CN110803217A - Hydraulic power steering system of dumper - Google Patents
Hydraulic power steering system of dumper Download PDFInfo
- Publication number
- CN110803217A CN110803217A CN201911026015.4A CN201911026015A CN110803217A CN 110803217 A CN110803217 A CN 110803217A CN 201911026015 A CN201911026015 A CN 201911026015A CN 110803217 A CN110803217 A CN 110803217A
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- steering
- wheel
- hydraulic
- power cylinder
- power
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- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
A hydraulic power steering system of a dumper comprises a left steering power cylinder for controlling the rotation angle of a left wheel and a right steering power cylinder for controlling the rotation angle of a right wheel; the control method of the steering system includes the steps of: (1) a steering wheel corner sensor acquires a corner signal of a steering wheel; (2) calculating the turning angles of the left wheel and the right wheel which meet the Ackerman steering geometric relationship under different steering wheel turning angles; (3) calculating the displacement of the piston rod in the left and right steering power cylinder through the kinematic relationship between the steering mechanism rods; (4) and determining the flow of hydraulic oil which needs to be output to the left and right steering power cylinders by the steering hydraulic system according to the cross sectional areas of the steering power cylinders and the piston rods. A steering tie rod is eliminated, the barrier is not arranged below the frame between the front suspensions any longer, and the trafficability of the vehicle is improved.
Description
Technical Field
The invention relates to a steering system, in particular to a hydraulic power steering system of a dumper.
Background
The existing hydraulic power steering system structure of the dumper comprises a left (right) steering power cylinder, a left (right) steering knuckle arm, a steering tie rod and other components. When the steering engine is turned right, high-pressure oil enters a rodless cavity of the left steering oil cylinder and a rod cavity of the right steering oil cylinder; when the vehicle turns left, high-pressure oil enters a rod cavity of the left steering oil cylinder and a rodless cavity of the right steering oil cylinder, and the steering oil cylinder drives the wheels to steer under the pushing of the high-pressure oil. When the vehicle runs straight, the oil pressure of the two cavities of the steering oil cylinder is equal.
The knuckle arms, the tie rods and the frame on the two sides form a four-bar linkage mechanism, so that the turning angles of the left wheel and the right wheel meet the geometrical requirement of Ackerman steering, namely the inner wheel and the outer wheel rotate around the same instantaneous turning center during steering. Meanwhile, the steering cylinders on the left side and the right side are connected in a double-cylinder crossing manner, as shown in fig. 2. When the vehicle turns, the steering hydraulic oil enters one of the steering oil passages to push the steering piston to move. The oil quantity between the two oil chambers is automatically distributed through pressure balance in the oil path.
The existing steering system has the following defects:
(1) the existing steering mechanism is an integral steering mechanism and is generally suitable for a non-independent front suspension. The self-discharging vehicle adopts an independent front suspension, and the existence of a steering tie rod can cause the jumping of the steering wheel at one side to influence the steering wheel at the other side;
(2) the position of the steering tie rod is positioned between the front suspensions and below the frame, so that the minimum ground clearance of the vehicle is reduced, and the trafficability of the vehicle is influenced;
(3) the tie rod increases the unsprung mass of the vehicle, affecting the ride comfort of the entire vehicle.
Disclosure of Invention
The invention aims to provide a hydraulic power steering system of a dumper, and solve various problems caused by a tie rod of an original hydraulic power steering system.
In order to solve the technical problems, the technical scheme of the invention is as follows: a hydraulic power steering system of a dumper comprises a left steering power cylinder for controlling the rotation angle of a left wheel and a right steering power cylinder for controlling the rotation angle of a right wheel; the control method of the steering system includes the steps of:
(1) a steering wheel corner sensor acquires a corner signal of a steering wheel;
(2) calculating the turning angles of the left wheel and the right wheel which meet the Ackerman steering geometric relationship under different steering wheel turning angles;
(3) calculating the displacement of the piston rod in the left and right steering power cylinder through the kinematic relationship between the steering mechanism rods;
(4) and determining the flow of hydraulic oil which needs to be output to the left and right steering power cylinders by the steering hydraulic system according to the cross sectional areas of the steering power cylinders and the piston rods.
In the control process, the wheel rotation angle sensors are used for continuously detecting the rotation angles of the left wheel and the right wheel, and the relationship between the rotation angles of the left wheel and the right wheel is controlled and corrected by increasing and decreasing hydraulic oil in the left steering power cylinder and the right steering power cylinder so as to meet the steering requirement.
In step (4), the output hydraulic oil is amplified by the flow amplifier and then enters the corresponding steering power cylinder.
As an improvement, the steering mechanism rod piece comprises a steering power cylinder, a steering knuckle arm and a main pin, hydraulic oil input into the steering power cylinder pushes a piston rod to move, and the steering knuckle arm is pushed by the piston rod to rotate around the main pin, so that the deflection of the wheels is driven.
As an improvement, the piston divides the steering power cylinder into a rod cavity and a rodless cavity; the left and right steering power cylinders have four cavities which are respectively connected with four pipelines of the hydraulic system.
As an improvement, outputOil volume V to left and right steering cylindersl、VrThe relationship is as follows:
d is the piston diameter and D is the rod diameter.
Compared with the prior art, the invention has the following beneficial effects:
1. the flow control is used for replacing a steering trapezoidal mechanism, so that the mechanical mechanism of the system is simplified, the unsprung mass is reduced, and the smoothness of the vehicle is improved;
2. a steering tie rod is cancelled, and the barrier is not arranged below the frame between the front suspensions any more, so that the trafficability of the vehicle is improved;
3. the left wheel and the right wheel are not mechanically connected, so that the kinematic coupling between the wheels at the two sides is avoided.
Drawings
Figure 1 is a schematic view of the steering mechanism of the present invention,
FIG. 2 is a schematic block diagram of a hydraulic power steering system.
Fig. 3 is a schematic view of the steering mechanism connection.
Fig. 4 is a left side (outer wheel) wheel track diagram for a right turn.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a hydraulic power steering system of a dump truck comprises a left steering mechanism and a right steering mechanism, wherein the left steering mechanism comprises a left steering power cylinder 1, a left kingpin 2 and a left knuckle arm 3; the right steering mechanism comprises a right steering power cylinder 4, a right kingpin 5 and a right knuckle arm 6. The steering device outputs hydraulic oil with corresponding volume by controlling the opening time of the valve according to the corner position of the steering wheel, and the hydraulic oil enters a corresponding steering power cylinder after being amplified by the flow amplifier; the hydraulic oil input into the steering power cylinder pushes the piston to move, and the steering piston rod pushes the steering knuckle arm to rotate around the main pin, so that the deflection of wheels is driven, and the steering of the whole vehicle is realized.
As shown in figure 3, the steering hydraulic system is connected with the steering power cylinder, the steering power cylinder is divided into two cavities of a rod cavity and a rodless cavity by the piston, the left steering power cylinder and the right steering power cylinder have four cavities, and four pipelines respectively connected with the hydraulic system are 1-4. In the example of the right turn of the vehicle, the left steering piston rod should extend outwards, and the right steering piston rod should retract inwards, so that hydraulic oil should flow into the left rodless cavity and the right rodless cavity, i.e. high-pressure oil flows in through oil passages 2 and 4, and hydraulic oil in the left rodless cavity and the right rodless cavity respectively flows out through 1 and 3. In order to make the turning angles of the left and right wheels meet the requirements of ackermann steering geometry, the amount of oil flowing into the left and right steering cylinders needs to be accurately controlled.
To satisfy the ackermann steering geometry, the left and right wheels need to satisfy a certain motion relationship, taking the right turn of the vehicle as an example: the left side is the outside wheel, and the right side is the inside wheel. As shown in fig. 4, left wheel trajectory (solid line indicates the initial position, dashed line indicates the positions of the steered rear wheels, the steering knuckle, and the steering cylinder):
the requirements of the geometric dimension, the motion relation and the Ackerman steering geometry of the rod piece can be obtained as follows:
wherein a is the outer wheel corner, β is the inner wheel corner, a is the distance between the kingpin center point and the steering piston rod attachment point, and is 531.265mm, l is the distance between the kingpin center point and the steering cylinder attachment point, and is 1511.76mm, and l is the distance between the kingpin center point and the steering cylinder attachment point1Steering power cylinder and piston rod mountingOriginal length of 1522.6mm, l2The total length of the power cylinder and the piston rod in the steering process; theta is an initial angle and has a value of 81.08 degrees, and delta l is the extension/contraction amount of the piston rod; b is the distance between the left and right kingpins, and has a value of 3554mm, and L is the wheel base, and has a value of 5300 mm.
Setting conditions: when the steering wheel angle is 0 degree, the wheel angle is 0 degree; when the steering wheel is turned 770 degrees, the inner and outer wheels reach the maximum turning angle. The analysis of the whole vehicle structure size and the minimum turning radius shows that the values are respectively as follows: 38.05 degrees, 27.17 degrees. At this time, the corresponding displacement of the inner and outer steering cylinders is as follows:
fitting the relationship between the steering wheel angle and the oil cylinder displacement by using a quadratic function, wherein the fitting condition is as follows: the left and right wheel rotation angles meet the rotation angle relationship determined by the trapezoidal relationship under different piston rod displacements.
Left side:
right side:
oil volume V output to left and right steering mechanisms corresponding to steering wheel rotation angle determined by extension/contraction amount of steering piston rod corresponding to wheel rotation anglel、VrThe relationship is as follows (assuming a right turn):
wherein D is the piston diameter of 127mm and D is the rod diameter of 63.5 mm.
As shown in fig. 2, the control method of the steering system includes the steps of:
(1) a steering wheel corner sensor acquires a corner signal of a steering wheel;
(2) calculating the turning angles of the left wheel and the right wheel which meet the Ackerman steering geometric relationship under different steering wheel turning angles;
(3) calculating the displacement of the piston rod in the left and right steering power cylinder through the kinematic relationship between the steering mechanism rods;
(4) determining the hydraulic oil flow rate required to be output to the left and right steering power cylinders by the steering hydraulic system according to the cross sectional areas of the steering power cylinders and the piston rods;
(5) in the control process, the turning angles of the left wheel and the right wheel are continuously detected through the wheel turning angle sensors, and the relation between the turning angles of the left wheel and the right wheel is controlled and corrected by increasing and decreasing hydraulic oil in the left steering power cylinder and the right steering power cylinder so as to meet the steering requirement.
Claims (6)
1. A hydraulic power steering system of a dumper is characterized in that: the steering control system comprises a left steering power cylinder and a right steering power cylinder, wherein the left steering power cylinder is used for controlling the steering angle of a left wheel; the control method of the steering system includes the steps of:
(1) a steering wheel corner sensor acquires a corner signal of a steering wheel;
(2) calculating the turning angles of the left wheel and the right wheel which meet the Ackerman steering geometric relationship under different steering wheel turning angles;
(3) calculating the displacement of the piston rod in the left and right steering power cylinder through the kinematic relationship between the steering mechanism rods;
(4) and determining the flow of hydraulic oil which needs to be output to the left and right steering power cylinders by the steering hydraulic system according to the cross sectional areas of the steering power cylinders and the piston rods.
2. The hydraulic power steering system for the dump truck according to claim 1, characterized in that: in the control process, the turning angles of the left wheel and the right wheel are continuously detected through the wheel turning angle sensors, and the relation between the turning angles of the left wheel and the right wheel is controlled and corrected by increasing and decreasing hydraulic oil in the left steering power cylinder and the right steering power cylinder so as to meet the steering requirement.
3. The hydraulic power steering system for the dump truck according to claim 1, characterized in that: in the step (4), the output hydraulic oil is amplified by the flow amplifier and then enters the corresponding steering power cylinder.
4. The hydraulic power steering system for the dump truck according to claim 1, characterized in that: the steering mechanism rod piece comprises a steering power cylinder, a steering knuckle arm and a main pin, hydraulic oil input into the steering power cylinder pushes a piston to move, and the steering knuckle arm is pushed by a piston rod to rotate around the main pin, so that the deflection of wheels is driven.
5. The hydraulic power steering system for the dump truck according to claim 1, characterized in that: the piston divides the steering power cylinder into a rod cavity and a rodless cavity; the left and right steering power cylinders have four cavities which are respectively connected with four pipelines of the hydraulic system.
6. The hydraulic power steering system for the dump truck according to claim 1, characterized in that: oil volume V output to left and right steering power cylindersl、VrThe relationship is as follows:
d is the piston diameter and D is the rod diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911026015.4A CN110803217A (en) | 2019-10-25 | 2019-10-25 | Hydraulic power steering system of dumper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911026015.4A CN110803217A (en) | 2019-10-25 | 2019-10-25 | Hydraulic power steering system of dumper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110803217A true CN110803217A (en) | 2020-02-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911026015.4A Pending CN110803217A (en) | 2019-10-25 | 2019-10-25 | Hydraulic power steering system of dumper |
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| CN (1) | CN110803217A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112938831A (en) * | 2021-04-12 | 2021-06-11 | 合肥搬易通科技发展有限公司 | Front wheel synchronous rotation hydraulic system and forklift thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01153377A (en) * | 1987-12-10 | 1989-06-15 | Kubota Ltd | Power steering device for vehicle |
| US5653304A (en) * | 1994-04-20 | 1997-08-05 | University Of Arkansas, N.A. | Lever steering system |
| CN102351005A (en) * | 2011-08-08 | 2012-02-15 | 徐州重型机械有限公司 | Multi-mode steering hydraulic control system and wheeled crane using same |
| CN103057589A (en) * | 2013-01-23 | 2013-04-24 | 湖北航天技术研究院特种车辆技术中心 | Steering mechanism |
| CN106240627A (en) * | 2016-08-25 | 2016-12-21 | 北汽福田汽车股份有限公司 | Independent steering bridge and assembly, independent steering system and automobile |
-
2019
- 2019-10-25 CN CN201911026015.4A patent/CN110803217A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01153377A (en) * | 1987-12-10 | 1989-06-15 | Kubota Ltd | Power steering device for vehicle |
| US5653304A (en) * | 1994-04-20 | 1997-08-05 | University Of Arkansas, N.A. | Lever steering system |
| CN102351005A (en) * | 2011-08-08 | 2012-02-15 | 徐州重型机械有限公司 | Multi-mode steering hydraulic control system and wheeled crane using same |
| CN103057589A (en) * | 2013-01-23 | 2013-04-24 | 湖北航天技术研究院特种车辆技术中心 | Steering mechanism |
| CN106240627A (en) * | 2016-08-25 | 2016-12-21 | 北汽福田汽车股份有限公司 | Independent steering bridge and assembly, independent steering system and automobile |
Non-Patent Citations (1)
| Title |
|---|
| 马帅超: "四轮高地隙田间作业车独立转向系统的设计与研究", 《中国优秀硕士学位论文全文数据库 农业科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112938831A (en) * | 2021-04-12 | 2021-06-11 | 合肥搬易通科技发展有限公司 | Front wheel synchronous rotation hydraulic system and forklift thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200218 |