CN209938716U - Power steering system - Google Patents
Power steering system Download PDFInfo
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- CN209938716U CN209938716U CN201920778593.2U CN201920778593U CN209938716U CN 209938716 U CN209938716 U CN 209938716U CN 201920778593 U CN201920778593 U CN 201920778593U CN 209938716 U CN209938716 U CN 209938716U
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Abstract
The utility model discloses a power-assisted steering system, which belongs to the technical field of engineering machinery and comprises a steering element, a left wheel and a right wheel which are connected on a front frame, a rotating speed sensor for detecting the rotating speed of the left wheel and the right wheel, an angle sensing mechanism for detecting the relative rotating angle of the front frame and a rear frame and a wheel driving mechanism for controlling the rotating speed of the wheel edges of the left wheel and the right wheel; the rotating speed sensor, the angle sensing mechanism and the wheel edge driving mechanism are respectively in signal connection with the controller; the controller can control the wheel-side rotating speeds of the left wheel and the right wheel through the wheel-side driving mechanism according to the rotating speed signal acquired by the rotating speed sensor and the angle signal acquired by the angle sensing mechanism or the steering signal output by the steering element, and steering is realized through the wheel-side rotating speed difference. The utility model is suitable for a large-tonnage loader is not limited to and arranges the space, long service life, and the complete machine fault rate is low.
Description
Technical Field
The utility model belongs to the technical field of engineering machine tool, concretely relates to power-assisted steering system.
Background
At present, for a loader, required steering torque is increased along with increase of tonnage, the size of a frame is limited, the arrangement difficulty of hinge points of a steering cylinder is increased, and the hinge points of a steering mechanism of the large-tonnage loader are located near the outermost frame plate of the frame and cannot be effectively expanded. For a larger-tonnage loader, in order to obtain a larger steering torque at present, a common method is to adopt a steering oil cylinder with a larger diameter and lift the pressure of a steering system at the same time, but the adoption of the steering oil cylinder with the larger diameter is still limited by the arrangement space, and the lifting of the pressure of the steering system can aggravate the load of a hydraulic element, so that the service life is reduced, and the failure rate of the whole loader is improved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome not enough among the prior art, provide a power-assisted steering system, be applicable to large-tonnage loader, not be subject to and arrange the space, long service life, the complete machine fault rate is low.
The utility model provides a following technical scheme:
a steering assist system, comprising: the steering device comprises a steering element, a left wheel, a right wheel, a rotating speed sensor, an angle sensing mechanism and a wheel driving mechanism, wherein the left wheel and the right wheel are connected to a front frame;
the rotating speed sensor, the angle sensing mechanism and the wheel edge driving mechanism are respectively in signal connection with the controller;
the controller can control the wheel-side rotating speeds of the left wheel and the right wheel through the wheel-side driving mechanism according to the rotating speed signal acquired by the rotating speed sensor and the angle signal acquired by the angle sensing mechanism or the steering signal output by the steering element, and steering is realized through the wheel-side rotating speed difference.
Preferably, the steering device further comprises a flow amplifying valve and a steering cylinder, wherein the flow amplifying valve can control the left wheel and the right wheel to steer through the steering cylinder according to a steering signal output by the steering element.
Preferably, the controller is further in signal connection with the flow amplifying valve, compares a preset steering limit angle with an angle signal collected by the angle sensor mechanism, and realizes steering angle limit by controlling the flow of the flow amplifying valve.
Preferably, the angle sensing mechanism comprises an angle sensor and a force arm rod, the angle sensor is coaxially arranged with a hinged shaft of the front frame and the rear frame, and the angle sensor and the force arm rod are respectively arranged on the front frame and the rear frame; the arm-of-force lever is also rotationally connected with the angle sensor; the angle sensor detects the relative rotation angle of the front frame and the rear frame by detecting the rotation angle of the force arm rod.
Preferably, the angle sensing mechanism comprises an angle sensor, a first force arm lever and a second force arm lever; the angle sensor is offset to one side of a hinged shaft of the front frame and the rear frame; the first force arm rod is respectively connected with the second force arm rod and the angle sensor in a rotating way; the angle sensor and the second force arm rod are respectively arranged on the front frame and the rear frame; the angle sensor detects a relative rotation angle of the front frame and the rear frame by detecting a rotation angle of the first force arm lever.
Preferably, be equipped with the transaxle axle housing between left wheel and the right wheel, wheel limit actuating mechanism install in the both ends of transaxle axle housing.
Preferably, the wheel driving mechanism comprises a motor driving mechanism or a hydraulic driving mechanism.
Preferably, the steering element comprises a steering wheel or steering handle.
A steering power assisting method adopts the steering power assisting system, and specifically comprises the following steps:
respectively outputting the steering signals output by the steering element to a flow amplifying valve and a controller;
the flow amplifying valve controls the telescopic amount of the steering cylinder to realize steering adjustment, and meanwhile, the controller controls the wheel side rotating speed of the left wheel and the right wheel through the wheel side driving mechanism and realizes power-assisted steering through adjusting the wheel side rotating speed difference.
A steering power assisting method adopts the steering power assisting system, and specifically comprises the following steps:
the steering signal output by the steering element is output to a flow amplifying valve, and the expansion and contraction quantity of a steering cylinder is controlled by the flow amplifying valve to realize primary steering adjustment;
the real-time relative rotation angle of the front frame and the rear frame is collected and output to the controller, the controller controls the wheel side rotation speed of the left wheel and the right wheel through the wheel side driving mechanism, and the power-assisted steering is realized by adjusting the wheel side rotation speed difference.
Compared with the prior art, the beneficial effects of the utility model are that:
on the basis of traditional hydraulic steering, a steering control system based on a wheel-side driving mechanism is added, a controller can control the wheel-side rotating speeds of a left wheel and a right wheel through the wheel-side driving mechanism according to a rotating speed signal acquired by a rotating speed sensor and an angle signal acquired by an angle sensing mechanism or a steering signal output by a steering element, steering assistance is achieved through wheel-side rotating speed difference, the hydraulic steering system is not limited by arrangement space, the load of a hydraulic element cannot be increased, the service life is long, and the failure rate of the whole machine is low.
Drawings
Fig. 1 is a schematic structural diagram of a loader according to an embodiment of the present invention;
fig. 2 is a schematic view of an internal structure of a drive axle housing provided in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an angle sensing mechanism provided in embodiment 1 of the present invention;
fig. 4 is a schematic diagram of a movement track of the angle sensing mechanism provided in embodiment 1 of the present invention;
fig. 5 is a schematic view of a steering assist system according to embodiment 3 of the present invention;
fig. 6 is a schematic structural view of an angle sensing mechanism provided in embodiment 2 of the present invention;
fig. 7 is a schematic diagram of a movement track of the angle sensing mechanism provided in embodiment 2 of the present invention;
fig. 8 is a schematic view of a steering assist system according to embodiment 4 of the present invention.
Labeled as: 1. a steering element; 2. an angle sensing mechanism; 3. a flow amplifying valve; 4. a steering cylinder; 5. a frame; 51. a front frame; 52. a rear frame; 6. a controller; 7. a wheel-side driving mechanism; 8. a rotational speed sensor; 9. a cab; 10. an angle sensor; 11. a force arm lever; 12. hinging a shaft; 13. a first force arm; 14. a second force arm; 15. a drive axle housing; 16. turning to the right; 17. left steering; 18. an aligned state; 19. a right steering limit; 20. left steering limit.
Detailed Description
The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that, in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", etc. indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, and are only for convenience of description of the present invention but do not require the present invention to be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Example 1
As shown in fig. 1 to 4, a steering assist system includes: the steering device comprises a steering element 1, a left wheel and a right wheel which are connected to a front frame 51, a rotating speed sensor 8 for detecting the rotating speed of the left wheel and the right wheel, an angle sensing mechanism 2 for detecting the relative rotating angle of the front frame 51 and a rear frame 52, and a wheel driving mechanism 7 for controlling the rotating speed of the wheel edges of the left wheel and the right wheel;
the rotating speed sensor 8, the angle sensing mechanism 2 and the wheel driving mechanism 7 are respectively in signal connection with the controller 6; the controller 6 can control the wheel side rotating speed of the left wheel and the right wheel through the wheel side driving mechanism 7 according to the rotating speed signal collected by the rotating speed sensor 8 and the angle signal collected by the angle sensing mechanism 2 or the steering signal output by the steering element 1, and the steering is realized through the wheel side rotating speed difference.
The power steering system provided by the embodiment further comprises a flow amplifying valve 3 and a steering cylinder 4, wherein the steering cylinder 4 is installed between the front frame 51 and the rear frame 52, and the flow amplifying valve 3 can control the relative rotation of the front frame 51 and the rear frame 52, namely the steering of the left wheel and the right wheel, through the steering cylinder 4 according to the steering signal output by the steering element 1.
The controller 6 is also in signal connection with the flow amplifying valve 3, the controller 6 compares a preset steering limit angle with an angle signal collected by the angle sensor mechanism 2, and the steering angle limit is realized by controlling the flow of the flow amplifying valve 3.
As shown in fig. 3, the angle sensing mechanism 2 includes an angle sensor 10 and a force arm lever 11, the angle sensor 10 is coaxially disposed with the hinge shaft 12 of the front frame 51 and the rear frame 52, and the angle sensor 10 and the force arm lever 11 are respectively disposed on the front frame and the rear frame; the arm-of-force lever 11 is also rotationally connected with the angle sensor 10; the angle sensor 10 detects the relative rotation angle of the front frame 51 and the rear frame 52 by detecting the rotation angle of the arm lever 11. As shown in fig. 4, when the arrow indicates the traveling direction of the vehicle and the frame performs left steering 17 and right steering 16, the angle sensing mechanism 2 performs corresponding movements.
A drive axle housing 15 is arranged between the left wheel and the right wheel, and the wheel-side driving mechanisms 7 are installed at two ends of the drive axle housing 15, so that driving force output is realized, and the vehicle is controlled to steer, advance and retreat. The wheel driving mechanism 7 comprises a motor driving mechanism or a hydraulic driving mechanism, wherein the wheel driving mechanism 7 driven by the motor driving mechanism consists of a wheel reducing mechanism consisting of an electric motor and a wheel-side planetary reducing gear, and the wheel reducing mechanism 7 driven by the hydraulic driving mechanism consists of a wheel reducing mechanism consisting of a hydraulic motor and a wheel-side planetary reducing gear.
The steering element 1 comprises a steering wheel or a steering handle, the steering element 1 is arranged in the cab 9, so that the operation of a driver is facilitated, the steering of the whole machine is realized, and the cab 9 is arranged on the frame 5.
Example 2
As shown in fig. 1-2 and 6-7, a steering assist system includes: the steering device comprises a steering element 1, a left wheel and a right wheel which are connected to a front frame 51, a rotating speed sensor 8 for detecting the rotating speed of the left wheel and the right wheel, an angle sensing mechanism 2 for detecting the relative rotating angle of the front frame 51 and a rear frame 52, and a wheel driving mechanism 7 for controlling the rotating speed of the wheel edges of the left wheel and the right wheel;
the rotating speed sensor 8, the angle sensing mechanism 2 and the wheel driving mechanism 7 are respectively in signal connection with the controller 6; the controller 6 can control the wheel side rotating speed of the left wheel and the right wheel through the wheel side driving mechanism 7 according to the rotating speed signal collected by the rotating speed sensor 8 and the angle signal collected by the angle sensing mechanism 2 or the steering signal output by the steering element 1, and the steering is realized through the wheel side rotating speed difference.
The power steering system provided by the embodiment further comprises a flow amplifying valve 3 and a steering cylinder 4, wherein the steering cylinder 4 is installed between the front frame 51 and the rear frame 52, and the flow amplifying valve 3 can control the relative rotation of the front frame 51 and the rear frame 52, namely the steering of the left wheel and the right wheel, through the steering cylinder 4 according to the steering signal output by the steering element 1.
The controller 6 is also in signal connection with the flow amplifying valve 3, the controller 6 compares a preset steering limit angle with an angle signal collected by the angle sensor mechanism 2, and the steering angle limit is realized by controlling the flow of the flow amplifying valve 3.
As shown in fig. 6, the angle sensing means 2 comprises an angle sensor 10, a first force arm 13 and a second force arm 14; the angle sensor 10 is offset to the hinge shaft 12 side of the front frame 51 and the rear frame 52; the first force arm rod 13 is respectively connected with the second force arm rod 14 and the angle sensor 10 in a rotating mode to form a parallelogram-like structure; the angle sensor 10 and the second force arm rod 14 are respectively arranged on the front frame and the rear frame; the angle sensor 10 detects the relative rotation angle of the front frame 21 and the rear frame 52 by detecting the rotation angle of the first force arm lever 13. As shown in fig. 7, the arrow indicates the traveling direction of the vehicle, and when the frame 5 is in the straight state 18, the right steering limit 19 and the left steering limit 20, the angle sensing mechanism 2 performs corresponding movements.
A drive axle housing 15 is arranged between the left wheel and the right wheel, and the wheel-side driving mechanism 7 is installed at two ends of the drive axle housing 15. The wheel driving mechanism 7 includes a motor driving mechanism or a hydraulic driving mechanism.
The steering element 1 comprises a steering wheel or a steering handle, the steering element 1 is arranged in the cab 9, so that the operation of a driver is facilitated, the steering of the whole machine is realized, and the cab 9 is arranged on the frame 5.
Example 3
As shown in fig. 5, an embodiment of the present invention further provides a power steering method, which can be implemented by using the aforementioned power steering system, so that the steering speed of the whole machine matches with the steering hand feeling of a steering gear (e.g. a steering wheel), thereby achieving a normal steering feeling, specifically including the following steps:
the steering signals output by the steering element 1 are respectively output to the flow amplifying valve 3 and the controller 6;
the flow amplifying valve 3 controls the telescopic amount of the steering cylinder 4 to enable the front frame 51 and the rear frame 52 to relatively rotate so as to realize steering adjustment, meanwhile, the controller 6 controls the wheel side rotating speed of the left wheel and the right wheel through the wheel side driving mechanism 7, and the power-assisted steering is realized by adjusting the wheel side rotating speed difference;
the angle sensing mechanism 2 detects the relative rotation angle of the front frame 51 and the rear frame 52 and outputs a signal to the controller 6, the controller 6 compares the real-time relative rotation angle of the front frame 51 and the rear frame 52 with a preset steering limit angle, and the steering angle is limited by controlling the flow of the flow amplifying valve according to the angle difference between the real-time relative rotation angle and the preset steering limit angle, so that the operation comfort is improved.
The respective occupation ratios of the steering oil cylinder and the wheel side driving mechanism in normal steering can be flexibly set, the steering oil cylinder can be used as a main body, wheel side driving is used as assistance, under the condition, the pressure of the steering oil cylinder can be increased so as to improve the active steering torque, and the wheel side driving torque (such as reducing the current value) can be reduced, or the steering oil cylinder can be used as assistance, the wheel side driving mechanism is used as a main body, under the condition, the wheel side driving torque (such as increasing the current value) is increased, and the pressure of the steering oil cylinder is reduced. The steering process of the whole machine is a process that the active steering torque and the resisting torque are in line, the vehicle with the active steering torque larger than the resisting torque has steering action, the larger the difference value is, the easier the steering is, and even the in-situ brake steering (four-wheel locking) can be realized, the steering cylinder provides the steering torque and the wheel-side driving torque provided by the wheel-side driving mechanism are the active steering torque, and the resisting torque comprises ground friction, excavation resistance, friction resistance of a steering pin shaft and the like.
Example 4
As shown in fig. 8, an embodiment of the present invention further provides a power steering method, which can be implemented by using the power steering system, and specifically includes the following steps:
the steering signal output by the steering element 1 is output to a flow amplifying valve 3, and the expansion and contraction amount of a steering cylinder 4 is controlled by the flow amplifying valve 3 to realize primary steering adjustment;
the angle sensing mechanism 2 collects the real-time relative rotation angles of the front frame 51 and the rear frame 52 and outputs the relative rotation angles to the controller 6, the controller 6 controls the wheel-side rotation speeds of the left wheel and the right wheel through the wheel-side driving mechanism 7, and the power-assisted steering is realized by adjusting the wheel-side rotation speed difference;
the angle sensing mechanism 2 detects the relative rotation angle of the front frame 51 and the rear frame 52 and outputs a signal to the controller 6, the controller 6 compares the real-time relative rotation angle of the front frame 51 and the rear frame 52 with a preset steering limit angle, and the steering angle is limited by controlling the flow of the flow amplifying valve 3 according to the angle difference between the real-time relative rotation angle and the preset steering limit angle, so that the operation comfort is improved.
The rotating direction can be judged by the steering angle value, for example, the middle position can be set as a zero position, and the left direction and the right direction have positive and negative value differences; regarding the ideal rotation angle, the frame will have a steering action when the steering element rotates, the steering angle is changing, the power steering system works at this time, when the steering element does not work, the steering cylinder also stops, at this time, the steering angle is not changing, the power steering system does not work, this method is different from the power steering method provided by embodiment 3, the power steering method provided by this embodiment is that the traditional power steering cylinder needs to have enough active steering torque to overcome the resistance torque, so that the frame can realize the steering action, the power steering system will play a role of steering increment, thereby matching the whole machine steering with the rotation speed of the steering element, and avoiding the feeling of steering weakness.
The embodiment of the utility model provides a loader is still provided, include steering-assisted system reaches preceding frame 51 and back frame 52 articulated mutually.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.
Claims (8)
1. A steering assist system, comprising: the steering device comprises a steering element, a left wheel, a right wheel, a rotating speed sensor, an angle sensing mechanism and a wheel driving mechanism, wherein the left wheel and the right wheel are connected to a front frame;
the rotating speed sensor, the angle sensing mechanism and the wheel edge driving mechanism are respectively in signal connection with the controller;
the controller can control the wheel-side rotating speeds of the left wheel and the right wheel through the wheel-side driving mechanism according to the rotating speed signal acquired by the rotating speed sensor and the angle signal acquired by the angle sensing mechanism or the steering signal output by the steering element, and steering is realized through the wheel-side rotating speed difference.
2. The power steering system according to claim 1, further comprising a flow amplification valve and a steering cylinder, the flow amplification valve being capable of controlling the steering of the left and right wheels by the steering cylinder in accordance with a steering signal output from the steering element.
3. The power steering system of claim 2, wherein the controller is further in signal communication with a flow amplification valve, the controller comparing a predetermined steering limit angle with the angle signal collected by the angle sensor mechanism to achieve the steering angle limit by controlling the flow of the flow amplification valve.
4. The power steering system according to claim 1, wherein the angle sensing mechanism includes an angle sensor and a force arm lever, the angle sensor is disposed coaxially with the hinge shaft of the front frame and the rear frame, and the angle sensor and the force arm lever are disposed on different front and rear frames; the arm-of-force lever is also rotationally connected with the angle sensor; the angle sensor detects the relative rotation angle of the front frame and the rear frame by detecting the rotation angle of the force arm rod.
5. The power steering system of claim 1, wherein the angle sensing mechanism includes an angle sensor, a first force arm, and a second force arm; the angle sensor is offset to one side of a hinged shaft of the front frame and the rear frame; the first force arm rod is respectively connected with the second force arm rod and the angle sensor in a rotating way; the angle sensor and the second force arm rod are respectively arranged on the front frame and the rear frame; the angle sensor detects a relative rotation angle of the front frame and the rear frame by detecting a rotation angle of the first force arm lever.
6. The power steering system according to claim 1, wherein a drive axle housing is provided between the left wheel and the right wheel, and the wheel-side drive mechanism is mounted at both ends of the drive axle housing.
7. The power steering system according to any one of claims 1 to 6, wherein the wheel-side drive mechanism includes a motor drive mechanism or a hydraulic drive mechanism.
8. The power steering system of claim 1, wherein the steering element comprises a steering wheel or a steering handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920778593.2U CN209938716U (en) | 2019-05-27 | 2019-05-27 | Power steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920778593.2U CN209938716U (en) | 2019-05-27 | 2019-05-27 | Power steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209938716U true CN209938716U (en) | 2020-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920778593.2U Active CN209938716U (en) | 2019-05-27 | 2019-05-27 | Power steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209938716U (en) |
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2019
- 2019-05-27 CN CN201920778593.2U patent/CN209938716U/en active Active
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