feed electromagnetic switch valve and the interlock of the described solenoid-operated proportional change-over valve on the corresponding steering shaft;

Six, the meta of the 7th, the 8th and the 9th steering shaft locking and release are received by the described oil-feed electromagnetic switch valve on the corresponding steering shaft, oil return electromagnetic switch valve and described solenoid-operated proportional change-over valve that described control signal is switched on or switched off corresponding oil-feed, oil return circuit is realized.

5. the steering control system of nine car chassiss according to claim 3 is characterized in that,

The oil return circuit of the described meta locked cylinder on the 6th and the 7th steering shaft is communicated with, this connection oil circuit is communicated with and is communicated with oil circuit with the system oil return oil circuit and is provided with the first oil return electromagnetic switch valve, oil-feed electromagnetic switch valve on the oil-feed oil circuit of at least one the described meta locked cylinder on the 6th and the 7th steering shaft and the described first oil return electromagnetic switch valve receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 6th and the 7th steering shaft;

The oil return circuit of the described meta locked cylinder on the 8th and the 9th steering shaft is communicated with, this connection oil circuit is communicated with and is communicated with oil circuit with the system oil return oil circuit and is provided with the second oil return electromagnetic switch valve, oil-feed electromagnetic switch valve on the oil-feed oil circuit of at least one the described meta locked cylinder on the 8th and the 9th steering shaft and the described second oil return electromagnetic switch valve receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 8th and the 9th steering shaft.

6. the steering control system of nine car chassiss according to claim 1, it is characterized in that, six, be respectively equipped with connecting rod on the 7th, the 8th and the 9th steering shaft, the middle part of each described connecting rod is hinged on respectively on the corresponding steering shaft, the described meta locked cylinder on the corresponding steering shaft and turn to the external part of oil cylinder hinged with the both ends of described connecting rod respectively; Each described connecting rod is respectively applied for and connects corresponding track arm, to drive the wheel steering on the corresponding steering shaft.

7. the steering control system of nine car chassiss according to claim 1 is characterized in that, described rod-pulling type steering gear comprises:

First rocking arm, between first, second steering shaft and its middle part be used for nine car chassiss hinged;

Second rocking arm, between second, third steering shaft and its upper end be used for nine car chassiss hinged;

The 3rd rocking arm, between the 4th, the 5th steering shaft and its upper end be used for nine car chassiss hinged;

First rod assembly, the upper end of an end and described first rocking arm is hinged, the other end be used for nine car chassiss on the mouth of steering drop arm hinged;

Second rod assembly, the lower end of an end and described first rocking arm is hinged, the other end be used for described first steering shaft on the input end of track arm hinged;

The 3rd rod assembly, the lower end of an end and described first rocking arm is hinged, the other end be used for described second steering shaft on the input end of track arm hinged;

Four-pull-rod assembly, two ends are hinged with the lower end of described first, second rocking arm respectively;

The 5th rod assembly, the lower end of an end and described second rocking arm is hinged, and the input end of the track arm on the other end and described the 3rd steering shaft is hinged;

The 6th rod assembly, two ends are hinged with the middle part of described second, third rocking arm respectively;

The 7th rod assembly, the lower end of an end and described the 3rd rocking arm is hinged, the other end be used for described the 4th steering shaft on the input end of track arm hinged;

The 8th rod assembly, the lower end of an end and described the 3rd rocking arm is hinged, the other end be used for described the 5th steering shaft on the input end of track arm hinged.

8. the steering control system of nine car chassiss according to claim 7 is characterized in that, described power steering device comprises:

Five groups of steering jacks are fixedly installed on respectively on the first, second, third, fourth and the 5th steering shaft, are used to drive the wheel steering on the corresponding steering shaft;

The servo-steering pump, its delivery port is communicated with the oil-feed oil circuit of described steering jack;

The front-axle steering jury pump, its delivery port is communicated with the oil-feed oil circuit of described steering jack through selector valve.

9. the steering control system of nine car chassiss according to claim 8, it is characterized in that, described every group of steering jack comprises a left side respectively, right power-assisted oil cylinder, a described left side, the external part of right power-assisted oil cylinder respectively with corresponding wheel on track arm hinged, all described left steering oil cylinders are connected on the different oil circuits with all right steering oil cylinders, described servo-steering pump is a twin pump, the output of one of them single pump connects on the oil circuit in the described different oil circuit, and another single pump and described front-axle steering jury pump are respectively on the front-axle steering selector valve is connected another oil circuit in the described different oil circuit.

10. the steering control system of nine car chassiss according to claim 1, it is characterized in that, described fluid pressure drive device also comprises the rear axle steering jury pump, and described rear axle steering jury pump communicates through the described meta locked cylinder of rear axle steering selector valve and each and each described oil-feed oil circuit of oil cylinder that turns to.

11. the steering control system of nine car chassiss according to claim 10 is characterized in that, described rear axle steering selector valve by the first auxiliary valve group with the 6th with the 7th steering shaft on the meta locked cylinder and turn to the oil-feed oil circuit of oil cylinder to be connected; By the second auxiliary valve group with the 8th with the 9th steering shaft on the meta locked cylinder and turn to the oil-feed oil circuit of oil cylinder to be connected.

12. the steering control system according to claim 3,4 or 5 described nine car chassiss is characterized in that,

Travel at low speed road and to turn under the pattern, described control unit is exported control signal respectively: connect the oil-feed oil circuit of the described meta locked cylinder on the 7th, the 8th and the 9th steering shaft, and disconnect the oil-feed oil circuit of the described meta locked cylinder on the 6th steering shaft; Connect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 7th, the 8th and the 9th steering shaft, and disconnect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 6th steering shaft; Seven, the wheel on the 8th and the 9th steering shaft under the corresponding effect that turns to oil cylinder with first steering shaft on the switched in opposite of wheel, the wheel on the 6th steering shaft does not turn to;

Turn under the pattern at the middling speed road running, described control unit is exported control signal respectively: connect the oil-feed oil circuit of the described meta locked cylinder on the 8th and the 9th steering shaft, and disconnect the oil-feed oil circuit of the described meta locked cylinder on the 6th and the 7th steering shaft; Connect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 8th and the 9th steering shaft, and disconnect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 6th and the 7th steering shaft; Wheel on the 8th and the 9th steering shaft under the corresponding effect that turns to oil cylinder with first steering shaft on the switched in opposite of wheel, the wheel on the 6th and the 7th steering shaft does not turn to;

Turning under the pattern that express highway travels, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.

13. the steering control system according to claim 3,4 or 5 described nine car chassiss is characterized in that,

Turn under the pattern in little turning, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the wheel on the 6th, the 7th, the 8th and the 9th steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on the switched in opposite of wheel.

14. the steering control system according to claim 3,4 or 5 described nine car chassiss is characterized in that,

Under the crab row mode, described control unit is exported control signal respectively: connect the oil-feed oil circuit of each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the 6th, the 7th, the 8th with the 9th steering shaft on wheel all identical and identical at steering angle under the corresponding driving that turns to oil cylinder with the steering direction of wheel on first steering shaft.

15. the steering control system according to claim 3,4 or 5 described nine car chassiss is characterized in that,

Turn under the pattern in the locking of rear axle meta, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.

16. nine car chassis hoisting cranes have the steering control system of controlling each wheel steering, it is characterized in that the concrete steering control system as each described nine car chassiss of claim 1-11 of described steering control system.