CN202686461U - Chassis steering control system and crane provided with same - Google Patents
Chassis steering control system and crane provided with same Download PDFInfo
- Publication number
- CN202686461U CN202686461U CN 201220336937 CN201220336937U CN202686461U CN 202686461 U CN202686461 U CN 202686461U CN 201220336937 CN201220336937 CN 201220336937 CN 201220336937 U CN201220336937 U CN 201220336937U CN 202686461 U CN202686461 U CN 202686461U
- Authority
- CN
- China
- Prior art keywords
- steering
- angle
- wheel
- chassis
- angular
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The utility model discloses a chassis steering control system and a crane provided with the control system. The control system provided by the utility model comprises an electronically controlled chassis steering system connected with each axle and each wheel of a chassis, a first angle detection device and a second angle detection device used for obtaining steering wheel angle signals and wheel angle signals respectively, and a steering controller used for prestoring a first angle relation and a second angle relation. With the steering wheel angle signals as reference signals, the steering controller can output signals to control wheel steering, according to the angle signals of each wheel, the first angle relation and the second angle relation. The control system has the advantages that the steering of each wheel is based on the angle of the steering wheel respectively, so as to ensure that the actual angle of a vehicle conforms to the intention of a driver; a whole wheel electric control steering mode with high control accuracy is adopted and the angle relation of each wheel meets the Ackerman principle to a greater extent, thereby reducing the abrasion of tires; and the whole wheel electric steering mode omits a transmission mechanism between the steering wheel and the axles, thereby simplifying the structure of a steering system.
Description
Technical field
The utility model relates to technical field of engineering machinery, particularly a kind of chassis steering control, and the hoisting crane with this system.
Background technology
Maneuverability and the bend carrying capacity of multiple-axle vehicle chassis in order to improve vehicle, the chassis turns to by original mechanical pull bar and turns to the future development that little by little adds automatically controlled or hydraulic control to machinery, that is: adopt bearing circle directly to control the turning to of front axle wheel, all the other each axle wheels adopt automatically controlled control to turn to.Bearing circle generally by the deflector device be connected pull rod device and be connected with the front axle wheel steering device, directly control turning to of front axle wheel.
During Vehicular turn, each wheel do synchronous rotating to prerequisite be that each axle wheel must rotate around same turning center, at this moment, the corner of each axle wheel satisfies certain angle relation (Ackermam theorem), so, the guarantee tire is done PURE ROLLING, reduces the inordinate wear of tire.For realize front axle wheel and all the other automatically controlled axle wheel synchronous rotatings to, need to adopt all higher control policies of particularity and safety.
At present, the wheel synchronous rotating is to mainly realizing by following manner: control the requirement that turns to that the front axle wheel steering angle signal that turns to can reflect navigating mate by machinery, therefore generally take front axle wheel steering angle signal as reference signal; And each axle wheel synchronous rotating to the time, the angle relation of each axle wheel need meet the Ackermam theorem; Then obtain front axle wheel steering angle signal as reference signal after, can dynamic calculation obtain the ideal value of all the other automatically controlled axle wheel corners according to the Ackermam theorem.Adopt again angular transducer to detect in real time the angular signal of each axle wheel, and be passed to steering controller, steering controller can compare angular signal and the ideal value of automatically controlled axle wheel, action to corresponding power element (turning to electromagnetic valve etc.) is controlled, thereby realizes the control to the corresponding wheel corner.
Yet there is following technical matters in aforesaid way:
Front axle is in manufacturing and fitting process, there is inevitably error, the wheel steering angle of the wheel steering angle of the front axle that then detects and chaufeur needs is actually and has deviation, all the other each automatically controlled axle wheels also turn to according to the reference signal of this deviation, cause the turning efficiency of vehicle integral body and chaufeur to turn to wish to have deviation.
In view of this, how improving the control system that the chassis turns to, so that the chassis turns to the wish that turns to that more meets chaufeur, is the technical matters that those skilled in the art need to be resolved hurrily.
The utility model content
Core of the present utility model is for providing a kind of chassis steering control, this system so that wheel steering all take the corner of bearing circle as benchmark, thereby guarantee that actual rotational angle meets the wish that turns to of navigating mate.
The chassis steering control that the utility model provides, the automatically controlled steering swivel system that comprises steering controller, all is connected with the wheel of each axletree of chassis, and the second rotation angle detecting apparatus of the first rotation angle detecting apparatus of Real-time Obtaining steering wheel angle signal and each axle wheel angular signal of Real-time Obtaining; Described steering controller comprises:
Memory cell is for the second angle relation between the first angle relation, this axle wheel and all the other each axle wheel angular signals of an axle wheel angular signal that prestores the steering wheel angle signal and choose;
Analytic unit, all be connected with described memory cell, the first rotation angle detecting apparatus, the second rotation angle detecting apparatus, automatically controlled steering swivel system, so that described analytic unit controls signal to described automatically controlled steering swivel system according to what angular signal, the first angle relation, the corresponding axle wheel of the second angle relation output control of the angular signal of bearing circle, each axle wheel turned to.
Preferably, described the first detecting device comprises the angle driver, the input end of described angle driver is connected with bearing circle by the steering column of bearing circle below, described angle driver also is provided with at least two mouths, each described mouth all is connected with angular transducer, to detect at least two group angular signals of bearing circle.
Preferably, described the first detecting device also comprises pipe link, and the two ends of described pipe link are articulated in the first hinge-point and the second hinge-point with the swing arm of the fork of described angular transducer, described angle driver mouth respectively; And the line of the center of oscillation of described fork, the center of oscillation of described swing arm, described the first hinge-point, described the second hinge-point forms parallelogram.
Preferably, also comprise the warning device that is connected with steering controller.
Preferably, described steering controller is connected with the engine controller of vehicle.
In the prior art take the front axle wheel steering angle that has mechanical error as benchmark, the chassis steering control that this utility model provides so that wheel steering all take the corner of bearing circle as benchmark, thereby can guarantee that the vehicle actual rotational angle meets the wish that turns to of navigating mate.And, each wheel turns to by automatically controlled steering swivel system control in this chassis steering control, namely take entirely to take turns the automatically controlled pattern that turns to, automatically controlled pattern possesses higher control accuracy, then the deviation of each wheel actual rotational angle and theoretical value is reduced, then each wheel steering angle relation can satisfy the Ackermam theorem to a greater degree, and all wheels are in the nonslipping state of pure rolling in steering procedure, thereby reduces the wearing and tearing of tire.On this basis, owing to having adopted the automatically controlled pattern that turns to of full wheel, then can omit the transmission device (deflector, steering track rod etc.) between bearing circle and the front axle, reach the purpose of simplifying body construction.
The utility model also provides a kind of hoisting crane, has chassis and crane arm, and the chassis has above-mentioned each described chassis steering control, because above-mentioned chassis steering control has above-mentioned technique effect, this hoisting crane also has identical technique effect,
Description of drawings
Fig. 1 provides the operational flowchart of chassis steering control the first specific embodiment for the utility model;
Fig. 2 provides the structural representation of chassis steering control the first specific embodiment for the utility model;
A kind of chassis structure schematic diagram of Fig. 3 for being turned to by automatically controlled steering swivel system control among Fig. 2;
Fig. 4 is the structural representation of a kind of specific embodiment that the first rotation angle detecting apparatus is connected with bearing circle, steering controller among Fig. 2;
Fig. 5 is the structural representation that angular transducer is connected with the swing arm of angle driver mouth among Fig. 4;
Fig. 6 provides the operational flowchart of chassis steering control the second specific embodiment for the utility model;
Fig. 7 provides the operational flowchart of the third specific embodiment of chassis steering control for the utility model;
Fig. 8 provides the structural representation of the third specific embodiment of chassis steering control for the utility model.
Among Fig. 2-5,8:
10 steering controllers, 20 automatically controlled steering swivel systems, 30 first detecting devices, 40 second detection devices, 50 bearing circle, 60 axle wheels, 100 front axles, 200 first rear axles, 300 second rear axles, 51 steering columns, 31 jiaos of drivers, 311 swing arms, 32 angular transducers, 321 forks, 33 connecting rods, the center of oscillation of A fork, B the first hinge, C the second hinge, the center of oscillation of D swing arm, 70 engine controllers, 80 warning devices.
The specific embodiment
Core of the present utility model is for providing a kind of chassis steering control, this system so that wheel steering all take the corner of bearing circle as benchmark, thereby guarantee that actual rotational angle meets the wish that turns to of navigating mate.
In order to make those skilled in the art understand better the technical solution of the utility model, the utility model is described in further detail below in conjunction with the drawings and specific embodiments.Need to prove, for the ease of understanding and succinct the description, hereinafter binding chassis rotating direction control method and system describe, and beneficial effect no longer repeats to discuss.
Please refer to Fig. 1-3, Fig. 1 provides the operational flowchart of chassis steering control the first specific embodiment for the utility model; Fig. 2 provides the structural representation of chassis steering control the first specific embodiment for the utility model; A kind of chassis structure schematic diagram of Fig. 3 for being turned to by automatically controlled steering swivel system control among Fig. 2.
Chassis steering control method among this embodiment comprises the steps:
S11, the wheel of each axletree is all connected automatically controlled steering swivel system 20; The first angle relation of an axle wheel 60 angular signals that prestore bearing circle 50 angular signals and select, and the second angle relation between these axle wheel 60 angular signals and all the other axle wheels 60 angular signals;
Be that the whole wheel in chassis turns to by automatically controlled steering swivel system 20 controls, steering controller 10 is set simultaneously, steering controller 10 comprises memory cell and analytic unit, memory cell is used for storing above-mentioned the first angle relation and the second angle relation, analytic unit is connected with automatically controlled steering swivel system 20, controls turning to of automatically controlled steering swivel system 20 each wheel flutter of control in order to export corresponding instruction.As shown in Figure 3, the chassis comprises front axle 100, the first rear axle 200 and the second rear axle 300 for three axletrees are set, and three's wheel drives by steering cylinder and turns to, steering cylinder flexible by the solenoid control in the automatically controlled steering swivel system 20.Can expect, the utility model is not limited to the chassis system of three axles, can be the above chassis system of two axles or three axles.
Can choose an axle wheel 60, and the first angle relation of direction initialization dish 50 angular signals and this axle wheel 60 angular signals, the first angle relation needs bearing circle 50 angular signals are passed to wheel, so that wheel turns to according to the wish that turns to of chaufeur, when namely controlling this wheel steering according to the first angle relation, the effect that reaches with machinery control is consistent.The second angle relation between all the other axle wheel 60 angular signals and the selected wheel steering angle signal obtains according to the Ackermam theorem.Calculate based on Ackermam theorem and the conversion be convenient between each wheel signal, the first angle relation of bearing circle 50 angular signals and front axle 100 wheel steering angle signals that preferably prestores, and the second angle relation between all the other each axle wheels 60 and front axle 100 wheel steering angles of prestoring.Because, during machinery control wheel steering, general direct control front axle 100 turns to, at this moment, the first angle relation is equivalent in the prior art by after the transmission device transmission, the angle relation of bearing circle 50 corners and front axle 100 wheels then can obtain the first angle relation by the arrangement to the transmission device drive connection.
The angular signal of the angular signal of S12, Real-time Obtaining bearing circle 50 and each axle wheel 60;
The first rotation angle detecting apparatus and the second rotation angle detecting apparatus can be set, detect respectively angular signal and the wheel steering angle signal of bearing circle 50.The first rotation angle detecting apparatus be connected rotation angle detecting apparatus and all be connected with steering controller 10, particularly, be connected with its analytic unit.
The first rotation angle detecting apparatus specifically can be understood with reference to figure 4 and Fig. 5, and Fig. 4 is the structural representation of a kind of specific embodiment that the first rotation angle detecting apparatus is connected with bearing circle 50, steering controller 10 among Fig. 2; Fig. 5 is the structural representation that angular transducer 32 is connected with the swing arm 311 of angle driver 31 mouths among Fig. 4.The first detecting device 30 among this embodiment comprises angle driver 31, the input end of angle driver 31 is connected with bearing circle 50 by the steering column 51 of bearing circle 50 belows, driving angle driver 31 input ends when then bearing circle 50 rotates rotates, and the mouth connection angle sensor 32 of angle driver 31, then this angular transducer 32 can detect the angular signal of bearing circle 50.The first rotation angle detecting apparatus of this kind structure comprises the angle driver, simply and has accurately realized the detection of bearing circle 50 angular signals, and does not interfere turning to and installation, the normal operation of parts on every side of bearing circle 50.When angular transducer 32 is connected with the mouth of angle driver 31, can connect by connecting rod 33.As shown in Figure 5, the first detecting device 30 also comprises connecting rod 33, and the two ends of connecting rod 33 are articulated in the first hinge-point B and the second hinge-point C with the fork 321 (detection axle) of angular transducer 32, the swing arm 311 of angle driver 31 mouths respectively; And the line of the center of oscillation D of the center of oscillation A of fork 321, swing arm 311, the first hinge-point B, the second hinge-point C forms parallelogram, so, the angular signal that angular transducer 32 detects is equal to the corner value of bearing circle 50, detects precisely, need not to transform.
Certainly, the first rotation angle detecting apparatus and the second rotation angle detecting apparatus all can be to be directly installed on the angular transducer 32 that detects the position.The first detecting device 30 is connected with second detection device and all is connected with steering controller 10 signals, in order to all export the angular signal that detects to steering controller 10.
The control signal that S13, the angular signal according to bearing circle 50, the angular signal of each axle wheel 60, the first angle relation, the corresponding axle wheel 60 of the second angle relation output control turn to.
What the angular signal of bearing circle 50 had reflected navigating mate truly turns to wish, steering controller 10 is as reference signal, transfer the first angle relation of storing in the memory cell, obtain selected axle wheel 60 angular signals, again according to the second angle relation, can calculate the theoretical value of all the other wheel steering angles, and the wheel steering angle signal that each theoretical value and corresponding second detection device 40 are detected relatively, export corresponding instruction to automatically controlled steering swivel system 20 according to comparative result, control power elements such as turning to accordingly electromagnetic valve by automatically controlled steering swivel system 20 and carry out corresponding handling maneuver, in order to drive the wheel steering angle convergence or reach theoretical value.
Hence one can see that, in the prior art take front axle 100 wheel steering angles that have mechanical error as benchmark, this chassis steering control and method so that wheel steering all take the corner of bearing circle 50 as benchmark, thereby can guarantee that the vehicle actual rotational angle meets the wish that turns to of navigating mate.And, each wheel turns to by automatically controlled steering swivel system 20 controls in this chassis steering control, namely take entirely to take turns the automatically controlled pattern that turns to, automatically controlled pattern possesses higher control accuracy, then the deviation of each wheel actual rotational angle and theoretical value is reduced, each wheel actual rotational angle relation can satisfy the Ackermam theorem to a greater degree, and all wheels are in the nonslipping state of pure rolling in steering procedure, thereby reduces the wearing and tearing of tire.On this basis, owing to having adopted the automatically controlled pattern that turns to of full wheel, then can omit the transmission device (deflector, steering track rod etc.) between bearing circle 50 and the front axle 100, reach the purpose of simplifying body construction.
For above-described embodiment, can also make further improvement, as shown in Figure 6, Fig. 6 provides the operational flowchart of chassis steering control the second specific embodiment for the utility model.
Among this embodiment, chassis steering control method comprises the steps:
S21, the wheel of each axletree is all connected automatically controlled steering swivel system 20; The first angle relation of bearing circle 50 angular signals and an axle wheel 60 angular signals and the second angle relation between each axle wheel 60 angular signal prestore; The safety guard-safeguard pattern prestores;
Some measures that the safety guard-safeguard pattern namely helps to provide vehicle safe driving and turns to, such as, when under this pattern, turning to, can report to the police, limit speed-raising, limit and turn to, force reduction of speed etc.
The angular signal of the angular signal of S22, Real-time Obtaining bearing circle 50 and each axle wheel 60;
S23, judge whether bearing circle 50 angular signals are normal, are, then enter step S24, no, then enter step S27;
The angular signal mal of bearing circle 50 mainly comprises following situation: the first, the signal distortion of the first detecting device 30 detections, such as, the signal of output exceeds presupposition theory value scope, or interior hunt of unit time etc.; The second, the first detecting device 30 no signals output.Certainly, the mal of angular signal output also comprises other situations.During bearing circle 50 angular signal mal; obviously should not control wheel steering as reference signal, at this moment, should enter among the step S27; steering controller 10 can be exported corresponding control command according to the safety guard-safeguard pattern, such as control commands such as output alarm, speed limits.
S24, judge whether normal bearing circle 50 angular signals and selected axle wheel 60 angular signals satisfy the first angle relation, are, then enter step S25, no, then enter step S27;
Bearing circle 50 angular signals that detect are that steering controller 10 can calculate according to the first pre-stored angle relation, and exports corresponding instruction with the prerequisite that axle wheel 60 angular signals of selecting satisfy the first angle relation.When not satisfying the first angle relation, show system's et out of order of steering controller 10 or the detecting device that detects selected axle wheel 60 angular signals breaks down, the axle wheel 60 that last fault can cause selecting does not turn to according to predetermined angle, causing simultaneously all the other each axle wheels also can't turn to according to predetermined angular, latter can cause all the other each axle wheels can't normal direction of rotation, proceed to turn to this moment, may be accidents caused.Step S24 can when above-mentioned fault produces, enter the safety guard-safeguard pattern.
S25, choose in all the other axle wheel angular signals at least one with the axle wheel angular signal chosen relatively, if all satisfy the second angle relation, then enter step S26, if there is the situation that does not satisfy the second angle relation, then enter step S27;
Similar with the principle of step S24; all the other axle wheels 60 turn to according to selected axle wheel 60 angular signals and the second angle relation; when steering controller 10 control program mistake; can cause axle wheel 60 corners not meet the Ackermam theorem; carry out step S25 and can enter the safety guard-safeguard pattern, be convenient to the operating mode of steering controller 10 is calibrated.Whether the angular signal of the axle wheel 60 that detects an axle wheel 60 and select satisfies the second angle relation, whether the work that can react to a certain extent steering controller 10 is normal, certainly, the angular signal of selected axle wheel 60 and all the other all axle wheels 60 is concerned equal judge, then can determine steering controller 10 work normally whether.
The control signal that S26, the angular signal according to normal bearing circle 50, the angular signal of each axle wheel 60, the first angle relation, the corresponding axle wheel 60 of the second angle relation output control turn to;
S27, enter the safety guard-safeguard pattern.
Among this embodiment, when turning to, step S23, S25, S24 all carry out the obviously scheme for optimizing the most.But in fact, even only carry out one among step S23, S25, the S24 or both all can play the effect that improves steering safety to a certain extent,
For the second embodiment, can also make further improvement, shown in Fig. 7-8, Fig. 7 provides the operational flowchart of the third specific embodiment of chassis steering control for the utility model; Fig. 8 provides the structural representation of the third specific embodiment of chassis steering control for the utility model.
Chassis steering control method comprises the steps: among this embodiment
S31, the wheel of each axletree is all connected automatically controlled steering swivel system 20; The first angle relation of bearing circle 50 angular signals and front axle 100 wheel steering angle signals and the second angle relation between front axle 100 wheel steering angle signals and all the other axle wheels 60 angular signals prestore; The safety guard-safeguard pattern prestores;
This embodiment is take selected axle wheel 60 as front axle 100 wheels as example.
At least two group angular signals of S32, Real-time Obtaining bearing circle 50 and the angular signal of each axle wheel 60;
When among the above-mentioned embodiment angle driver 31 being set, angle driver 31 can arrange at least two mouths, be connected with respectively angular transducer 32, then an angular transducer 32 can detect one group of angular signal of bearing circle 50, among the figure, is provided with three angular transducers 32, detect three groups of angular signals, certainly, also can arrange two, or the angular transducer more than three 32.
S33, judge whether bearing circle 50 angular signals are normal, when all normal, then enter step S34, during equal mal, then enter first that carries out the safety guard-safeguard pattern among the step S37, when normal pivot angle signal and mal angular signal exist simultaneously, enter step S34, enter simultaneously among the step S37 and carry out second;
Detecting 50 3 groups of angular signals of bearing circle as example, one group when normal, proceed following step judgement with this group normal pivot angle signal, enter simultaneously the safety guard-safeguard pattern; Two groups when normal, choose one group and continue following step as the normal pivot angle signal, enter simultaneously the safety guard-safeguard pattern; Three groups when all normal, choose one group and continue following step as the normal pivot angle signal; During three groups of equal mals, enter the safety guard-safeguard pattern.
Detect the above angular signal of 50 liang of groups of bearing circle, so that during one or more groups angular transducer 32 et out of order, the angular signal that all the other angular transducers 32 detect can provide redundant, as reference signal, continues control by steering controller 10 and turns to after meeting other conditions.Three angular transducers 32 are set usually can avoid angular transducer 32 to produce fault and can't turning to smoothly of causing, because the probability of three 32 while of angular transducer et out of orders is less.And, when detecting many groups angular signal of bearing circle 50, be easy to judge angular signal normally whether, under the normal condition, each organizes angular signal in theory should be in full accord, certainly because the existence of error, each difference of organizing angular signal should be in the zone of reasonableness, when one group or above angular signal and other most angular signal differences are larger, obviously, can judge and have abnormal angular signal.
S34, judge whether one group of normal bearing circle 50 angular signal and front axle 100 wheel steering angle signals satisfy the first angle relation, are, then enter step S35, no, then enter among the step S37 and carry out second;
Bearing circle 50 angular signals are normal, but do not satisfy the first angle relation with axle wheel 60 angular signals, as seen, the program of steering controller 10 may break down, or the detecting device that detects selected axle wheel 60 angular signals breaks down, and these two kinds of situations all can affect the normal direction of rotation of vehicle.Therefore the warning device that is connected with steering controller 10 can be set, when bearing circle 50 angular signals and front axle 100 wheel steering angle signals do not satisfy the first angle relation, steering controller 10 can export send alerting signal instruction to warning device, warning device then sends alerting signal with caution navigating mate parking maintenance.The scheme of more optimizing is, also export in the time of output alarm signal and reduce the extremely zero instruction of the speed of a motor vehicle to engine controller 70, and export locked all wheels in the instruction of meta to automatically controlled steering swivel system, namely forcing stops and impose restrictions on turns to, and further guarantees safety.
S35, choose in all the other axle wheel angular signals at least one and front axle wheel steering angle signal relatively, if all satisfy the second angle relation, then enter step S36, if there is the situation that does not satisfy the second angle relation, then enters among the step S37 and carry out second;
Identical with step S34 principle, when arbitrary axle wheel 60 does not satisfy the second angle relation with front axle wheel steering angle signal, all can affect the vehicle normal direction of rotation, for the sake of security, among the execution in step S37 second.
The control signal that S36, the angular signal according to bearing circle 50, the angular signal of each axle wheel 60, the first angle relation, the corresponding axle wheel 60 of the second angle relation output control turn to;
S37, enter the safety guard-safeguard pattern:
First, output send alerting signal and reduce the instruction of the speed of a motor vehicle;
Second, alerting signal is sent in output and output reduces the speed of a motor vehicle to zero, and locked all wheels are in the instruction of meta.
When normal pivot angle signal and mal angular signal exist simultaneously, can choose a normal pivot angle signal proceeds to turn to, but the mal angular signal shows that there is fault in system, can send alarm message, and the reduction speed of a motor vehicle, to guarantee safety, certainly, can also carry out refinement to the reduction of speed instruction as the case may be, such as, when detecting three groups of angular signals, one group of mal can be with Speed Reduction to 10km/h, during two groups of mals, can with Speed Reduction to 5km/h, so, can take into account the unification of safety factor and moving velocity.
Bearing circle 50 respectively organize the equal mal of angular signal the time, show that this moment, steering controller 10 turned to control without suitable reference signal, should not make handling maneuver this moment, can send alarm message and warn the navigating mate parking checking; Simultaneously, accidents caused for avoiding navigating mate still to operate turning to, can export reduce the speed of a motor vehicle to zero and locked all wheels in the instruction of meta, namely forcing stops and impose restrictions on turns to, to guarantee safety.
The utility model also provides a kind of hoisting crane, have chassis and crane arm, the chassis has the described chassis steering control of above-mentioned arbitrary embodiment, because above-mentioned chassis steering control has above-mentioned technique effect, this hoisting crane also has identical technique effect, is not repeated herein.
Above to a kind of chassis steering control provided by the utility model, and the hoisting crane with this system all is described in detail.Used specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present utility model and core concept thereof.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 carry out some improvement and modification to the utility model, these improvement and modification also fall in the protection domain of the utility model claim.
Claims (6)
1. chassis steering control, it is characterized in that, the automatically controlled steering swivel system that comprises steering controller, all is connected with the wheel of each axletree of chassis, and the second rotation angle detecting apparatus of the first rotation angle detecting apparatus of Real-time Obtaining steering wheel angle signal and each axle wheel angular signal of Real-time Obtaining; Described steering controller comprises:
Memory cell is for the second angle relation between the first angle relation, this axle wheel and all the other each axle wheel angular signals of an axle wheel angular signal that prestores the steering wheel angle signal and choose;
Analytic unit, all be connected with described memory cell, the first rotation angle detecting apparatus, the second rotation angle detecting apparatus, automatically controlled steering swivel system, described analytic unit controls signal to described automatically controlled steering swivel system according to what angular signal, the first angle relation, the corresponding axle wheel of the second angle relation output control of the angular signal of bearing circle, each axle wheel turned to.
2. chassis steering control according to claim 1, it is characterized in that, described the first detecting device comprises the angle driver, the input end of described angle driver is connected with bearing circle by the steering column of bearing circle below, described angle driver also is provided with at least two mouths, each described mouth all is connected with angular transducer, to detect at least two group angular signals of bearing circle.
3. chassis steering control according to claim 2, it is characterized in that, described the first detecting device also comprises pipe link, and the two ends of described pipe link are articulated in the first hinge-point and the second hinge-point with the swing arm of the fork of described angular transducer, described angle driver mouth respectively; And the line of the center of oscillation of described fork, the center of oscillation of described swing arm, described the first hinge-point, described the second hinge-point forms parallelogram.
4. according to claim 2 or 3 described chassis steering controls, it is characterized in that, also comprise the warning device that is connected with steering controller.
5. chassis steering control according to claim 4 is characterized in that, described steering controller is connected with the engine controller of vehicle.
6. a hoisting crane has chassis and crane arm, it is characterized in that, described chassis has each described chassis steering control such as claim 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220336937 CN202686461U (en) | 2012-07-12 | 2012-07-12 | Chassis steering control system and crane provided with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220336937 CN202686461U (en) | 2012-07-12 | 2012-07-12 | Chassis steering control system and crane provided with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202686461U true CN202686461U (en) | 2013-01-23 |
Family
ID=47542118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220336937 Expired - Fee Related CN202686461U (en) | 2012-07-12 | 2012-07-12 | Chassis steering control system and crane provided with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202686461U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501856A (en) * | 2018-12-17 | 2019-03-22 | 三汽车起重机械有限公司 | Limit rotating direction control method and device |
| CN110285985A (en) * | 2019-05-31 | 2019-09-27 | 驭势科技（浙江）有限公司 | Appraisal procedure, device, system and the storage medium of intelligent vehicle steering system |
| CN114771657A (en) * | 2022-06-02 | 2022-07-22 | 安徽安凯汽车股份有限公司 | Steering wheel angle detection system |
-
2012
- 2012-07-12 CN CN 201220336937 patent/CN202686461U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501856A (en) * | 2018-12-17 | 2019-03-22 | 三汽车起重机械有限公司 | Limit rotating direction control method and device |
| CN109501856B (en) * | 2018-12-17 | 2020-06-05 | 三一汽车起重机械有限公司 | Limit steering control method and device |
| CN110285985A (en) * | 2019-05-31 | 2019-09-27 | 驭势科技（浙江）有限公司 | Appraisal procedure, device, system and the storage medium of intelligent vehicle steering system |
| CN114771657A (en) * | 2022-06-02 | 2022-07-22 | 安徽安凯汽车股份有限公司 | Steering wheel angle detection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102730057B (en) | Method and system for controlling turning of chassis and crane with system | |
| CN103057586B (en) | Trailer, steering control method for same, controller and steering system of trailer | |
| CN202863535U (en) | Control device limiting wheel steering angle in high-speed status | |
| EP2091807B1 (en) | Articulation control system | |
| CN102303490B (en) | Automobile tire burst prevention controller on basis of electrical power steering | |
| CN111845931B (en) | Multi-mode composite steering chassis and engineering machinery vehicle | |
| CN202098458U (en) | Electrically-controlled electric four-wheel steering system | |
| CN101596915A (en) | A kind of automobile steering system based on line traffic control | |
| CN102455177B (en) | Wheeled crane and wheel turn angle measuring device thereof | |
| CN202686461U (en) | Chassis steering control system and crane provided with same | |
| CN112141207A (en) | Electro-hydraulic power-assisted steering system and crane | |
| CN111422249B (en) | Rear wheel steering control method, rear wheel steering control device and computer storage medium | |
| CN102039929B (en) | Multi-axis chassis steering control method and system and wheeled crane employing system | |
| CN102490779B (en) | Digital steering wheel system with force feedback | |
| CN102774379A (en) | Intelligent braking system | |
| CN201901172U (en) | Multi-axle chassis steering control system and wheel crane employing same | |
| CN101696909B (en) | Performance test control system for automobile steering system | |
| CN203228845U (en) | Four-wheel electric steering control system for forklift | |
| CN106152994B (en) | Wheel corner measuring device, multi-axle steering vehicle and wheel corner measuring method | |
| CN108945097B (en) | Electric wire control steering system | |
| CN104960570A (en) | Steering controller based on GMM, and steering system of rear driving wheels of forklift | |
| CN206589873U (en) | One kind is blown out vehicle body stabilizing control system | |
| CN104973091A (en) | Electric locomotive brake anti-lock device | |
| CN202953039U (en) | Multi-axle steering control system | |
| CN204555948U (en) | Wheel steering angle measurement mechanism and multi-shaft steering vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 Termination date: 20190712 |