CN108045432B - Steering cylinder, hydraulic power steering system, steering axle and vehicle - Google Patents

Steering cylinder, hydraulic power steering system, steering axle and vehicle Download PDF

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Publication number
CN108045432B
CN108045432B CN201810037358.XA CN201810037358A CN108045432B CN 108045432 B CN108045432 B CN 108045432B CN 201810037358 A CN201810037358 A CN 201810037358A CN 108045432 B CN108045432 B CN 108045432B
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China
Prior art keywords
steering
cylinder
oil
reversing valve
piston
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CN201810037358.XA
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Chinese (zh)
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CN108045432A (en
Inventor
赵倩
李海龙
王洪强
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Jiangsu XCMG Guozhong Laboratory Technology Co Ltd
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Jiangsu XCMG Guozhong Laboratory Technology Co Ltd
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Priority to CN201810037358.XA priority Critical patent/CN108045432B/en
Publication of CN108045432A publication Critical patent/CN108045432A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/061—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle provided with effort, steering lock, or end-of-stroke limiters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
    • B62D5/12—Piston and cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
    • B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention relates to a steering cylinder, a hydraulic power-assisted steering system, a steering axle and a vehicle, wherein the steering cylinder comprises a cylinder barrel (105), a piston rod (101), a first piston (109) and a middle position prompting device, the first piston (109) is arranged in the cylinder barrel (105), the first piston (109) is fixedly connected with the end part of the first end of the piston rod (101), the piston rod (101) stretches out or retracts relative to the cylinder barrel (105), and the middle position prompting device is used for prompting when the piston rod (101) returns to the middle position of a movement stroke. The steering oil cylinder can omit a middle locking oil cylinder, reduce the number of hydraulic cylinders, simplify structural arrangement and avoid the problems of mechanism interference, abnormal stress and the like caused by unreasonable installation; the cost can be reduced, and the arrangement of the hydraulic pipeline is simplified; avoiding hydraulic residual force interference.

Description

Steering cylinder, hydraulic power steering system, steering axle and vehicle
Technical Field
The invention relates to the technical field of multi-axis steering, in particular to a steering oil cylinder, a hydraulic power steering system, a steering axle and a vehicle.
Background
The multi-axis steering technology relates to military products and engineering machinery products, and the domestic research is started later and the development is not mature enough. The multi-axis steering has the advantages of small turning radius, multiple steering modes, good adaptability to severe road conditions and the like. At present, in a steering system of a vehicle applying multi-axle steering, as shown in fig. 1, left and right sides of an axle a6 are respectively connected with a left wheel a5 and a right wheel a9, a left knuckle arm a1 and a right knuckle arm a4, a tie rod a3 is connected between the two knuckle arms, and hydraulic assistance comprises two steering assistance cylinders, namely a left steering cylinder a7 and a right steering cylinder a8, and a middle locking cylinder a2. When the wheels need to rotate by an angle, the controller drives the steering power-assisted oil cylinder to correspondingly stretch and retract by controlling the connection of the hydraulic valve, so that the steering wheels reach the corresponding rotation angle; when the wheels need to be subjected to the middle position locking action, the controller drives the middle position locking oil cylinder to reach the middle position by controlling the connection of the hydraulic valve, namely, the rotation angle of the wheels is zero.
The hydraulic power assisting system in the structure has the following problems:
1. each follow-up steering shaft is provided with three hydraulic cylinders, so that the mechanical structure of the steering system is relatively complex, if the installation is unreasonable, the interference of the mechanism is caused, and the mechanical structure of the steering system is under abnormal stress;
2. the number of the hydraulic cylinders of the whole vehicle is increased, the production cost is high, and the complexity of the arrangement of the hydraulic pipelines is increased to a certain extent;
3. the steering power and the middle position lock up the two hydraulic systems, and certain hydraulic residual force interference exists in the conversion process of the two working conditions.
It should be noted that the information disclosed in the background section of the present invention is only for increasing the understanding of the general background of the present invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a steering cylinder, a hydraulic power-assisted steering system, a steering axle and a vehicle, so that the number of hydraulic cylinders in the steering system of the vehicle is reduced, the structural arrangement is simplified, and the cost is reduced.
In order to achieve the above purpose, the invention provides a steering cylinder, which comprises a cylinder barrel, a piston rod, a first piston and a middle position prompting device, wherein the first piston is arranged in the cylinder barrel, the first piston is fixedly connected with the end part of the first end of the piston rod, the piston rod stretches out or retracts relative to the cylinder barrel, and the middle position prompting device is used for giving prompting when the piston rod returns to the middle position of the movement stroke.
Further, the middle position prompting device comprises a stop block, a second piston and a boss which is arranged on the piston rod and extends along the radial direction, the stop block is arranged in the cylinder barrel, the stop block divides the cylinder barrel into a first cavity and a fourth cavity, the second piston is arranged in the first cavity, the first piston is arranged in the fourth cavity, the first piston divides the fourth cavity into a second cavity and a third cavity, the stop block is provided with a first through hole, the second piston is provided with a second through hole, the piston rod passes through the stop block and the second piston, the second piston can move relative to the piston rod, and the radial length of the boss is larger than the aperture of the second through hole and smaller than the aperture of the first through hole.
Further, the middle position prompting device further comprises a sensor, wherein the sensor is used for detecting whether the boss is in contact with the second piston or not and whether the second piston is in contact with the stop block or not, and sending out a signal that the piston rod returns to the middle position when the boss is in contact with the second piston or the second piston is in contact with the stop block.
Further, a first oil hole, a second oil hole and a third oil hole are formed in the cylinder barrel, the first oil hole is communicated with the first cavity, the second oil hole is communicated with the second cavity, and the third oil hole is communicated with the third cavity.
In order to achieve the above purpose, the invention also provides a hydraulic power-assisted steering system, which comprises a controller, a control valve bank, a left steering cylinder and a right steering cylinder, wherein the left steering cylinder and the right steering cylinder adopt the steering cylinders, the control valve bank is connected between an oil source and the left steering cylinder and the right steering cylinder, and the controller is used for controlling the on-off and the reversing of the control valve bank according to the prompt of a middle position prompt device in the left steering cylinder and the right steering cylinder so as to control the expansion and the contraction of the left steering cylinder and the right steering cylinder.
Further, the control valve group comprises a first reversing valve, and the first reversing valve is used for controlling the on-off and reversing of a connecting oil way between the oil source and the left steering oil cylinder and the right steering oil cylinder so as to enable one of the left steering oil cylinder and the right steering oil cylinder to extend and the other to retract.
Further, the control valve group comprises a second reversing valve group, and the second reversing valve group is used for controlling the on-off of a connecting oil way between the oil source and the left steering oil cylinder and the right steering oil cylinder so as to enable the piston rod of the left steering oil cylinder and the piston rod of the right steering oil cylinder to return to the middle position of each movement stroke.
Further, the control valve group further comprises a third reversing valve group, and the third reversing valve group is used for controlling the on-off of a connecting oil way between the first reversing valve and the first cavity of the left steering oil cylinder and the on-off of a connecting oil way between the first reversing valve and the first cavity of the right steering oil cylinder.
Further, the control valve group further comprises a fourth reversing valve group, and the fourth reversing valve group is used for controlling the on-off of a connecting oil way between the first reversing valve and the second cavity of the left steering oil cylinder and the on-off of a connecting oil way between the first reversing valve and the second cavity of the right steering oil cylinder.
Further, the hydraulic power steering system includes a throttle valve disposed between the source of oil and the control valve bank.
Further, the hydraulic power steering system includes an accumulator disposed between the source of oil and the control valve bank.
Further, the hydraulic power steering system includes a relief valve disposed between the source of oil and the tank.
In order to achieve the above purpose, the invention also provides a steering axle, which comprises an axle, left wheels, right wheels, a left knuckle arm, a right knuckle arm and a hydraulic power steering system, wherein the hydraulic power steering system adopts the hydraulic power steering system, a piston rod of a left steering cylinder in the hydraulic power steering system is connected with the left knuckle arm, a piston rod of a right steering cylinder in the hydraulic power steering system is connected with the right knuckle arm, the left knuckle arm and the right knuckle arm are connected with the axle, and the axle is connected with the left wheels and the right wheels so as to control the steering of the vehicle.
In order to achieve the above purpose, the invention also provides a vehicle, which comprises a mechanical steering axle and at least one electric control steering axle, wherein the electric control steering axle adopts the steering axle.
Further, the vehicle further comprises a steering controller and an angle sensor, the electric control steering axle comprises a first steering axle and a second steering axle, the angle sensor is used for detecting the rotation angles of the mechanical steering axle and the electric control steering axle, the steering controller is used for calculating a target rotation angle of the first steering axle according to the rotation angle of the mechanical steering axle, meanwhile, comparing the target rotation angle with an actual rotation angle detected by the angle sensor, and controlling the first steering axle to steer according to a comparison result; and calculating a target turning angle of the second steering axle according to the turning angle of the first steering axle, comparing the target turning angle with the actual turning angle detected by the angle sensor, and controlling the second steering axle to steer according to the comparison result.
Based on the technical scheme, the embodiment of the steering oil cylinder is provided with the middle position prompting device, when the piston rod moves to the middle position of the movement stroke, the middle position prompting device can give a prompt, and according to the prompt, the steering system applying the steering oil cylinder can perform corresponding actions so that the piston rod can be kept at the middle position, and the middle position locking function of the steering oil cylinder is realized. According to the steering oil cylinder embodiment, the middle locking oil cylinder can be omitted, the number of hydraulic cylinders is reduced, so that structural arrangement can be simplified, and the problems of mechanism interference, stress abnormality and the like caused by unreasonable installation are avoided; the cost can be reduced, and the arrangement of the hydraulic pipeline is simplified; avoiding hydraulic residual force interference.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a schematic structural view of a steering system in the prior art.
Fig. 2 is a first cross-sectional view of one embodiment of the steering cylinder of the present application.
Fig. 3 is a second cross-sectional view of one embodiment of the steering cylinder of the present application.
Fig. 4 is a schematic diagram of an embodiment of a hydraulic power steering system of the present invention.
FIG. 5 is a schematic structural view of an embodiment of a steer axle of the present invention.
Fig. 6 is a schematic view of a multi-axis steering structure in an embodiment of the vehicle of the present invention.
FIG. 7 is a schematic diagram of a multi-axis steering relationship in an embodiment of the vehicle of the present invention.
In the figure:
a1, a left knuckle arm; a2, locking the oil cylinder in the middle position; a3, a transverse pull rod; a4, right knuckle arms; a5, left wheels; a6, an axle; a7, a left steering cylinder; a8, a right steering cylinder; a9, right wheels;
101. a piston rod; 102. a first oil hole; 103. a second oil hole; 104. a third oil hole; 105. a cylinder; 106. an end cap; 107. a second piston; 108. a stop block; 109. a first piston; 110. a boss;
1. an oil source; 2. a throttle valve; 3. an accumulator; 4. an overflow valve; 5. a first reversing valve; 6. a second reversing valve; 7. a third reversing valve; 8. a fourth reversing valve; 9. a fifth reversing valve; 14. a sixth reversing valve; 15. a seventh reversing valve;
11. a first chamber; 12. a second chamber; 13. a third chamber; 21. a first chamber; 22. a second chamber; 23. a third chamber;
10. a left steering cylinder; 20. a right steering cylinder; 30. a left knuckle arm; 40. a right knuckle arm; 50. a cross pull rod; 60. an axle; 70. a left wheel; 80. a right wheel; 90. a controller; 91. a main controller; 92. a first controller; 93. a second controller; 94. and a third controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention.
As shown in fig. 2 and 3, in an exemplary embodiment of the steering cylinder provided by the present invention, the steering cylinder includes a cylinder tube 105, a piston rod 101, a first piston 109, and a median indicator device, wherein the first piston 109 is disposed in the cylinder tube 105, the first piston 109 is fixedly connected to an end of a first end of the piston rod 101, the piston rod 101 is extended or retracted relative to the cylinder tube 105, and the median indicator device is used for giving an indication when the piston rod 101 returns to a median position of its movement stroke.
In the above-described exemplary embodiment, the steering cylinder is provided with the neutral position indicating device, and when the piston rod moves to the intermediate position of the movement stroke thereof, an indication can be given by the neutral position indicating device, and according to the indication, a steering system using the steering cylinder can perform a corresponding action, so that the piston rod can be kept at the intermediate position, and the neutral position locking function of the steering cylinder is realized. According to the steering oil cylinder embodiment, the middle locking oil cylinder can be omitted, the number of hydraulic cylinders is reduced, so that structural arrangement can be simplified, and the problems of mechanism interference, stress abnormality and the like caused by unreasonable installation are avoided; the cost can be reduced, and the arrangement of the hydraulic pipeline is simplified; avoiding hydraulic residual force interference.
Specifically, the neutral position indicating means includes a stopper 108, a second piston 107 and a boss 110 extending in the radial direction provided on the piston rod 101, the stopper 108 is provided in the cylinder tube 105, the stopper 108 divides the cylinder tube 105 into first chambers 11, 21 and fourth chambers, the second piston 107 is provided in the first chambers 11, 21, the first piston 109 is provided in the fourth chambers, and the first piston 109 divides the fourth chambers into second chambers 12, 22 and third chambers 13, 23, wherein the second chambers 12, 22 are located between the first chambers 11, 21 and the third chambers 13, 23, the stopper 108 is provided with a first through hole, the second piston 107 is provided with a second through hole, the piston rod 101 passes through the stopper 108 and the second piston 107, the second piston 107 is movable relative to the piston rod 101, and the radial length of the boss 110 is larger than the aperture of the second through hole and smaller than the aperture of the first through hole, i.e., the boss 110 is able to pass through the first through hole but is unable to pass through the second through hole.
The stopper 108 is fixedly installed on the cylinder 105, and is used for preventing the second piston 107 from entering the fourth cavity, preventing the unbalanced motion phenomenon from occurring, and simultaneously enabling the stopper to support the first piston 109 and the second piston 107, so as to ensure the space of the first cavity and the fourth cavity.
By the above arrangement, the return of the piston rod 101 to the neutral position can be conveniently prompted. Specifically, as shown in fig. 2 and 3, the piston rod 101 is in the neutral position. When the piston rod 101 continues to move leftwards, the boss 110 drives the second piston 107 to move leftwards, and when the second piston 107 contacts with the end cover 106 arranged at the left end of the cylinder 105, the second piston 107 moves to the leftmost end, and the extension length of the piston rod 101 reaches the maximum; when the piston rod 101 returns to the middle position from the maximum extension length, the second piston 107 drives the boss 110 and the piston rod 101 to move rightwards, and when the second piston 107 and the stop block 108 are in contact with each other, the piston rod 101 returns to the middle position, and at the moment, the prompt of returning the piston rod 101 to the middle position is a prompt; referring to fig. 4, as the pressure of the first chambers 11, 21 continues to increase, the piston rod 101 continues to move rightward, but the second piston 107 is stopped by the stopper 108 on the left side of the stopper 108, and when the first piston 109 contacts the right end of the cylinder 105, the piston rod 101 moves to the rightmost end, and the retraction of the piston rod 101 is shortest; when the piston rod 101 returns to the neutral position from the retracted shortest position, the piston rod 101 moves leftward, and when the piston rod 101 moves to a position where the boss 110 and the second piston 107 contact each other, the piston rod 101 returns to the neutral position, at which time another indication is given that the piston rod 101 returns to the neutral position.
Further, the neutral position indicating device further comprises a sensor for detecting whether the boss 110 is in contact with the second piston 107 and whether the second piston 107 is in contact with the stopper 108, and sending a signal that the piston rod 101 returns to the neutral position when the boss 110 is in contact with the second piston 107 or the second piston 107 is in contact with the stopper 108. By arranging the sensor, the automatic control of the neutral position prompting device can be realized, and the sensor can transmit a signal of returning the piston rod 101 to the neutral position to a controller in a steering system applying the steering cylinder, so that the steering cylinder is locked in the neutral position through the controller.
Optionally, the cylinder 105 is provided with a first oil hole 102, a second oil hole 103 and a third oil hole 104, the first oil hole 102 is communicated with the first chambers 11 and 21, the second oil hole 103 is communicated with the second chambers 12 and 22, and the third oil hole 104 is communicated with the third chambers 13 and 23.
Based on the steering cylinders in the above embodiments, the present invention further provides a hydraulic power steering system, as shown in fig. 4, where the hydraulic power steering system includes a controller 90, a control valve group, a left steering cylinder 10 and a right steering cylinder 20, where the left steering cylinder 10 and the right steering cylinder 20 adopt the steering cylinders described above, the control valve group is connected between the oil source 1 and the left steering cylinder 10 and the right steering cylinder 20, and the controller 90 is configured to control on-off and reversing of the control valve group according to prompts of median prompt devices in the left steering cylinder 10 and the right steering cylinder 20, so as to control expansion and contraction of the left steering cylinder 10 and the right steering cylinder 20, and implement functions of steering and median locking.
Through setting up controller 90 and control valves, can realize steering function through the break-make and the switching-over of control valves, also can realize the meso position locking function according to the suggestion of meso position suggestion device.
Optionally, the control valve group includes a first reversing valve 5, and the first reversing valve 5 is used for controlling on-off and reversing of a connecting oil path between the oil source 1 and the left steering cylinder 10 and the right steering cylinder 20, so that one of the left steering cylinder 10 and the right steering cylinder 20 extends and the other is retracted.
Specifically, the first reversing valve 5 is a three-position four-way electromagnetic reversing valve, an oil inlet of the first reversing valve 5 is communicated with the oil source 1, an oil return port of the first reversing valve 5 is communicated with an oil tank, a first working oil port of the first reversing valve 5 is communicated with the first cavity 11 of the left steering cylinder 10, the second cavity 12 of the left steering cylinder 10 and the third cavity 23 of the right steering cylinder 20, and a second working oil port of the first reversing valve 5 is communicated with the third cavity 13 of the left steering cylinder 10, the first cavity 21 of the right steering cylinder 20 and the second cavity 22 of the right steering cylinder 20.
When the first reversing valve 5 is in the middle position, the connecting oil way between the oil source 1 and the left steering oil cylinder 10 and the right steering oil cylinder 20 is cut off; when the first reversing valve 5 is at the left position, the oil inlet is communicated with the first working oil port, the second working oil port is communicated with the oil return port, and hydraulic oil of the oil source 1 can enter the first cavity 11 of the left steering oil cylinder 10, the second cavity 12 of the left steering oil cylinder 10 and the third cavity 23 of the right steering oil cylinder 20 through the first reversing valve 5, so that a piston rod of the left steering oil cylinder 10 is retracted, and a piston rod of the right steering oil cylinder 20 is extended; when the first reversing valve 5 is at the right position, the oil inlet is communicated with the second working oil port, the first working oil port is communicated with the oil return port, and hydraulic oil of the oil source 1 can enter the third cavity 13 of the left steering oil cylinder 10, the first cavity 11 of the right steering oil cylinder 20 and the second cavity 22 of the right steering oil cylinder 20 through the first reversing valve 5, so that a piston rod of the left steering oil cylinder 10 extends, and a piston rod of the right steering oil cylinder 20 retracts.
Optionally, the control valve group includes a second reversing valve group, and the second reversing valve group is used for controlling on-off of a connecting oil path between the oil source 1 and the left steering oil cylinder 10 and the right steering oil cylinder 20, so that a piston rod of the left steering oil cylinder 10 and a piston rod of the right steering oil cylinder 20 return to the middle position of respective movement strokes.
Specifically, the second reversing valve group comprises a second reversing valve 6 and a third reversing valve 7, and the second reversing valve 6 and the third reversing valve 7 are two-position four-way electromagnetic reversing valves. The oil inlet of the second reversing valve 6 is communicated with the oil source 1, the oil return port of the second reversing valve 6 is communicated with the oil tank, the first working oil port of the second reversing valve 6 is communicated with the first cavity 11 of the left steering oil cylinder 10, and the second working oil port of the second reversing valve 6 is connected to the connecting oil path between the first working oil port of the first reversing valve 5 and the left steering oil cylinder 10 and the right steering oil cylinder 20. The oil inlet of the third reversing valve 7 is communicated with the oil source 1, the oil return port of the third reversing valve 7 is communicated with the oil tank, the first working oil port of the third reversing valve 7 is communicated with the first cavity 21 of the right steering oil cylinder 20, and the second working oil port of the third reversing valve 7 is connected to the connecting oil path between the second working oil port of the first reversing valve 5 and the left steering oil cylinder 10 and the right steering oil cylinder 20.
When the second reversing valve 6 is at the left position, the connecting oil way between the oil source 1 and the first cavity 11 of the left steering cylinder 10 is cut off; when the second reversing valve 6 is at the right position, the oil inlet is communicated with the first working oil port, the oil return port is communicated with the second working oil port, hydraulic oil of the oil source 1 can enter the first cavity 11 of the left steering cylinder 10 through the second reversing valve 6, and hydraulic oil in the second cavity 12 of the left steering cylinder 10 and the third cavity 23 of the right steering cylinder 20 can return oil through the second reversing valve 6, so that the piston rod 101 in the left steering cylinder 10 returns to the middle position. When the third reversing valve 7 is at the left position, the connecting oil path between the oil source 1 and the first cavity 21 of the right steering cylinder 20 is cut off; when the third reversing valve 7 is at the right position, the oil inlet is communicated with the first working oil port, the oil return port is communicated with the second working oil port, hydraulic oil of the oil source 1 can enter the first cavity 21 of the right steering cylinder 20 through the third reversing valve 7, and hydraulic oil in the second cavity 22 of the right steering cylinder 20 and the third cavity 13 of the left steering cylinder 10 can return oil through the third reversing valve 7, so that the piston rod 101 in the right steering cylinder 20 returns to the middle position.
Further, the control valve group further comprises a third reversing valve group, and the third reversing valve group is used for controlling the on-off of a connecting oil way between the first reversing valve 5 and the first cavity 11 of the left steering cylinder 10 and the on-off of a connecting oil way between the first reversing valve 5 and the first cavity 21 of the right steering cylinder 20.
Specifically, the third reversing valve group comprises a fourth reversing valve 8 and a fifth reversing valve 9, and the fourth reversing valve 8 and the fifth reversing valve 9 are two-position two-way electromagnetic reversing valves. The oil inlet of the fourth reversing valve 8 is communicated with the first working oil port of the first reversing valve 5, the oil outlet of the fourth reversing valve 8 is communicated with the first cavity 11 of the left steering cylinder 10, the first working oil port of the second reversing valve 6 is connected to a connecting oil path between the oil outlet of the fourth reversing valve 8 and the first cavity 11 of the left steering cylinder 10, and the second working oil port of the second reversing valve 6 is connected to a connecting oil path between the first working oil port of the first reversing valve 5 and the oil inlet of the fourth reversing valve 8. The oil inlet of the fifth reversing valve 9 is communicated with the second working oil port of the first reversing valve 5, the oil outlet of the fifth reversing valve 9 is communicated with the first cavity 21 of the right steering cylinder 20, the first working oil port of the third reversing valve 7 is connected to a connecting oil path between the oil outlet of the fifth reversing valve 9 and the first cavity 21 of the right steering cylinder 20, and the second working oil port of the third reversing valve 7 is connected to a connecting oil path between the second working oil port of the first reversing valve 5 and the oil inlet of the fifth reversing valve 9.
When the fourth reversing valve 8 is at the left position, the oil inlet is communicated with the oil outlet, and hydraulic oil passing through the first working oil port of the first reversing valve 5 can enter the first cavity 11 of the left steering cylinder 10 through the fourth reversing valve 8; when the fourth reversing valve 8 is at the right position, the oil inlet and the oil outlet are not communicated, the connecting oil way between the first working oil port of the first reversing valve 5 and the first cavity 11 of the left steering cylinder 10 is cut off, and meanwhile, the connecting oil way between the second working oil port of the second reversing valve 6 and the first cavity 11 of the left steering cylinder 10 is also cut off. When the fifth reversing valve 9 is at the left position, the oil inlet is communicated with the oil outlet, and hydraulic oil passing through the second working oil port of the first reversing valve 5 can enter the first cavity 21 of the right steering cylinder 20 through the fifth reversing valve 9; when the fifth reversing valve 9 is at the right position, the oil inlet and the oil outlet are not communicated, the connecting oil way between the first working oil port of the first reversing valve 5 and the first cavity 21 of the right steering cylinder 20 is cut off, and meanwhile, the connecting oil way between the second working oil port of the third reversing valve 7 and the first cavity 21 of the right steering cylinder 20 is also cut off.
Further, the control valve group further comprises a fourth reversing valve group, and the fourth reversing valve group is used for controlling the on-off of a connecting oil way between the first reversing valve 5 and the second cavity 12 of the left steering cylinder 10 and the on-off of a connecting oil way between the first reversing valve 5 and the second cavity 22 of the right steering cylinder 20.
Specifically, the fourth reversing valve group includes a sixth reversing valve 14 and a seventh reversing valve 15, and the sixth reversing valve 14 and the seventh reversing valve 15 are two-position two-way electromagnetic reversing valves. The oil inlet of the sixth reversing valve 14 is communicated with the first working oil port of the first reversing valve 5, the oil outlet of the sixth reversing valve 14 is communicated with the second cavity 12 of the left steering cylinder 10, and the second working oil port of the second reversing valve 6 is connected to a connecting oil path between the oil outlet of the sixth reversing valve 14 and the second cavity 12 of the left steering cylinder 10. The oil inlet of the seventh reversing valve 15 is communicated with the second working oil port of the first reversing valve 5, the oil outlet of the seventh reversing valve 15 is communicated with the second cavity 22 of the right steering cylinder 20, and the second working oil port of the third reversing valve 7 is connected to a connecting oil path between the oil outlet of the seventh reversing valve 15 and the first cavity 21 of the right steering cylinder 20.
When the sixth reversing valve 14 is in the upper position, the oil inlet is communicated with the oil outlet, and hydraulic oil passing through the first working oil port of the first reversing valve 5 can enter the second cavity 12 of the left steering cylinder 10 through the sixth reversing valve 14; when the sixth reversing valve 14 is in the lower position, the oil inlet and the oil outlet are not communicated, and a connecting oil path between the first working oil port of the first reversing valve 5 and the second cavity 12 of the left steering cylinder 10 is cut off. When the seventh reversing valve 15 is in the upper position, the oil inlet is communicated with the oil outlet, and hydraulic oil passing through the second working oil port of the first reversing valve 5 can enter the second cavity 22 of the right steering cylinder 20 through the seventh reversing valve 15; when the seventh reversing valve 15 is in the lower position, the oil inlet and the oil outlet are not communicated, and a connecting oil path between the second working oil port of the first reversing valve 5 and the second cavity 22 of the right steering cylinder 20 is cut off.
Optionally, the first reversing valve 5, the second reversing valve 6, the third reversing valve 7, the fourth reversing valve 8, the fifth reversing valve 9, the sixth reversing valve 14 and the seventh reversing valve 15 are all electric proportional control valves, and the opening size can be adjusted according to the size of the input current, so that the flow rate is controlled.
Optionally, the hydraulic power assisted steering system comprises a throttle valve 2, the throttle valve 2 being arranged between the oil source 1 and the control valve group. Specifically, the throttle valve 2 is provided between the oil source 1 and the first directional valve 5. By providing the throttle valve 2, the hydraulic oil flowing out of the oil source 1 can be buffered, and hydraulic impact and unstable flow are prevented.
Optionally, the hydraulic power assisted steering system comprises an accumulator 3, the accumulator 3 being arranged between the oil source 1 and the control valve group. Specifically, the oil inlet of the accumulator 3 is connected to a connecting oil path between the oil source 1 and the first reversing valve 5. The high-pressure oil liquid of the oil source 1 can be absorbed by arranging the energy accumulator 3, so that the flow of hydraulic oil flowing out of the oil source 1 is more stable.
Optionally, the hydraulic power steering system comprises a relief valve 4, the relief valve 4 being arranged between the source 1 and the tank. Specifically, the relief valve 4 is provided between the oil source 1 and the first directional valve 5. By providing the relief valve 4, the oil passage can be prevented from being subjected to high-pressure impact.
Based on the hydraulic power steering system, the invention also provides a steering axle, which comprises an axle 60, a left wheel 70, a right wheel 80, a left knuckle arm 30, a right knuckle arm 40 and a hydraulic power steering system, wherein the hydraulic power steering system is adopted, a piston rod of a left steering cylinder 10 is connected with the left knuckle arm 30, a piston rod of a right steering cylinder 20 is connected with the right knuckle arm 40, the left knuckle arm 30 and the right knuckle arm 40 are connected with the axle 60, and the axle 60 is connected with the left wheel 70 and the right wheel 80 to control the steering of the vehicle.
By adopting the hydraulic power steering system comprising the steering oil cylinder, the number of the hydraulic cylinders in the steering axle can be reduced, and the structural arrangement is simplified.
The invention also provides a vehicle which comprises a mechanical steering axle and at least one electric control steering axle, wherein the electric control steering axle adopts the steering axle.
As shown in fig. 6, the vehicle includes three electronically controlled steering axles, and the steering controller includes a main controller 91, a first controller 92, a second controller 93, and a third controller 94, where the main controller 91 is configured to generally control steering of the three electronically controlled steering axles, and the first controller 92, the second controller 93, and the third controller 94 are configured to respectively control steering of the three electronically controlled steering axles.
Further, the vehicle further comprises a steering controller and an angle sensor, the electric control steering axle comprises a first steering axle and a second steering axle, the angle sensor is used for detecting the rotation angles of the mechanical steering axle and the electric control steering axle, the steering controller is used for calculating a target rotation angle of the first steering axle according to the rotation angle of the mechanical steering axle, meanwhile, comparing the target rotation angle with an actual rotation angle detected by the angle sensor, and controlling the first steering axle to steer according to a comparison result; and calculating a target turning angle of the second steering axle according to the turning angle of the first steering axle, comparing the target turning angle with the actual turning angle detected by the angle sensor, and controlling the second steering axle to steer according to the comparison result.
Specifically, with the right-side rotation angle of the mechanical steering axle as an input, the main controller 91 may calculate the target rotation angle of each axle, and transmit the calculation result to each axle controller, each axle controller detects the actual rotation angle of the axle through the angle sensor, each axle controller compares the target rotation angle with the actual rotation angle, calculates an execution value, starts a corresponding steering mode according to the execution value, and makes the wheels turn left or right through the control valve group to complete steering.
In other embodiments, the number of mechanical steering axles may include more than one, and the number of electrically controlled steering axles may also be flexibly set according to actual needs.
The vehicle can be a wheeled vehicle with a multi-axle steering system, such as a truck, a crane, a fire truck and the like, so that the steering flexibility is improved, and the cost is saved.
The positive technical effects of the steering oil in the above embodiments are also applicable to a hydraulic power steering system, a steering axle and a vehicle, and are not described herein.
The operation of one embodiment of the steering cylinder, hydraulic power steering system, steering axle and vehicle of the present invention will be described with reference to fig. 2 to 7:
as shown in fig. 2 and 3, the steering cylinder includes a cylinder tube 105, a piston rod 101, an end cap 106, a stopper 108, a first piston 109, and a second piston 107. One end of the cylinder 105 is closed, and the other end is blocked by an end cover 106. The outside of the closed end of the cylinder 105 is provided with a connecting rod, on which a mounting hole is provided for connection with a component on the vehicle. The protruding end of the piston rod 101 is provided with a mounting hole for connection with the knuckle arm to adjust the steering angle of the knuckle arm by telescoping of the piston rod 101. The right end of the piston rod 101 is fixedly connected to the first piston 109, and there is no relative movement between the first piston 109 and the piston rod 101. The piston rod 101 is provided with a boss 110, and the distance between the boss 110 and the first piston 109 is approximately equal to half the movement stroke of the piston rod 101. The cylinder 105 is provided with a stopper 108, the installation position of the stopper 108 in the cylinder 105 is fixed, the stopper 108 divides the cylinder 105 into a first chamber and a fourth chamber, the second piston 107 is arranged in the first chamber, the first piston 109 is arranged in the fourth chamber, and the fourth chamber is divided into the second chamber and the third chamber. The boss 110 may drive the second piston 107 to move, and the boss 110 may pass through the first through hole on the stop block 108, but cannot pass through the second through hole on the second piston 107.
The cylinder 105 of the steering cylinder is provided with three oil holes, namely a first oil hole 102 communicated with the first cavity, a second oil hole 103 communicated with the second cavity and a third oil hole 104 communicated with the third cavity. The first oil hole 102 is provided at the left end of the cylinder 105, the second oil hole 103 is provided on the stopper 108, and the third oil hole 104 is provided at the right end of the cylinder 105.
As shown in fig. 4, the hydraulic power steering system mainly includes an oil source 1, a throttle valve 2, an accumulator 3, an overflow valve 4, a first directional valve 5, a second directional valve 6, a third directional valve 7, a fourth directional valve 8, a fifth directional valve 9, a sixth directional valve 14, and a seventh directional valve 15. The oil source 1 provides power for a hydraulic power-assisted steering system; the throttle valve 2 plays a role of slow flow; the accumulator 3 may act to some extent as a buffer and high pressure oil source supplement.
As shown in fig. 5, the steering axle includes a left steering cylinder 10, a right steering cylinder 20, a left knuckle arm 30, a right knuckle arm 40, a tie rod 50, an axle 60, left wheels 70, and right wheels 80.
When the wheels need to turn to the left, the left steering cylinder 10 needs to perform an "extending" motion, and the right steering cylinder 20 needs to perform a "retracting" motion. After the oil source 1 passes through the slow flow of the throttle valve 2 and the buffer of the accumulator 3, the controller 90 controls the first reversing valve 5, the second reversing valve 6, the third reversing valve 7, the fourth reversing valve 8, the fifth reversing valve 9, the sixth reversing valve 14 and the seventh reversing valve 15 to enable the first reversing valve 5 to be in a right position, the fourth reversing valve 8 and the fifth reversing valve 9 to be in a left position and be connected, the second reversing valve 6 and the third reversing valve 7 to be in a left position and be disconnected, and the sixth reversing valve 14 and the seventh reversing valve 15 to be in an upper position and be connected. At this time, the third chamber 13 of the left steering cylinder 10, the first chamber 21 of the right steering cylinder 20, and the second chamber 22 of the right steering cylinder 20 are connected to a high-pressure oil source, and are in a high-pressure state; the first chamber 11 of the left steering cylinder 10, the second chamber 12 of the left steering cylinder 10, and the third chamber 23 of the right steering cylinder 20 are in communication with the oil tank in a low pressure state. The piston in the left steering cylinder 10 has a leftward acting force on the piston rod of the left steering cylinder 10 under the action of the high pressure of the third cavity 13, so that the piston rod of the left steering cylinder 10 extends out; the piston of the right steering cylinder 20 has a leftward acting force on the piston rod of the right steering cylinder 20 under the action of the high pressure of the first chamber 11 and the second chamber 22, so that the piston rod of the right steering cylinder 20 is retracted, and the wheels are rotated leftward.
When the wheels need to turn right, the left steering cylinder 10 needs to perform a "retracting" motion, and the right steering cylinder 20 needs to perform a "extending" motion. After the oil source 1 passes through the slow flow of the throttle valve 2 and the buffer of the accumulator 3, the controller 90 controls the first reversing valve 5, the second reversing valve 6, the third reversing valve 7, the fourth reversing valve 8, the fifth reversing valve 9, the sixth reversing valve 14 and the seventh reversing valve 15 to enable the first reversing valve 5 to be in a left position, the fourth reversing valve 8 and the fifth reversing valve 9 to be in a left position and be connected, the second reversing valve 6 and the third reversing valve 7 to be in a left position and the sixth reversing valve 14 and the seventh reversing valve 15 to be in an upper position and be connected. At this time, the first chamber 11 of the left steering cylinder 10, the second chamber 12 of the left steering cylinder 10, and the third chamber 23 of the right steering cylinder 20 are connected to a high-pressure oil source, and are in a high-pressure state; the third chamber 13 of the left steering cylinder 10, the first chamber 21 of the right steering cylinder 20, and the second chamber 22 of the right steering cylinder 20 are in communication with the oil tank in a low pressure state. The piston in the left steering cylinder 10 has rightward acting force on the piston rod of the left steering cylinder 10 under the action of high pressure of the first cavity 11 and the second cavity 12, so that the piston rod of the left steering cylinder 10 is retracted; the piston of the right steering cylinder 20 has a rightward acting force on the piston rod of the right steering cylinder 20 under the action of the high pressure of the third cavity 23, so that the piston rod of the right steering cylinder 20 extends out, and the wheels rotate rightward.
The following conditions are guaranteed for realizing the median lock: the second piston 107 of the left steering cylinder 10 is at the rightmost end of the first chamber 11, the second piston 107 of the right steering cylinder 20 is at the leftmost end of the first chamber 21, and the left and right wheels are at the neutral position.
When the neutral lock is performed, the second piston 107 of the left steering cylinder 10 should be at the rightmost end, and the second piston 107 of the right steering cylinder 20 should be at the leftmost end. After the oil source 1 passes through the slow flow of the throttle valve 2 and the buffer of the accumulator 3, the controller controls the opening and closing of the first reversing valve 5, the second reversing valve 6, the third reversing valve 7, the fourth reversing valve 8, the fifth reversing valve 9, the sixth reversing valve 14 and the seventh reversing valve 15 to enable the piston rod 101 of the left steering cylinder 10 and the piston rod 101 of the right steering cylinder 20 to return to the neutral position. The method comprises the following two specific cases:
when the wheel is in a left turn state:
for the left steering cylinder 10, the piston rod 101 is in a left extending state, the controller enables the first reversing valve 5 to be in a left position, the second reversing valve 6 to be in a right position for connection, the fourth reversing valve 8 to be in a right position for disconnection, the sixth reversing valve 14 to be in a lower position for disconnection, and the first cavity 11 of the left steering cylinder 10 is connected with high-pressure oil through the second reversing valve 6 and is in a high-pressure state; the second cavity 12 is communicated with the oil tank through a second reversing valve 6 and is in a low-pressure state; the third chamber 13 is connected to the tank via the first reversing valve 5 and is at a low pressure. The boss 110 and the second piston 107 in the cylinder 105 are located at the left end of the stop block 108, and under the high pressure of the first cavity 11, the second piston 107 drives the boss 110 and the piston rod 101 to move rightward until the second piston 107 is blocked on the stop block 108, and the piston rod 101 returns to the middle position.
For the right steering cylinder 20, the piston rod 101 is in a left retraction state, the first reversing valve 5 is in a left position, the controller enables the third reversing valve 7 to be in a right position for connection, the fifth reversing valve 9 is in a right position for disconnection, the seventh reversing valve 15 is in an upper position for connection, and the first cavity 21 of the right steering cylinder 20 is connected with high-pressure oil through the third reversing valve 7 and is in a high-pressure state; the second cavity 22 is communicated with the oil tank through a third reversing valve 7 and is in a low-pressure state; the third chamber 23 is connected to high-pressure oil through the first directional valve 5 and is in a high-pressure state. The boss 110 is located at the left end of the stop block 108, the second piston 107 is located at the right end of the stop block 108 in the cylinder 105, when the first cavity 21 and the third cavity 23 are communicated with high-pressure oil, the piston rod 101 moves rightwards due to the fact that the oil volume of the third cavity 23 is larger than that of the first cavity 21, meanwhile the second piston 107 moves leftwards, but the boss 110 can reach the position of the stop block 108 earlier than the second piston 107, the boss 110 can pass through the stop block 108, after the boss 110 contacts with the second piston 107, the controller controls the first reversing valve 5 to be shifted to the middle position and the sixth reversing valve 14 to be shifted to the upper position to be communicated, the third cavity 23 is communicated with an oil tank through the sixth reversing valve 14 and the second reversing valve 6, the third cavity 23 is in a low-pressure state, the second piston 107 continues to move leftwards under the high-pressure action of the first cavity 21, and meanwhile the boss 110 is pushed to move leftwards, and when the second piston rod 101 is blocked on the stop block 108, the second piston 107 returns to the middle position.
When the wheel is in a right turn state:
for the right steering cylinder 20, the piston rod 101 is in a right extending state, the controller enables the first reversing valve 5 to be in a right position, the third reversing valve 7 to be in a right position and be connected, the fifth reversing valve 9 to be in a right position and be disconnected, the seventh reversing valve 15 to be in a lower position and be disconnected, and the first cavity 21 of the right steering cylinder 20 is connected with high-pressure oil through the third reversing valve 7 and is in a high-pressure state; the second cavity 22 is communicated with the oil tank through a third reversing valve 7 and is in a low-pressure state; the third chamber 23 is connected to the tank via the first reversing valve 5 and is at a low pressure. The boss 110 and the second piston 107 in the cylinder 105 are located at the right end of the stop block 108, and under the high pressure of the first cavity 21, the second piston 107 drives the boss 110 and the piston rod 101 to move leftwards until the second piston 107 is blocked on the stop block 108, and the piston rod 101 returns to the middle position.
For the left steering cylinder 10, the piston rod 101 is in a right retraction state, the first reversing valve 5 is in a right position, the controller enables the second reversing valve 6 to be in a right position for connection, the fourth reversing valve 8 is in a right position for disconnection, the sixth reversing valve 14 is in an upper position for connection, and the first cavity 11 of the left steering cylinder 10 is connected with high-pressure oil through the second reversing valve 6 and is in a high-pressure state; the second cavity 12 is communicated with the oil tank through a second reversing valve 6 and is in a low-pressure state; the third chamber 13 is connected to high-pressure oil through the first directional valve 5 and is in a high-pressure state. The boss 110 is located at the right end of the stop block 108, the second piston 107 is located at the left end of the stop block 108 in the cylinder 105, when the first cavity 11 and the third cavity 13 are communicated with high-pressure oil, the piston rod 101 moves leftwards due to the fact that the oil volume of the third cavity 13 is larger than that of the first cavity 11, meanwhile, the second piston 107 moves rightwards, but the boss 110 can reach the position of the stop block 108 earlier than the second piston 107, so that the boss 110 can pass through the stop block 108, after the boss 110 is contacted with the second piston 107, the controller controls the first reversing valve 5 to be switched to the middle position and the seventh reversing valve 15 to be switched to the upper position to be communicated, the third cavity 13 is communicated with an oil tank through the seventh reversing valve 15 and the third reversing valve 7, the third cavity 13 is in a low-pressure state, the second piston 107 continues to move rightwards under the high-pressure action of the first cavity 11, and meanwhile, the boss 110 is pushed to move rightwards, and when the second piston 107 is clamped on the stop block 108, the piston rod 101 returns to the middle position.
As shown in fig. 6, the multi-axis steering control system includes three electric control steering systems that perform steering control using steering controllers including a main controller 91, a first controller 92, a second controller 93, and a third controller 94.
As shown in fig. 7, the multi-axle steering control system includes one mechanical steering axle and four electronically controlled steering axles.
In the steering process of the vehicle, if the steering angle of the rear wheels is the same as the steering angle of the front wheels, the instantaneous rotation centers of the front and rear wheels are inconsistent, the wheels sideslip, the abrasion loss of the tires is increased, the running resistance is increased, and the steering is difficult, so the steering angle of the wheels can be calculated according to the following thought.
For a multi-axle steering system in which a first axle is set as a mechanical steering axle and other axles are set as electric control steering axles, the right turning angle of the first axle is set to be positive by taking the right turning angle of the first axle as input, and the right turning angles and steering angles of the other axles meet the Ackerman theorem, specifically:
the right side rotation angle of other shafts is as follows:
δ i right ＝arctan(L i /L 1 *tan(δ 1 right ))
Wherein L is i Is the distance between the intersection connecting line of the center lines of the two kingpins and the ground and the steering center O.
From the steering center position, the direction of the turning angle can be determined. As shown in fig. 7, the left corner of the same axis determines the corner size according to the ackerman steering trapezium and ackerman theorem.
Meanwhile, the left and right rotation angles of the same shaft meet the Ackerman theorem, and the left and right rotation angles are as follows:
cotδ i left -cotδ i right ＝M＇/L i
From this calculation, the left side rotation angle can be found as:
δ i left ＝arccot(M＇/L i +cotδ i right )
Wherein: delta i left Is the left corner of the ith shaft, delta i right For the right corner of the ith shaft, M' is the distance between the intersection point of the central lines of the two kingpins and the ground, L i The intersection point of the center lines of the two kingpins and the ground is connected with the distance from the steering center O.
Thus, from the right-hand rotation angle of the first shaft, the right-hand rotation angle and the left-hand rotation angle of each shaft can be obtained in turn.
By way of illustration of various embodiments of the steering cylinder, hydraulic power steering system, steering axle and vehicle of the present invention, it can be seen that the steering cylinder, hydraulic power steering system, steering axle and vehicle embodiments of the present invention have at least one or more of the following advantages:
1. the steering oil cylinder is provided with the middle position prompting device, so that the middle position locking oil cylinder can be omitted, the mechanical structure is simplified, the arrangement space is saved, the mechanical arrangement of the steering system is more reasonable, the installation and the production are convenient, the maintenance is convenient, and the production efficiency and the use cost are improved; the problem of mutual influence of hydraulic pipelines can be solved to a certain extent, and the median alignment performance can be improved to a certain extent;
2. The middle position prompting device adopts a structure form of a boss, a stop block and a second piston which can move relative to the piston rod, and has simple structure and good reliability;
3. the vehicle adopts a multi-axis steering control strategy, so that various steering modes of the multi-axis vehicle can be realized, the steering flexibility is ensured, and the tire wear is reduced.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.

Claims (13)

1. The steering oil cylinder is characterized by comprising a cylinder barrel (105), a piston rod (101), a first piston (109) and a middle position prompting device, wherein the first piston (109) is arranged in the cylinder barrel (105), the first piston (109) is fixedly connected with the end part of the first end of the piston rod (101), the piston rod (101) stretches out or retracts relative to the cylinder barrel (105), and the middle position prompting device is used for giving a prompt when the piston rod (101) returns to the middle position of the movement stroke;
The middle position prompting device comprises a stop block (108), a second piston (107) and a boss (110) which is arranged on the piston rod (101) and extends along the radial direction, the stop block (108) is arranged in the cylinder barrel (105), the stop block (108) divides the cylinder barrel (105) into a first cavity (11, 21) and a fourth cavity, the second piston (107) is arranged in the first cavity (11, 21), the first piston (109) is arranged in the fourth cavity, the first piston (109) divides the fourth cavity into a second cavity (12, 22) and a third cavity (13, 23), the stop block (108) is provided with a first through hole, the second piston (107) is provided with a second through hole, the piston rod (101) passes through the stop block (108) and the second piston (107), the second piston (107) can move relative to the piston rod (101), and the radial length of the boss (110) is larger than the second through hole and smaller than the first through hole;
the middle position prompting device further comprises a sensor, wherein the sensor is used for detecting whether the boss (110) is in contact with the second piston (107) or not and whether the second piston (107) is in contact with the stop block (108), and sending out a signal for returning the piston rod (101) to the middle position when the boss (110) is in contact with the second piston (107) or the second piston (107) is in contact with the stop block (108) or not.
2. The steering cylinder according to claim 1, characterized in that the cylinder tube (105) is provided with a first oil hole (102), a second oil hole (103) and a third oil hole (104), the first oil hole (102) is communicated with the first chamber (11, 21), the second oil hole (103) is communicated with the second chamber (12, 22), and the third oil hole (104) is communicated with the third chamber (13, 23).
3. The hydraulic power steering system is characterized by comprising a controller (90), a control valve group, a left steering cylinder (10) and a right steering cylinder (20), wherein the left steering cylinder (10) and the right steering cylinder (20) adopt the steering cylinder as claimed in any one of claims 1-2, the control valve group is connected between an oil source (1) and the left steering cylinder (10) and the right steering cylinder (20), and the controller (90) is used for controlling the on-off and the reversing of the control valve group according to the prompt of a middle position prompt device in the left steering cylinder (10) and the right steering cylinder (20) so as to control the expansion and the contraction of the left steering cylinder (10) and the right steering cylinder (20).
4. A hydraulic power steering system according to claim 3, wherein the control valve group comprises a first reversing valve (5), the first reversing valve (5) being used for controlling the on-off and reversing of a connecting oil path between an oil source (1) and the left steering cylinder (10) and the right steering cylinder (20) so as to extend one of the left steering cylinder (10) and the right steering cylinder (20) and retract the other.
5. A hydraulic power steering system according to claim 3, characterized in that the control valve group comprises a second reversing valve group for controlling the connection and disconnection of the oil path between the oil source (1) and the left steering cylinder (10) and the right steering cylinder (20) so as to return the piston rod of the left steering cylinder (10) and the piston rod of the right steering cylinder (20) to the middle position of the respective movement strokes.
6. The hydraulic power steering system according to claim 4, wherein the control valve group further comprises a third reversing valve group, and the third reversing valve group is used for controlling the on-off of a connecting oil way between the first reversing valve (5) and the first cavity (11) of the left steering cylinder (10) and the on-off of a connecting oil way between the first reversing valve (5) and the first cavity (21) of the right steering cylinder (20).
7. The hydraulic power steering system according to claim 4, wherein the control valve group further comprises a fourth reversing valve group, and the fourth reversing valve group is used for controlling the on-off of a connecting oil way between the first reversing valve (5) and the second cavity (12) of the left steering cylinder (10) and the on-off of a connecting oil way between the first reversing valve (5) and the second cavity (22) of the right steering cylinder (20).
8. A hydraulic power steering system according to claim 3, characterized in that the hydraulic power steering system comprises a throttle valve (2), the throttle valve (2) being arranged between the oil source (1) and the control valve group.
9. A hydraulic power steering system according to claim 3, characterized in that the hydraulic power steering system comprises an accumulator (3), which accumulator (3) is arranged between the oil source (1) and the control valve group.
10. A hydraulic power steering system according to claim 3, characterized in that the hydraulic power steering system comprises a relief valve (4), the relief valve (4) being arranged between the oil source (1) and the oil tank.
11. Steering axle, characterized by comprising an axle (60), a left wheel (70), a right wheel (80), a left steering arm (30), a right steering arm (40) and a hydraulic power steering system, wherein the hydraulic power steering system adopts the hydraulic power steering system according to any one of claims 3-10, a piston rod of a left steering cylinder (10) in the hydraulic power steering system is connected with the left steering arm (30), a piston rod of a right steering cylinder (20) in the hydraulic power steering system is connected with the right steering arm (40), the left steering arm (30) and the right steering arm (40) are connected with the axle (60), and the axle (60) is connected with the left wheel (70) and the right wheel (80) to control steering of a vehicle.
12. A vehicle comprising a mechanically steered axle and at least one electronically controlled steered axle employing a steered axle as defined in claim 11.
13. The vehicle of claim 12, further comprising a steering controller and an angle sensor, wherein the electronically controlled steering axle comprises a first steering axle and a second steering axle, wherein the angle sensor is configured to detect the rotational angles of the mechanically steered axle and the electronically controlled steering axle, wherein the steering controller is configured to calculate a target rotational angle of the first steering axle based on the rotational angles of the mechanically steered axle, and to compare the target rotational angle with the actual rotational angle detected by the angle sensor, and to control the first steering axle to steer based on the comparison; and calculating a target turning angle of the second steering axle according to the turning angle of the first steering axle, comparing the target turning angle with the actual turning angle detected by the angle sensor, and controlling the second steering axle to steer according to the comparison result.
CN201810037358.XA 2018-01-16 2018-01-16 Steering cylinder, hydraulic power steering system, steering axle and vehicle Active CN108045432B (en)

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