CN102019958A - Six-shaft automobile chassis crane and steering control system and method thereof - Google Patents

Six-shaft automobile chassis crane and steering control system and method thereof Download PDF

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Publication number
CN102019958A
CN102019958A CN 201010575742 CN201010575742A CN102019958A CN 102019958 A CN102019958 A CN 102019958A CN 201010575742 CN201010575742 CN 201010575742 CN 201010575742 A CN201010575742 A CN 201010575742A CN 102019958 A CN102019958 A CN 102019958A
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steering
oil
steering shaft
wheel
turns
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CN102019958B (en
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朱亚夫
朱长建
丁宏刚
刘东宏
王东华
王志芳
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Xuzhou Heavy Machinery Co Ltd
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Xuzhou Heavy Machinery Co Ltd
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Abstract

The invention discloses a steering control system and a steering control method for a six-shaft automobile chassis. The system comprises a mechanical drive device used for driving wheels to steer, a hydraulic drive device and a steering control device, wherein the mechanical drive device respectively drives the wheels on a first steering shaft and a second steering shaft to steer; a third steering shaft, a fourth steering shaft, a fifth steering shaft and a sixth steering shaft are respectively provided with a neutral position locking oil cylinder and a steering oil cylinder; the extending ends of each neutral position locking oil cylinder and each steering oil cylinder are connected with a steering knuckle arm of the corresponding steering shaft to form an interlocking mechanism; and the steering control device connects or disconnects an oil inlet line and an oil return line between the corresponding neutral position locking oil cylinder and the corresponding steering oil cylinder according to a steering mode and drives the wheels on the corresponding steering shafts to steer. In the invention, the wheels on different steering shafts are driven to steer through the mechanical drive device and the hydraulic drive device, and a plurality of steering modes of highway driving, field operation and the like are provided. On the basis, the invention also provides the crane using the steering control system.

Description

Six car chassis hoisting cranes and steering control system thereof, method
Technical field
The present invention relates to the automobile control system, be specifically related to a kind of six car chassis hoisting cranes and steering control system and method.
Background technology
In order to satisfy the engineering reduction of erection time, to raise the efficiency and the needs of cost-cutting, multiaxis large-tonnage car chassis is applied to construction machinery and equipments such as HD truck and full ground elevator machinery more and more widely.Because the multi-wheeler chassis has many steering shafts to adapt to the multiple different pattern that turns to, therefore, its steering control system is also relatively complicated, is example with six full ground hoisting cranes, and steering control system need satisfy the demand of multiple steering situations such as road running and place operation.
As everyone knows, automobile is in (straight-line travelling and the turning driving) process of travelling, and the path of motion of each wheel all must meet its proper motion track fully, thereby guarantees that tire and ground are in pure rolling and fricton-tight phenomenon, Here it is Ackerman principle." taking turns the design analysis of heavy vehicle steering mechanism " (machine science and technology more, 2008, the 27th volume, the 8th phase), the method of designing of the heavy vehicle steering mechanism of a kind of many wheels has been proposed based on Ackerman principle, to realize the controls that turn to of many wheel heavy-dutys vehicle, this also is generally a kind of version of employing of present six full ground hoisting crane steering control systems institute.
Fig. 1 is the full ground of six of a prior art hoisting crane mechanical steering gear scheme drawing, and as shown in Figure 1, six full ground hoisting cranes of the prior art have three kinds and turn to pattern: road running turns to pattern, little turning to turn to pattern and crab row mode.
Under road running turns to pattern, turn to locking device 14 lockings, making its equivalence is the rod assembly of a rigidity, when under this pattern, turning to, turning center is positioned on the long line in edge of the 4th steering shaft L4, the steering angle of each steering shaft is determined by the leverage layout of whole steering hardware, the steering direction of the wheel on the wheel on the second steering shaft L2 and the 3rd steering shaft L3 and the first steering shaft L1 is identical, the steering direction of the wheel on the wheel on the 5th steering shaft L5 and the 6th steering shaft L6 and the first steering shaft L1 is opposite, wheel on the 4th steering shaft L4 does not participate in turning to, referring to six full ground hoisting crane steering principle figure of Fig. 2.Specifically, under road running turns to pattern, when clockwise rotating bearing circle 1, turn sign is passed to deflector 2 by bearing circle 1 and the steering drop arm that drives on it rotates corresponding angle around the output shaft of deflector 2, steering drop arm rotates counterclockwise around hinge A1 by first rod assembly, 3 pullings, first Rocker arm assembly 4, so under the drive of first Rocker arm assembly 4, second rod assembly 5 promotes second Rocker arm assembly 7 and rotates counterclockwise around hinge A2, like this, second Rocker arm assembly, 7 pullings the 3rd rod assembly 6 moves right, thereby the pulling with the first steering shaft L1 on the cooresponding track arm of wheel move, make on the first steering shaft L1 the wheel right-hand turning to; Simultaneously, second Rocker arm assembly, 7 pulling four-pull-rod assemblies 8 also make the 3rd Rocker arm assembly 10 rotate counterclockwise around hinge A3, the rotation of the 3rd Rocker arm assembly 10, spurring the 5th rod assembly 9 on the one hand moves right, and then the cooresponding track arm of wheel on the pulling and the second axle steer axle L2 moves, make on the second steering shaft L2 the wheel right-hand turning to, promote to go up the cooresponding track arm of wheel by the 6th rod assembly 11 on the other hand with the 3rd steering shaft L3, make on the 3rd steering shaft L3 the wheel right-hand turning to.By that analogy, the 3rd Rocker arm assembly 10 pullings the 7th rod assembly 12 makes the 4th Rocker arm assembly 13 rotate counterclockwise around hinge A4, promotion turns to locking device 14 to drive the 5th Rocker arm assembly 15 and clockwise rotates around hinge A5, the rotation of the 5th Rocker arm assembly 15, promoting the 8th rod assembly 16 makes the 6th Rocker arm assembly 18 clockwise rotate around hinge A6, so, the 9th rod assembly 17 promote left with the 5th steering shaft L5 on the cooresponding track arm of wheel, make on the 5th steering shaft the wheel left-handed turning to, the tenth rod assembly 19 spur left with the 6th steering shaft L6 on the cooresponding track arm of wheel, make on the 6th steering shaft the wheel left-handed turning to.More than be vehicle under the road running pattern, when clockwise rotating bearing circle, the wheel steering change procedure on each steering shaft, wherein the wheel on the 4th steering shaft does not turn to.Conter clockwise steering dish, first and second, the steering direction of the wheel on the 3rd, the 5th and the 6th steering shaft is opposite with the steering direction of above-mentioned each wheel, do not repeat them here.
Turn under pattern or the crab row mode in little turning, turn to locking device 14 to be unlocked, at this moment, turning to locking device 14 can't drive the 5th Rocker arm assembly 15 rotates, therefore, wheel on the 5th steering shaft L5 and the 6th steering shaft L6 no longer turns to the wheel steering on the first steering shaft L1, but drives realization by hydraulic booster formula steering swivel system.The concrete structure of hydraulic booster formula steering swivel system is as follows, the supporting leg hydraulic efficiency pressure system provides power oil to two left and right oil cylinders that turn to of the 5th steering shaft L5 and the last left and right symmetric arrangement of the 6th steering shaft L6, by switching the steering direction that electricity condition is controlled the wheel on the 5th and the 6th steering shaft that gets at 3-position 4-way solenoid directional control valve two ends.Turn under the pattern in little turning, turning center is in the 4th steering shaft the place ahead, the steering direction of the wheel on the wheel on the 5th steering shaft L5 and the 6th steering shaft L6 and the first steering shaft L1 is opposite, and the angle when the whole steering angle of vehicle turns to pattern than road running is big.Under the crab row mode, the steering direction of the wheel on the wheel on the 5th steering shaft L5 and the 6th steering shaft L6 and the first steering shaft L1 is identical.
According to above description as can be known, existing six full ground hoisting cranes turn to by the wheel on mechanical steering gear control the first, second, third, the 5th and the 6th steering shaft, and the wheel on the 4th steering shaft does not participate in turning to.Clearly, adopt this mechanical steering gear mode to turn to and have following some shortcomings:
The first, the rod-type structure complexity of steering gear, connecting rod and hinge are many, thus cause wheel turn to accuracy of positioning lower;
Second, if the wheel that is arranged on a certain steering shaft is stuck, perhaps there are movement interference in steering gear and near parts, hydraulic booster system can by the steering track rod assembly the left and right power that turns to oil cylinder to provide be provided on the miscellaneous part, thereby can cause the stressed of local steering gear connection phenomenon of rupture to occur, bring life danger to chaufeur above its allowable stress range.
The 3rd, if the design of mechanical steering gear is unreasonable, the corner of different steering shafts is inharmonious each other, thereby causes the local heel and toe wear of tire and produce wheel bolt becoming flexible, and reduces vehicle safety and turning efficiency.
In view of this, demand urgently being optimized design,, and when the speed of a motor vehicle is higher, improve the anti-whipping ability of vehicle, guarantee driving safety with the stability that satisfies the multiple-axle vehicle handling maneuver and the requirement of bend carrying capacity and maneuverability at existing structure.
Summary of the invention
At above-mentioned defective, the technical matters that the present invention solves is, a kind of six automobile universal chassis steering control systems are provided, and makes six-axle car have a plurality of turning-circle diameters, has sensitive steering response simultaneously, road-holding property is strong and the wear on tyres amount is little.On this basis, the present invention also provides a kind of six automobile universal chassis rotating direction control methods and has had six car chassis hoisting cranes of this steering control system.
The steering control system of six car chassiss provided by the invention, comprise and be used for mechanical actuation device and fluid pressure drive device and the steering controlling device that drive wheels turns to, described mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle, described rod-pulling type steering gear has two mouths, is respectively applied for to connect the track arm that drives the wheel steering on first, second steering shaft; Described fluid pressure drive device comprises the oil cylinder that turns to that is fixedly installed on the meta locked cylinder on the 3rd, the 4th, the 5th and the 6th steering shaft respectively and drives wheel steering on the corresponding steering shaft; Described meta locked cylinder on each steering shaft all is connected with the track arm of corresponding steering shaft with the external part that turns to oil cylinder, forms interlocking gear; Described steering controlling device is according to turning to pattern output control signal, with oil-feed oil circuit and the oil return circuit that is switched on or switched off described meta locked cylinder and turns to oil cylinder.
Preferably, described steering controlling device comprises TIP, detecting unit and control unit, and described TIP is provided with little turning and turns to pattern, crab row mode, anti-whipping to turn to pattern and the locking of rear axle meta to turn to four kinds of operating modes of pattern to turn to mode selecting key; Described detecting unit is exported current vehicle according to vehicle speed signal and is in the mode signal that turns to that low speed, middling speed or express highway travel, and the corresponding options button of selecting according to the user is exported the residing corresponding operating mode of current vehicle and turned to mode signal; Described control unit is exported described control signal according to the described mode signal that turns to.
Preferably, also be provided with rear axle independent steering mode selecting key and knob on the described TIP, described control unit is exported described control signal according to the rear axle independent steering pattern of user's selection and rotation direction, the rotational angle of described knob.
Preferably, be respectively arranged with the oil-feed electromagnetic switch valve on the oil-feed oil circuit of each described meta locked cylinder, receive the oil-feed oil circuit that described control signal is switched on or switched off corresponding described meta locked cylinder; Each is described to turn on the oil-feed oil circuit of oil cylinder and is respectively arranged with the solenoid-operated proportional change-over valve, receives described control signal and is switched on or switched off and correspondingly describedly turns to the oil-feed oil circuit of oil cylinder and adjust the described oil-feed flow that turns to oil cylinder; Locking of the meta of each steering shaft and release are received by the described oil-feed electromagnetic switch valve on the corresponding steering shaft, oil return electromagnetic switch valve and described solenoid-operated proportional change-over valve that described control signal is switched on or switched off corresponding oil-feed, oil return circuit is realized.
Preferably, be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the described meta locked cylinder on each steering shaft, and with this meta locked cylinder oil-feed oil circuit on oil-feed electromagnetic switch valve and corresponding described solenoid-operated proportional change-over valve interlock on axle.
Preferably, the oil return circuit of the described meta locked cylinder on third and fourth steering shaft is communicated with, this connection oil circuit is communicated with and is communicated with oil circuit with the system oil return oil circuit and is provided with the first oil return electromagnetic switch valve, oil-feed electromagnetic switch valve and the described first oil return electromagnetic switch valve on the described meta locked cylinder of on third and fourth steering shaft at least one the oil-feed oil circuit receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one third and fourth steering shaft; The oil return circuit of the described meta locked cylinder on the 5th and the 6th steering shaft is communicated with, this connection oil circuit is communicated with and is communicated with oil circuit with the system oil return oil circuit and is provided with the second oil return electromagnetic switch valve, oil-feed electromagnetic switch valve and the described second oil return electromagnetic switch valve on the described meta locked cylinder oil-feed of on the 5th and the 6th steering shaft at least one oil circuit receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 5th, the 6th steering shaft.
Preferably, three, be respectively equipped with connecting rod on the 4th, the 5th and the 6th steering shaft, the middle part of each described connecting rod is hinged on respectively on the corresponding steering shaft, the described meta locked cylinder on the corresponding steering shaft and turn to the external part of oil cylinder hinged with the both ends of described connecting rod respectively; Each described connecting rod respectively be used to be connected corresponding track arm, to drive the wheel steering on the corresponding steering shaft.
Preferably, described rod-pulling type steering gear comprises rocking arm, first rod assembly, second rod assembly and the 3rd rod assembly, and the middle part of rocking arm is used for six car chassiss hinged; One end of first rod assembly and the upper end of described rocking arm are hinged, the other end be used for six car chassiss on the mouth of steering drop arm hinged; One end of second rod assembly and the lower end of described rocking arm are hinged, the other end be used for described first steering shaft on the input end of track arm hinged; One end of the 3rd rod assembly and the lower end of described rocking arm are hinged, the other end be used for described second steering shaft on the input end of track arm hinged.
Preferably, described rod-pulling type steering gear comprises rocking arm, first rod assembly, second rod assembly and the 3rd rod assembly, and the top of rocking arm is used for six car chassiss hinged; One end of first rod assembly and the middle part of described rocking arm are hinged, the other end be used for six car chassiss on the mouth of steering drop arm hinged; One end of second rod assembly and the lower end of described rocking arm are hinged, and the input end of the track arm on the other end and described first steering shaft is hinged; One end of the 3rd rod assembly and the lower hinge of described rocking arm, the input end of the track arm on the other end and described second steering shaft is hinged.
Preferably, travel at low speed road and to turn under the pattern, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the wheel on third and fourth steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn on identical, the 5th and six steering shafts wheel under the corresponding driving that turns to oil cylinder with first steering shaft on the switched in opposite of wheel;
Turning under the pattern of middling speed road running, described control unit is exported control signal respectively: connect the oil-feed oil circuit of the meta locked cylinder on the described the 3rd and the 6th steering shaft, and disconnect the oil-feed oil circuit of the meta locked cylinder on the described the 4th and the 5th steering shaft; Connect the oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the described the 3rd and the 6th steering shaft, and disconnect the oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the described the 4th and the 5th steering shaft; Wheel on the 3rd steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn on identical, the 6th steering shaft wheel under the corresponding effect that turns to oil cylinder with first steering shaft on the switched in opposite of wheel;
Turning under the pattern that express highway travels, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.
Preferably, turn under the pattern in little turning, described control unit is exported control signal respectively: connect the oil-feed oil circuit of each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the 3rd, the 4th, the 5th with the 6th steering shaft on wheel under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn to identical.
Preferably, under the crab row mode, described control unit is exported control signal respectively: connect the oil-feed oil circuit of each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the 3rd, the 4th, the 5th with the 6th steering shaft on wheel under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn to identical.
Preferably, turn to turning under the pattern of pattern at anti-whipping, described control unit output control signal: connect the oil-feed oil circuit of the meta locked cylinder on described third and fourth steering shaft, and disconnect the oil-feed oil circuit of the meta locked cylinder on the described the 5th and the 6th steering shaft; Connect the oil-feed oil circuit that turns to oil cylinder of the wheel steering on described driving third and fourth steering shaft, and disconnect the oil-feed oil circuit that turns to oil cylinder of the wheel steering on described driving the 5th and the 6th steering shaft; Make on third and fourth steering shaft wheel under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn to identical.
Preferably, under rear axle independent steering pattern, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, described TIP is gathered the rotation direction and the rotational angle of rear axle independent steering knob and is exported the rear axle independent steering and controls signal to described solenoid-operated proportional change-over valve, the 3rd, the 4th, the 5th with the 6th steering shaft on wheel under the corresponding driving that turns to oil cylinder, turn to identical.
Preferably, turn under the pattern in the locking of rear axle meta, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.
Preferably, also comprise a plurality of angular transducers, be respectively applied for the steering angle that detects each wheel, whether dangerous whether described detecting unit collects the steering angle of this wheel and the gap between the pairing standard value of this wheel turning angle characteristic curve according to any angular transducer is foundation greater than setting value, obtain the current judged result that turns to; When showing, judged result currently turns to when dangerous described control unit output alarm signal.
The rotating direction control method of six car chassiss provided by the invention may further comprise the steps: be arranged on wheel on first, second steering shaft and drive it by bearing circle respectively by the rod-pulling type steering gear and turn to; Three, be respectively equipped with the meta locked cylinder on the 4th, the 5th and the 6th steering shaft and turn to oil cylinder, and each described meta locked cylinder and the external part that turns to oil cylinder all are connected with track arm on the corresponding steering shaft, form interlocking gear, turn to pattern according to the vehicle present located, three, the described meta locked cylinder on the 4th, the 5th and the 6th steering shaft locks or release, and controls the wheel steering that turns to accordingly on the corresponding steering shaft of hydraulic oil cylinder driving according to the rotation direction and the rotational angle of bearing circle.
Preferably, obtain current vehicle according to vehicle speed signal and be in the pattern that turns to that low speed, middling speed or express highway travel; Obtain the pattern that turns to of the residing operating mode of current vehicle according to user's selection, can turn to pattern to comprise that little turning turns to pattern, crab row mode, anti-whipping to turn to pattern and the locking of rear axle meta to turn to four kinds of patterns for the operating mode that the user selects.
Preferably, when being in low speed road, vehicle travels when turning to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on third and fourth steering shaft identical, the steering direction of the wheel on the wheel on the 5th and the 6th steering shaft and first steering shaft is opposite; When vehicle is in the middling speed road running and turns to pattern, meta locked cylinder release on the described the 3rd and the 6th steering shaft, the the 4th and the 5th turns to the meta locked cylinder locking on the oil cylinder, the oil cylinder that turns on the 3rd and the 6th steering shaft stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 3rd steering shaft identical, the steering direction of the wheel on the wheel on the 6th steering shaft and first steering shaft is opposite, and the wheel on the 4th and the 5th steering shaft is in stays; When being in express highway, vehicle travels when turning to pattern, the meta locked cylinder locking on the 3rd, the 4th, the 5th and the 6th steering shaft, and the wheel on the corresponding steering shaft is in stays.
Preferably, when vehicle is in little turning and turns to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 3rd steering shaft identical, the steering direction of the wheel on the wheel on the 4th, the 5th and the 6th steering shaft and first steering shaft is opposite.
Preferably, when vehicle is in the crab row mode, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the 3rd, the 4th, the 5th with the 6th steering shaft on wheel and first steering shaft on the steering direction of wheel identical.
Preferably, when vehicle is in anti-whipping and turns to pattern, described meta locked cylinder release on third and fourth steering shaft, the the 5th and the 6th turns to the described meta locked cylinder locking on the oil cylinder, the described oil cylinder that turns on third and fourth steering shaft stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on the wheel and first steering shaft on third and fourth steering shaft identical, the wheel on the 5th and the 6th steering shaft is in stays.
Preferably, when vehicle was in rear axle meta locking and turns to pattern, each described meta locked cylinder locking made the wheel on the 3rd, the 4th, the 5th and the 6th steering shaft in stays.
Preferably, the operating mode of selecting for the user also comprises rear axle independent steering pattern, when vehicle is in rear axle independent steering pattern, each described meta locked cylinder release, each is described turn to oil cylinder subsequently the rotation direction and the rotational angle of axle independent steering knob stretch, make the 3rd, the 4th, the 5th with the 6th steering shaft on the steering direction of wheel all identical.
Preferably, if detect gap between the pairing standard value of deflection angle characteristic curve of the steering angle of any wheel and this wheel, then send alerting signal greater than setting value.
The steering control system of six car chassiss provided by the invention, wheel steering on first, second steering shaft is realized that by mechanical actuation device the wheel on the 3rd, the 4th, the 5th and the 6th steering shaft is realized by fluid pressure drive device according to steering controlling device respectively.Compared with prior art, this programme has significantly reduced rod-type structure, and controls turning to of wheel on each rear side axletree by fluid pressure drive device, has improved the accuracy of positioning that turns to of complete machine wheel greatly; Simultaneously, all be similar under the condition that satisfies the Ackermam theorem at the steering angle that guarantees all wheels, provide multiple different turning-circle diameter, to adapt to the needs that difference turns to pattern, significantly reduced Tyte Wear, the deflection angle control accuracy when further having improved wheel steering; In addition, three, be fixed with the meta locked cylinder on the 4th, the 5th and the 6th steering shaft and drive the oil cylinder that turns to of wheel steering on the corresponding steering shaft, and the two forms interlocking gear, can effectively evade the phenomenon that the transmission of power that turns to oil cylinder under the abnomal condition occurs rupturing to miscellaneous part occurs, therefore, improved the functional reliability of control system.
In a kind of preferred version of the steering control system of six car chassiss provided by the invention, a kind of rear axle independent steering pattern also is provided, this pattern is applicable to turning to of vehicle under the particular case, for example vehicle enters the operating mode in warehouse in reversing, when user's reversing enters the warehouse, generally be that bearing circle keeps meta motionless, have only rear axle to participate in turning to.The scheme that the present invention adopts is, rear axle independent steering mode selecting key and knob are set on TIP, control unit is realized turning to of corresponding wheel according to the rear axle independent steering pattern of user's selection and rotation direction, the rotational angle output control signal of knob.Specifically, under rear axle independent steering pattern, the wheel of being controlled on first, second steering shaft by bearing circle is in linear state, is turned to as turning center by certain point on the center of symmetry extended line of two steering shafts before the wheel on the 3rd, the 4th, the 5th and the 6th steering shaft of fluid pressure drive device driving.
In the another kind of preferred version of the steering control system of six car chassiss provided by the invention, be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the meta locked cylinder on each steering shaft, and with oil-feed electromagnetic switch valve that is provided with on this meta locked cylinder oil-feed oil circuit and the interlock of the solenoid-operated proportional change-over valve on the corresponding steering shaft, thereby guaranteed that the meta locked cylinder remains at the meta state when meta locks, avoided because the fluctuation of the meta locked cylinder piston rod that the system pressure loss causes.
Description of drawings
Fig. 1 is six full ground hoisting crane mechanical steering gear scheme drawings of the prior art;
Fig. 2 is six full ground hoisting crane steering principle figure of the prior art;
Fig. 3 is first kind of embodiment scheme drawing of the mechanical actuation device of the wheel steering on first, second steering shaft of the realization described in the specific embodiment;
Fig. 4 is second kind of embodiment scheme drawing of mechanical actuation device of the wheel steering on first, second steering shaft of the realization described in the specific embodiment;
Fig. 5 is meta locked cylinder on the 3rd steering shaft and a kind of instantiation scheme drawing that turns to the interlocking gear of oil cylinder composition;
The fluid pressure drive device hydraulic schematic diagram that realization the the 3rd, the 4th, the 5th described in Fig. 6 specific embodiment and the 6th steering shaft turn to;
Fig. 7 is a meta locked cylinder and turn to the connection diagram of oil cylinder and first, second control cock group in the fluid pressure drive device shown in Figure 6;
Fig. 8 is the steering principle scheme drawing that low speed road described in the specific embodiment travels and turns to pattern;
Fig. 9 is the steering principle scheme drawing that the road running of middling speed described in the specific embodiment turns to pattern;
Figure 10 is the steering principle scheme drawing that express highway described in the specific embodiment travels and turns to pattern;
Figure 11 is the steering principle scheme drawing that little turning described in the specific embodiment turns to pattern;
Figure 12 is the steering principle scheme drawing of the row mode of crab described in the specific embodiment;
Figure 13 is the steering principle scheme drawing that anti-whipping turns to pattern described in the specific embodiment;
Figure 14 is the steering principle scheme drawing that the locking of the meta of rear axle described in the specific embodiment turns to pattern;
Figure 15 is the steering principle scheme drawing of the independent steering of rear axle described in specific embodiment pattern;
Figure 16 is the structural representation of the locked cylinder of meta described in the specific embodiment;
Figure 17 illustrates the integral structure scheme drawing of this hoisting crane.
Among the figure:
L1-first steering shaft, L2-second steering shaft, L3-the 3rd steering shaft, L4-the 4th steering shaft, L5-the 5th steering shaft, L6-the 6th steering shaft;
101-bearing circle, 102-transmission shaft, 103-deflector, 104-first rod assembly, 105-second rod assembly, 106-rocking arm, 107-the 3rd rod assembly;
201-bearing circle, 202-transmission shaft, 203-deflector, 204-first rod assembly, 205-second rod assembly, 206-rocking arm, 207-the 3rd rod assembly;
301, left side on 311-the 3rd steering shaft, right wheel, 302, left side on 312-the 3rd steering shaft, the right steering oil cylinder, 402, left side on 412-the 4th steering shaft, the right steering oil cylinder, 502, left side on 512-the 5th steering shaft, the right steering oil cylinder, 602, left side on 612-the 6th steering shaft, the right steering oil cylinder, 304,404,504,604-the 3rd, the 4th, the 5th, meta locked cylinder on the 6th steering shaft, the 305-connecting rod, the 306-jointed shaft, the 307-pull bar, the 308-first control cock group, the 508-second control cock group, 309,409,509,609-the 3rd, the 4th, the five or six steering shaft is with the 3rd control cock group;
The 701-cylinder body, the right piston of 702-, 703-piston rod, 704-meta chamber, 705-rod chamber, 706-rodless cavity, 707-intermediate piston, 708-meta locating piece, 709-left piston.
The specific embodiment
Core of the present invention provides a kind of steering controlling device and method of six car chassiss, so that adopt construction machinery and equipments such as the autotruck of this car chassis or full ground hoisting crane to have a plurality of turning-circle diameters, thereby has sensitive steering response, stronger road-holding property and wear on tyres amount is less.Below in conjunction with Figure of description explanation the specific embodiment of the present invention.
Be without loss of generality, this paper is that example is elaborated with six full ground hoisting cranes, sees also Figure 17, the figure shows the integral structure scheme drawing of this hoisting crane.Need to prove that technical scheme provided by the invention is not limited in and is applied on six full ground hoisting cranes, adopt the construction machinery and equipment of six car chassiss all to be suitable for six axle load automobiles and other.Mention six, be defined as the first steering shaft L1, the second steering shaft L2, the 3rd steering shaft L3, the 4th steering shaft L4, the 5th steering shaft L5 and the 6th steering shaft L6 successively herein from headstock to the tailstock.The functional components such as chassis, winding plant and Lifting device of these six full ground hoisting cranes are same as the prior art, and those skilled in the art can realize fully that based on prior art this paper repeats no more.
Having road running based on existing six full ground hoisting cranes turns to pattern, little turning to turn to three kinds of pattern and crab row modes to turn to pattern, the present invention to increase anti-whipping to turn to pattern, rear axle independent steering pattern and the locking of rear axle meta to turn to three kinds of patterns; And under road running turns to pattern, being provided with low speed, middling speed and express highway travels three kinds and turns to pattern, therefore, adopt six car chassiss of this specific embodiment to have eight kinds and turn to pattern, also just be equivalent to provide eight kinds of turning-circle diameters, improve the steering manipulation performance of six car chassiss greatly, had sensitive steering response, stronger road-holding property and wear on tyres amount is less.
In the specific embodiment, the steering control system of these six car chassiss comprises and is used for mechanical actuation device and fluid pressure drive device and the steering controlling device that drive wheels turns to.Wheel on first, second steering shaft drives it by mechanical actuation device respectively and turns to, and the wheel on the 3rd, the 4th, the 5th and the 6th steering shaft drives it by fluid pressure drive device respectively and turns to.
Mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle, and the rod-pulling type steering gear has two mouths, is respectively applied for to connect the track arm that drives the wheel steering on first, second steering shaft.See also Fig. 3, the figure shows first kind of embodiment scheme drawing of the mechanical actuation device of realizing the wheel steering on first, second steering shaft.
As shown in Figure 3, mechanical actuation device comprises bearing circle 101 and rod-pulling type steering gear.The rod-pulling type steering gear mainly is made up of rocking arm 106, first rod assembly 104, second rod assembly 105 and the 3rd rod assembly 107.Rocking arm 106 is arranged between the first steering shaft L1 and the second steering shaft L2, its middle part is hinged on six car chassiss, bearing circle 101 is passed to deflector 103 by steering inner articulated shaft 102 with turn sign, and the steering drop arm that drives in the deflector 103 rotates corresponding angle around the output shaft of deflector 103.One end of first rod assembly 104 is connected on the mouth of steering drop arm, the upper end of the other end and rocking arm 106 is hinged; the lower end of rocking arm 106 is hinged with an end of second rod assembly 105 and the 3rd rod assembly 107 respectively; the other end of second rod assembly 105 is as a mouth of rod-pulling type steering gear; hinged with the track arm that drives the wheel steering on first steering shaft; the other end of the 3rd rod assembly 107 is as another mouth of rod-pulling type steering gear, and is hinged with the track arm that drives the wheel steering on second steering shaft.When rocking arm 106 during with the clockwise rotating of bearing circle 101, under the drive of first rod assembly 104; rocking arm 106 is around the hinge rotating certain angle at its middle part; so; second rod assembly 105 drive on the first turning cylinder L1 the wheel right-hand turning to; simultaneously, the 3rd rod assembly 107 drive on the second steering shaft L2 the wheel right-hand turning to.Otherwise, when rocking arm 106 rotates counterclockwise with bearing circle and when rotating counterclockwise, the wheel on first, second steering shaft respectively left-handed turning to.
Certainly, the annexation of above-mentioned each member is not limited to shown in Fig. 3, sees also Fig. 4, the figure shows second kind of embodiment of the mechanical actuation device of realizing the wheel steering on first, second steering shaft.
As shown in Figure 4; rocking arm 206 is arranged between the first steering shaft L1 and the second steering shaft L2; and its upper articulation is on six car chassiss; the mouth of the steering drop arm on an end of first rod assembly 204 and six car chassiss is hinged; the middle part of the other end and rocking arm 206 is hinged; the lower end of rocking arm 206 is hinged with an end of second rod assembly 205 and the 3rd rod assembly 207 respectively; the input end of the track arm on the other end of second rod assembly 205 and first steering shaft is hinged, and the input end of the track arm on the other end of the 3rd rod assembly 207 and second steering shaft is hinged.Similar to the principle of work of embodiment shown in Figure 3, the rotation of bearing circle 201 passes to first rod assembly 204 through steering inner articulated shaft 202 and deflector 203, thereby drive the hinge swing of rocking arm 206; swing of rocking arm 206 drives second rod assembly 205 respectively and the 3rd rod assembly 207 moves, thereby the wheel that drives respectively on first, second steering shaft L1, the L2 turns to around its top.
Fluid pressure drive device comprises and is separately positioned on the meta locked cylinder on the 3rd, the 4th, the 5th and the 6th steering shaft and drives the oil cylinder that turns to that wheel on the corresponding steering shaft turns to.Each meta locked cylinder and the external part that turns to oil cylinder all are connected to form linkage structure with the track arm of corresponding steering shaft, if promptly the oil-feed of meta locked cylinder and oil return circuit all disconnect, then the meta locked cylinder is in the lock state, because track arm is connected with the external part of meta locked cylinder, therefore, track arm can not move with regard to locked, at this moment, even connect and to turn to the oil-feed and the oil return circuit of oil cylinder, move and drive corresponding wheel and realize turning to thereby also can't drive track arm.Be example with wherein a steering shaft (the 3rd steering shaft) below, a kind of specific embodiment of realizing this interlocking gear is illustrated.
See also Fig. 5, Fig. 5 is meta locked cylinder on the 3rd steering shaft and a kind of specific embodiment scheme drawing that turns to the interlocking gear of oil cylinder composition.Left and right wheel 301,311 is arranged on the two ends of the 3rd steering shaft 303 (being L3) respectively by steering swivel, meta locked cylinder 304 and turn to oil cylinder to be fixedly installed on the both sides of the 3rd steering shaft 303 respectively, wherein, left and right turn to oil cylinder 302,312 to be respectively applied for to drive left and right wheel 301,311 turn to (top with drawing among Fig. 5 is right side, and the below is left).The middle part of connecting rod 305 is hinged on the right part of the 3rd steering shaft 303, the external part of meta locked cylinder 304 and right steering oil cylinder 312 is hinged on the two ends of connecting rod 305 respectively, connecting rod 305 is connected with the track arm of right wheel 311, is used to drive right wheel 311 and realizes turning to.The external part of left steering oil cylinder 302 is connected on the track arm of left wheel 301, and the track arm on the left and right wheel 301,311 is connected to form connecting rod mechanism by pull bar 307, realizes interlock between the left and right track arm with this.When the oil-feed of meta locked cylinder 304 and oil return circuit are all connected, if the control infradextroversion at bearing circle stretches out to oil cylinder 312, then withdraw to oil cylinder 302 at the effect infralevoversion of pull bar 307, connecting rod 305 rotates counterclockwise around jointed shaft 306, so drive 304 withdrawals of meta locked cylinder, thus drive left and right wheel 301,311 left-handed turnings to; Otherwise if right steering oil cylinder 312 withdrawal, then the effect infralevoversion at pull bar 307 stretches out to oil cylinder 302, and connecting rod 305 clockwise rotates around jointed shaft 306, drives meta locked cylinder 304 and stretches out, drive left and right wheel 301,311 right-hand turnings to.But, if the oil-feed and the oil return circuit of meta locked cylinder 304 all disconnect, then meta locked cylinder 304 is locked, so stationkeeping of connecting rod 305, can not rotate around jointed shaft 306, therefore the left and right oil cylinder 302,312 that turns to can't be realized stretching, and also just can not drive track arm left and right wheel 301,311 is turned to, thereby only realized under the situation of meta locked cylinder 304 releases (oil-feed and oil return circuit are all connected), could handling wheel and turning to.
The steering controlling device basis turns to the control signal of pattern output, the oil-feed oil circuit and the oil return circuit that are switched on or switched off the meta locked cylinder and turn to oil cylinder, thus the wheel of controlling on the corresponding steering shaft turns to.Steering controlling device comprises detecting unit, TIP and control unit, and the function of detecting unit and control unit is realized by programming by micro controller system respectively.TIP is provided with little turning and turns to pattern, crab row mode, anti-whipping to turn to pattern, rear axle independent steering pattern and the locking of rear axle meta to turn to five kinds of operating modes of pattern to turn to model selection options button and rear axle independent steering knob.Detecting unit is gathered the vehicle speed signal that obtains current vehicle in real time according to the gear of current engine speed of vehicle and change speed gear box, and export current vehicle automatically and be in low speed, middling speed or express highway travel turns to the mode signal (low speed of being mentioned here, middling speed or need at a high speed to carry the attitude of travelling under the operating mode in different band according to a certain concrete vehicle, the angle of comprehensive vehicle handling and stability and the best attitude of travelling is considered to determine, certainly, this accomplishes for the ordinary skill in the art easily, even can not obtain best speed setting value, also can not have influence on essence of the present invention); Export the residing corresponding mode signal that turns to of current vehicle according to the corresponding options button that the user selects; Control unit is according to described control signal, the oil-feed oil circuit and the oil return circuit that are switched on or switched off described meta locked cylinder and turn to oil cylinder, so that the wheel on corresponding the 3rd, the 4th, the 5th and the 6th steering shaft turns to or does not turn to the rotation of bearing circle, and different turning under the pattern, that the steering direction of the wheel on the wheel on the different steering shafts and first steering shaft has is identical, have different.Especially, in rear axle independent steering pattern, bearing circle is motionless, and the hand of rotation by rear axle independent steering knob and the anglec of rotation drive and turn to turning to of hydraulic oil cylinder driving corresponding wheel accordingly.
The concrete scheme that realizes wheel steering is: each turns to the flexible by a solenoid-operated proportional change-over valve control of oil cylinder, the flexible of each meta locked cylinder controlled by at least one oil-feed electromagnetic switch valve, when only adopting an oil-feed electromagnetic switch valve, this oil-feed electromagnetic switch valve is arranged on the oil-feed oil circuit of meta locked cylinder, when needs improve the system works reliability, respectively be provided with an electromagnetic switch valve on the oil-feed of meta locked cylinder and the oil return circuit, promptly on the oil-feed oil circuit of meta locked cylinder, be provided with the oil-feed electromagnetic switch valve, oil return circuit is provided with the oil return electromagnetic switch valve, and oil-feed electromagnetic switch valve and the interlock of oil return electromagnetic switch valve, by oil-feed electromagnetic switch valve and the interlock of oil return electromagnetic switch valve, make the oil-feed of meta locked cylinder, oil return circuit is switched on or switched off simultaneously.Control unit turns to pattern to output control signals to corresponding oil-feed electromagnetic switch valve and oil return electromagnetic switch valve respectively according to the vehicle present located, and the rotation direction and the rotational angle signal of the bearing circle that collects according to detecting unit are exported control signal respectively, adjust the operative orientation and the valve port opening size of corresponding electromagnetism proportional reversing valve, thereby realize that vehicle turns to turning under the pattern in difference.The steering angle of the medial and lateral wheel on each steering shaft should satisfy Ackerman principle, and those skilled in the art can realize fully that based on prior art this paper repeats no more.
Fig. 6 is a kind of fluid pressure drive device hydraulic schematic diagram of the wheel steering on realization the the 3rd, the 4th, the 5th described in the specific embodiment and the 6th steering shaft, Fig. 7 is fluid pressure drive device meta locked cylinder shown in Figure 6 and the connection diagram that turns to oil cylinder and first, second control cock group, and Fig. 8-Figure 15 is respectively aforementioned eight kinds and turns to the cooresponding steering principle scheme drawing of pattern.Turn to pattern to be introduced one by one below in conjunction with Fig. 6, Fig. 7 and Fig. 8-Figure 15 to each.
As shown in Figure 6, meta locked cylinder 304 on third and fourth steering shaft, 404 respectively by corresponding the 3rd valve group 309,409 are connected on the first control cock group 308, meta locked cylinder 504 on the 5th and the 6th steering shaft, 604 respectively by corresponding the 3rd valve group 509,609 are connected on the second control cock group 508, first, the second control cock group 308,508 structure is identical, concrete structure and connection mode are as shown in Figure 7, the first control cock group 308 comprises two electro-hydraulic proportion reversing valve Y813 with pressure compensation, Y814 and three electromagnetic switch valve Y834, Y823, Y824, electromagnetic switch valve Y834 is as the first oil return electromagnetic switch valve, be used to control meta locked cylinder 304, the break-make of 404 oil return circuit, electromagnetic switch valve Y823 and Y824 are used to control the meta locked cylinder 304 on third and fourth steering shaft respectively as the oil-feed electromagnetic switch valve, the break-make of 404 oil-feed oil circuit.Each electro-hydraulic proportion reversing valve control is by flow that turns to oil cylinder and direction on the steering shaft, turn to oil cylinder comprise respectively two be symmetrically arranged turn to oil cylinder 302,312, equivalence is one a pair of hydraulic ram that goes out rod-type, guarantees that the execution load is advanced, the area ratio of oil back chamber is 1.Be applied to by control electro-hydraulic proportion reversing valve Y813, Y814 a, b two ends electromagnet order and the size of electric current, come the aperture of control ratio valve valve port, and then control flows is to the flow that turns to oil cylinder, to realize the adjusting of corresponding wheel steering angle size.Meta locked cylinder 304,404 oil return circuit is communicated with and the first electromagnetic switch valve Y834 is arranged on this connection oil circuit, this connection oil circuit is communicated to the system oil return oil circuit, by first electromagnetic switch valve Y834 control meta locked cylinder 304, the break-make of 404 oil return circuit, oil-feed electromagnetic switch valve Y823 is arranged on the oil-feed oil circuit of the meta locked cylinder 304 on the 3rd steering shaft, oil-feed electromagnetic switch valve Y824 is arranged on the oil-feed oil circuit of the meta locked cylinder 404 on the 4th steering shaft, three electromagnetic switch valves the whether electric wheel of controlling on third and fourth steering shaft can turn to.When the first electromagnetic switch valve Y834 gets when electric, the oil return circuit of meta locked cylinder 304,404 all communicates with the system oil return oil circuit on third and fourth steering shaft, so meta locked cylinder 304,404 equal releases on third and fourth steering shaft, at this moment, among electromagnetic switch valve Y823, the Y824 any gets, the oil-feed oil circuit of corresponding meta locked cylinder communicates with the system high pressure oil circuit, cooperate electro-hydraulic proportion reversing valve Y813, Y814 to realize correspondingly turning to the flexible of oil cylinder, thereby the wheel that drives on the corresponding steering shaft turn to.If the first electromagnetic switch valve Y834 dead electricity, meta locked cylinder 304 on third and fourth steering shaft then, 404 oil return circuit all disconnects with the system oil return oil circuit, so meta locked cylinder 304,404 all lockings, can't realize stretching, like this, because a meta locked cylinder 304 and a corresponding left side, right steering oil cylinder 302,312 form interlocking gear, a meta locked cylinder 404 and a corresponding left side, right steering oil cylinder 402,412 form interlocking gear, therefore, even electro-hydraulic proportion reversing valve Y813 and/or Y814 get, turn to oil cylinder 302,312,402,412 also can't stretch, the 3rd, wheel on the 4th steering shaft can only can't turn to along straight-line travelling.Similarly, the second control cock group 508 comprises two electro-hydraulic proportion reversing valve Y815, Y816 with pressure compensation and three electromagnetic switch valve Y865, Y825, Y805, electromagnetic switch valve Y865 is as the second oil return electromagnetic switch valve, be used to control the break-make of the oil return circuit of two the meta locked cylinders 504,604 on the 5th and the 6th steering shaft, electromagnetic switch valve Y825 and Y805 be respectively as the oil-feed electromagnetic switch valve, is used to control the break-make of the oil-feed oil circuit of meta locked cylinder 504,604.Electro-hydraulic proportion reversing valve Y815, Y816 control by left and right flow and the direction that turns to oil cylinder 502,512 and 602,612 on the 5th and the 6th steering shaft, three electromagnetic switch valves the whether electric wheel of controlling on the 5th and the 6th steering shaft can turn to.Electromagnetic switch valve Y865 is identical with electromagnetic switch valve Y834 function, and electromagnetic switch valve Y825, Y805 and electromagnetic switch valve Y823, Y824 function are identical.The control principle of the second control cock group 508 is identical with the control principle of the first control cock group 308, does not repeat them here.
In the such scheme, the third and fourth, the break-make of controlling its oil return circuit by first, second oil return electromagnetic switch valve Y834 in first, second control cock group 308,508, Y865 respectively of the meta locked cylinder on the 5th and the 6th steering shaft, obviously, each meta locked cylinder all realizes that by an electromagnetic switch valve break-make of its oil return circuit also can realize the technical program.Perhaps, only control the oil-feed of meta locked cylinder or the break-make of oil return circuit and also can realize the technical program.
See also Fig. 8, be in low speed road and travel when turning to pattern when detecting unit detects current vehicle, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y805, Y825, connect meta locked cylinder 304,404,504 on the 3rd, the 4th, the 5th and the 6th steering shaft and 604 oil-feed and oil return circuit, all equal releases of meta locked cylinder.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and control corresponding electro-hydraulic proportion reversing valve respectively according to the rotation direction and the rotational angle of bearing circle, for example, when bearing circle clockwise rotates, control unit output control signal makes electro-hydraulic proportion reversing valve Y813, the a of Y814 holds, electro-hydraulic proportion reversing valve Y815, the b of Y816 holds, and according to the size adjustment electro-hydraulic proportion reversing valve Y813 of bearing circle rotational angle, Y814, the aperture of the ratio valve port of Y815 and Y816, make wheel on third and fourth steering shaft identical under the effect that turns to oil cylinder separately with the steering direction of wheel on first steering shaft, wheel on the 5th and the 6th steering shaft is opposite with the steering direction of wheel on first steering shaft under the effect that turns to oil cylinder, at this moment, vehicle turns to along cw, and the center of gyration O of vehicle is positioned at the 4th, on the extended line between the 5th steering shaft.When bearing circle rotated counterclockwise, control unit output control signal made that the b of electro-hydraulic proportion reversing valve Y813, Y814 holds electricly, a of electro-hydraulic proportion reversing valve Y815, Y816 holds electricly, and vehicle is turned to along conter clockwise.
See also Fig. 9, when detecting unit detects vehicle and is in the middling speed road running and turns to pattern, by controlling first, the second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y805, connect meta locked cylinder 304 on the 3rd and the 6th steering shaft and 604 oil-feed and oil return circuit, meta locked cylinder 304 and 604 releases, by controlling first, the second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y824, Y825, disconnect meta locked cylinder 404 on the 4th and the 5th steering shaft and 504 oil-feed oil circuit, make meta locked cylinder 404 and 504 lockings.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and control corresponding electro-hydraulic proportion reversing valve Y813 and Y816 respectively according to the rotation direction and the steering angle of bearing circle, make on the 3rd steering shaft wheel its turn under the effect of oil cylinder on, the 6th steering shaft identical with the steering direction of wheel on first steering shaft wheel its turn under the effect of oil cylinder with first steering shaft on the steering direction of wheel opposite, center of gyration O is on the extended line between the 4th, the 5th steering shaft.
See also Figure 10, be in express highway and travel when turning to pattern when detecting unit detects vehicle, by controlling first, the second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y805, Y825, disconnect the 3rd, the 4th, meta locked cylinder 304 on the 5th and the 6th steering shaft, 404,504 and 604 oil-feed and oil return circuit, all meta locked cylinder lockings, like this, the 3rd, the 4th, wheel on the 5th and the 6th steering shaft can not turn to along with the rotation of bearing circle, when avoiding turning under the express highway motoring condition, it is dangerous that rollover takes place owing to turning circle diameter is too small, and center of gyration O is positioned at the 4th, on the extended line between the 5th steering shaft.
See also Figure 11, when the user selects little turning on the TIP to turn to mode selecting key, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805, connect meta locked cylinder 304,404,504 on the 3rd, the 4th, the 5th and the 6th steering shaft and 604 oil-feed and oil return circuit, all meta locked cylinder releases.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and control corresponding electro-hydraulic proportion reversing valve respectively according to the rotation direction and the rotational angle of bearing circle, make the wheel on the 3rd steering shaft turn under the effect of oil cylinder identical at it with the steering direction of wheel on first steering shaft, four, the wheel on the 5th and the 6th steering shaft is opposite with the steering direction of wheel on first steering shaft under the effect that turns to oil cylinder separately, and center of gyration O is between the 3rd, the 4th steering shaft and near on the extended line of the 4th steering shaft.
See also Figure 12, when the user selects crab row mode options button on the TIP, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805, connect meta locked cylinder 304,404,504 on the 3rd, the 4th, the 5th and the 6th steering shaft and 604 oil-feed and oil return circuit and all connect all meta locked cylinder releases.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and according to the rotation direction of bearing circle and rotational angle control electro-hydraulic proportion reversing valve, make the 3rd, the 4th, the 5th with the 6th steering shaft on wheel identical under the effect that turns to oil cylinder separately with the steering direction of wheel on first steering shaft.
See also Figure 13, when the user selects anti-whipping on the TIP to turn to mode selecting key, by controlling the first oil return electromagnetic switch valve Y834 and oil-feed electromagnetic switch valve Y823, Y824, connect meta locked cylinder 304 on third and fourth steering shaft and 404 oil-feed and oil return circuit, meta locked cylinder 304 and 404 releases, by controlling the second oil return electromagnetic switch valve Y865 and oil-feed electromagnetic switch valve Y825, Y805, disconnect meta locked cylinder 504 on the 5th and the 6th steering shaft and 604 oil-feed oil circuit, make meta locked cylinder 504 and 604 lockings.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and control corresponding electro-hydraulic proportion reversing valve respectively according to the rotation direction and the rotational angle of bearing circle, make the wheel on the 3rd, the 4th steering shaft turn under the effect of oil cylinder identical at it with the steering direction of wheel on first steering shaft, five, the wheel on the 6th steering shaft does not turn to, and this moment, center of gyration O was on the extended line between the 5th, the 6th steering shaft.
See also Figure 14, when the user selects rear axle meta locking on the TIP to turn to pattern, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805, disconnect meta locked cylinder 304,404,504 on the 3rd, the 4th, the 5th and the 6th steering shaft and 604 oil-feed and oil return circuit, all meta locked cylinder lockings, like this, the wheel on the 3rd, the 4th, the 5th and the 6th steering shaft can not turn to along with the rotation of bearing circle.
See also Figure 15, when the user selects rear axle independent steering mode selecting key on the TIP, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805, connect meta locked cylinder 304,404,504 on the 3rd, the 4th, the 5th and the 6th steering shaft and 604 oil-feed and oil return circuit, all meta locked cylinder releases.Detecting unit constantly detects the hand of rotation and the anglec of rotation of the rear axle independent steering knob on the TIP, and according to the rotation direction of rear axle independent steering knob and rotational angle control electro-hydraulic proportion reversing valve, make the 3rd, the 4th, the 5th identical with the steering direction of wheel under the effect that turns to oil cylinder separately on the 6th steering shaft, wheel banning of turning movement on first and second steering shafts, as shown in figure 15.
In order to improve the functional reliability of meta locked cylinder, the concrete structure of the meta locked cylinder that is adopted among the present invention as shown in figure 16, adopt the structural shape of piston rod and double-piston separation type, comprise cylinder body 701, the compartment of terrain is provided with a left side in the inner chamber of cylinder body 701, right piston 709,702, by a left side, right piston 709,702 inner chambers with cylinder body 701 are separated into rod chamber 705,706 3 parts of intermediate cavity and rodless cavity, piston rod 703 is step axle shape and large-diameter portion places in the intermediate cavity, minor diameter is stretched out after passing right piston 702 and cylinder body right end cap successively, fixedly install the meta locating piece 708 of tubulose on the inwall of intermediate cavity, be set with intermediate piston 707 on the outer circumference surface of the major diameter part of piston rod 703, gap between the outer circumference surface of intermediate piston 707 and meta locating piece 708 inwalls forms meta chamber 704, the length of intermediate piston 707 is more than or equal to the length of meta locating piece 708, the right side of the pars intermedia of the left side of intermediate piston 707 and left piston 709 offsets and the peripheral part of left piston 709 right sides and the left side of meta locating piece 708 offset, reflux in meta chamber 704 welding system all the time, rod chamber 705 and rodless cavity 706 are by the pressure oil circuit or the oil return circuit of corresponding oil-feed and oil return electromagnetic switch valve while connected system, when rod chamber 705 and rodless cavity 706 are all connected the system oil return oil circuit, when the meta locked cylinder is in released state, is applied to external force on the piston rod 703 and promotes piston rod 703 and stretch out or withdraw; When rod chamber 705, the rodless cavity 706 of meta locked cylinder communicates with the pressure oil circuit of system, and meta chamber 704 is when communicating with the oil return circuit of system, when the meta locked cylinder is in the lock state, at this moment, under the effect of pressure oil, right piston 702 is moved to the left up to offseting with meta locating piece 708, left piston 709 moves right under the effect of pressure oil, contact with in intermediate piston 707 or the meta locating piece 708 at least one, guaranteed that the wheel on the corresponding steering shaft keeps straight-line travelling.The position by adjusting meta locating piece 708 and the length of intermediate piston 707 can be adjusted the meta locked cylinder and lock timer-operated particular location, and intermediate piston 708 and meta locating piece 708 are equivalent to provide the protection of dual location.
In order to ensure the reliability of steering control system work, to avoid danger occurring owing to the fault of electric, hydraulic pressure or component of machine, steering control system also possesses expeditious measures.Concrete measure is, angular transducer all is set on each wheel, whether detecting unit collects the steering angle of wheel and the gap between the pairing standard value of this wheel turning angle characteristic curve according to any angular transducer is foundation greater than setting value, for example setting value is 3 °, obtain the current whether dangerous judged result that turns to, the deflection angle characteristic curve here is meant current and turns under the pattern, when judged result shows current turning to when dangerous, the control unit output alarm signal, prompting user parking checking makes all wheels be reset to the straight-line travelling state.
In addition, for avoiding occurring steering swivel system inefficacy, the hardover failure of travelling, situations such as slide-out, steering control system also possesses expeditious measures, when electric, hydraulic pressure or component of machine break down, automatically start the locking of rear axle meta and turn to pattern, such as, in case angle of arrival is measured situations such as mistake, bus controller deadlock, steering controller deadlock, solenoid-operated proportional change-over valve fault, the pollution of hydraulic efficiency pressure system oil circuit or obstruction in the rear axle steering hydraulic efficiency pressure system, promptly reporting to the police and starting the rear axle meta automatically locks the pattern that turns to.
The present invention also provides a kind of six automobile universal chassis rotating direction control methods, may further comprise the steps:
Being arranged on wheel on first, second steering shaft drives it by bearing circle respectively by the rod-pulling type steering gear and turns to;
Three, be respectively equipped with the meta locked cylinder on the 4th, the 5th and the 6th steering shaft and turn to oil cylinder, and each described meta locked cylinder and the external part that turns to oil cylinder all be connected with track arm on the corresponding steering shaft, form interlocking gear;
Turn to pattern according to the vehicle present located, three, the described meta locked cylinder on the 4th, the 5th and the 6th steering shaft locks or release, and controls the wheel steering that turns to accordingly on the corresponding steering shaft of hydraulic oil cylinder driving according to the rotation direction and the rotational angle of bearing circle.
In said method, obtain current vehicle according to vehicle speed signal and be in the pattern that turns to that low speed, middling speed or express highway travel; The model selection instruction that turns to according to the user obtains the pattern that turns to of the residing operating mode of current vehicle, supplies the pattern that turns to of the operating mode of user's selection to comprise that little turning turns to pattern, crab row mode, anti-whipping to turn to pattern and the locking of rear axle meta to turn to four kinds of patterns.
Specifically, the corresponding different patterns that turn to, the wheel of controlling on the corresponding steering shaft carries out different turning to, but prerequisite is the at first release of meta locked cylinder on the corresponding steering shaft.
When being in low speed road, vehicle travels when turning to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on third and fourth steering shaft identical, the steering direction of the wheel on the wheel on the 5th and the 6th steering shaft and first steering shaft is opposite;
When vehicle is in the middling speed road running and turns to pattern, meta locked cylinder release on the described the 3rd and the 6th steering shaft, the the 4th and the 5th turns to the meta locked cylinder locking on the oil cylinder, the oil cylinder that turns on the 3rd and the 6th steering shaft stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 3rd steering shaft identical, the steering direction of the wheel on the wheel on the 6th steering shaft and first steering shaft is opposite, and the wheel on the 4th and the 5th steering shaft is in stays;
When being in express highway, vehicle travels when turning to pattern, the meta locked cylinder locking on the 3rd, the 4th, the 5th and the 6th steering shaft, and the wheel on the corresponding steering shaft is in stays.
When vehicle is in little turning and turns to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 3rd steering shaft identical, the steering direction of the wheel on the wheel on the 4th, the 5th and the 6th steering shaft and first steering shaft is opposite.
When vehicle is in the crab row mode, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the 3rd, the 4th, the 5th with the 6th steering shaft on wheel and first steering shaft on the steering direction of wheel identical.
When vehicle is in anti-whipping and turns to pattern, meta locked cylinder release on described third and fourth steering shaft, the the described the 5th and the 6th turns to the meta locked cylinder locking on the oil cylinder, the oil cylinder that turns on described third and fourth steering shaft stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on the wheel and first steering shaft on third and fourth steering shaft identical, the wheel on the 5th and the 6th steering shaft is in stays.
When vehicle was in rear axle meta locking and turns to pattern, each described meta locked cylinder locking made the wheel on the 3rd, the 4th, the 5th and the 6th steering shaft in stays.
The operating mode of selecting for the user also comprises rear axle independent steering pattern, when vehicle is in rear axle independent steering pattern, each described meta locked cylinder release, each is described turn to oil cylinder subsequently the rotation direction and the rotational angle of axle independent steering knob stretch, make the 3rd, the 4th, the 5th with the 6th steering shaft on the steering direction of wheel all identical.
In the rotating direction control method of six car chassiss provided by the invention,, then send alerting signal if detect gap between the pairing standard value of deflection angle characteristic curve of the steering angle of any wheel and this wheel greater than setting value.
Above-described only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (26)

1. the steering control system of six car chassiss, comprise and be used for mechanical actuation device and fluid pressure drive device and the steering controlling device that drive wheels turns to, described mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle, it is characterized in that
Described rod-pulling type steering gear has two mouths, is respectively applied for to connect the track arm that drives the wheel steering on first, second steering shaft;
Described fluid pressure drive device comprises the oil cylinder that turns to that is fixedly installed on the meta locked cylinder on the 3rd, the 4th, the 5th and the 6th steering shaft respectively and drives wheel steering on the corresponding steering shaft; Described meta locked cylinder on each steering shaft all is connected with the track arm of corresponding steering shaft with the external part that turns to oil cylinder, forms interlocking gear;
Described steering controlling device is according to turning to pattern output control signal, with oil-feed oil circuit and the oil return circuit that is switched on or switched off described meta locked cylinder and turns to oil cylinder.
2. the steering control system of six car chassiss according to claim 1 is characterized in that, described steering controlling device comprises:
TIP which is provided with little turning and turns to pattern, crab row mode, anti-whipping to turn to pattern and the locking of rear axle meta to turn to four kinds of operating modes of pattern to turn to mode selecting key;
Detecting unit is exported current vehicle according to vehicle speed signal and is in the mode signal that turns to that low speed, middling speed or express highway travel; Export the residing corresponding operating mode of current vehicle according to the corresponding options button of user's selection and turn to mode signal;
Control unit is exported described control signal according to the described mode signal that turns to.
3. the steering control system of six car chassiss according to claim 2, it is characterized in that, also be provided with rear axle independent steering mode selecting key and knob on the described TIP, described control unit is exported described control signal according to the rear axle independent steering pattern of user's selection and rotation direction, the rotational angle of described knob.
4. the steering control system of six car chassiss according to claim 3 is characterized in that,
Be respectively arranged with the oil-feed electromagnetic switch valve on the oil-feed oil circuit of each described meta locked cylinder, receive the oil-feed oil circuit that described control signal is switched on or switched off corresponding described meta locked cylinder;
Each is described to turn on the oil-feed oil circuit of oil cylinder and is respectively arranged with the solenoid-operated proportional change-over valve, receives described control signal and is switched on or switched off and correspondingly describedly turns to the oil-feed oil circuit of oil cylinder and adjust the described oil-feed flow that turns to oil cylinder;
Locking of the meta of each steering shaft and release are received by the described oil-feed electromagnetic switch valve on the corresponding steering shaft, oil return electromagnetic switch valve and described solenoid-operated proportional change-over valve that described control signal is switched on or switched off corresponding oil-feed, oil return circuit is realized.
5. the steering control system of six car chassiss according to claim 4 is characterized in that,
Be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the described meta locked cylinder on each steering shaft, and with this meta locked cylinder oil-feed oil circuit on oil-feed electromagnetic switch valve and corresponding described solenoid-operated proportional change-over valve interlock on axle.
6. the steering control system of six car chassiss according to claim 4 is characterized in that,
The oil return circuit of the described meta locked cylinder on third and fourth steering shaft is communicated with, this connection oil circuit is communicated with and is communicated with oil circuit with the system oil return oil circuit and is provided with the first oil return electromagnetic switch valve, oil-feed electromagnetic switch valve and the described first oil return electromagnetic switch valve on the described meta locked cylinder of on third and fourth steering shaft at least one the oil-feed oil circuit receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one third and fourth steering shaft;
The oil return circuit of the described meta locked cylinder on the 5th and the 6th steering shaft is communicated with, this connection oil circuit is communicated with and is communicated with oil circuit with the system oil return oil circuit and is provided with the second oil return electromagnetic switch valve, oil-feed electromagnetic switch valve and the described second oil return electromagnetic switch valve on the described meta locked cylinder oil-feed of on the 5th and the 6th steering shaft at least one oil circuit receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 5th, the 6th steering shaft.
7. the steering control system of six car chassiss according to claim 1, it is characterized in that, three, be respectively equipped with connecting rod on the 4th, the 5th and the 6th steering shaft, the middle part of each described connecting rod is hinged on respectively on the corresponding steering shaft, the described meta locked cylinder on the corresponding steering shaft and turn to the external part of oil cylinder hinged with the both ends of described connecting rod respectively; Each described connecting rod is respectively applied for and connects corresponding track arm, to drive the wheel steering on the corresponding steering shaft.
8. the steering control system of six car chassiss according to claim 1 is characterized in that, described rod-pulling type steering gear comprises:
Rocking arm, its middle part is used for six car chassiss hinged;
First rod assembly, the upper end of an end and described rocking arm is hinged, the other end be used for six car chassiss on the mouth of steering drop arm hinged;
Second rod assembly, the lower end of an end and described rocking arm is hinged, the other end be used for described first steering shaft on the input end of track arm hinged; With,
The 3rd rod assembly, the lower end of an end and described rocking arm is hinged, the other end be used for described second steering shaft on the input end of track arm hinged.
9. the steering control system of six car chassiss according to claim 1 is characterized in that, described rod-pulling type steering gear comprises:
Rocking arm, its top are used for six car chassiss hinged;
First rod assembly, the middle part of an end and described rocking arm is hinged, the other end be used for six car chassiss on the mouth of steering drop arm hinged;
Second rod assembly, the lower end of an end and described rocking arm is hinged, and the input end of the track arm on the other end and described first steering shaft is hinged; With,
The 3rd rod assembly, the lower hinge of an end and described rocking arm, the input end of the track arm on the other end and described second steering shaft is hinged.
10. the steering control system of six car chassiss according to claim 4 is characterized in that,
Travel at low speed road and to turn under the pattern, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the wheel on third and fourth steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn on identical, the 5th and six steering shafts wheel under the corresponding driving that turns to oil cylinder with first steering shaft on the switched in opposite of wheel;
Turn under the pattern at the middling speed road running, described control unit is exported control signal respectively: connect the oil-feed oil circuit of the meta locked cylinder on the described the 3rd and the 6th steering shaft, and disconnect the oil-feed oil circuit of the meta locked cylinder on the described the 4th and the 5th steering shaft; Connect the oil-feed oil circuit that turns to oil cylinder of the wheel steering on described driving the 3rd and the 6th steering shaft, and disconnect the oil-feed oil circuit that turns to oil cylinder of the wheel steering on described driving the 4th and the 5th steering shaft; Wheel on the 3rd steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn on identical, the 6th steering shaft wheel under the corresponding effect that turns to oil cylinder with first steering shaft on the switched in opposite of wheel;
Turning under the pattern that express highway travels, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.
11. the steering control system of six car chassiss according to claim 4 is characterized in that,
Turn under the pattern in little turning, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the wheel on the 3rd steering shaft is identical with the steering direction of wheel on first steering shaft under the corresponding driving that turns to oil cylinder, the wheel on the 4th, the 5th and the 6th steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on the switched in opposite of wheel.
12. the steering control system of six car chassiss according to claim 4 is characterized in that,
Under the crab row mode, described control unit is exported control signal respectively: connect the oil-feed oil circuit of each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the 3rd, the 4th, the 5th with the 6th steering shaft on wheel under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn to identical.
13. the steering control system of six car chassiss according to claim 4 is characterized in that,
Turn under the pattern described control unit output control signal: connect the oil-feed oil circuit of the described meta locked cylinder on third and fourth steering shaft, and disconnect the oil-feed oil circuit of the described meta locked cylinder on the 5th and the 6th steering shaft at anti-whipping; Connect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on third and fourth steering shaft, and disconnect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 5th and the 6th steering shaft; Wheel on third and fourth steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn to identical.
14. the steering control system of six car chassiss according to claim 4 is characterized in that,
Turn under the pattern in the locking of rear axle meta, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.
15. the steering control system of six car chassiss according to claim 5 is characterized in that,
Under rear axle independent steering pattern, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, described TIP is gathered the rotation direction and the rotational angle of rear axle independent steering knob and is exported the rear axle independent steering and controls signal to described solenoid-operated proportional change-over valve, the 3rd, the 4th, the 5th with the 6th steering shaft on wheel under the corresponding driving that turns to oil cylinder, turn to all identical.
16. steering control system according to claim 2 to 15 described six car chassis of each claim, it is characterized in that, also comprise a plurality of angular transducers, be respectively applied for the steering angle that detects each wheel, whether dangerous whether described detecting unit collects the steering angle of wheel and the gap between the pairing standard value of this wheel turning angle characteristic curve according to any angular transducer is foundation greater than setting value, obtain the current judged result that turns to; When showing, judged result currently turns to when dangerous described control unit output alarm signal.
17. the rotating direction control method of six car chassiss is characterized in that may further comprise the steps:
Being arranged on wheel on first, second steering shaft drives it by bearing circle respectively by the rod-pulling type steering gear and turns to;
Three, be respectively equipped with the meta locked cylinder on the 4th, the 5th and the 6th steering shaft and turn to oil cylinder, and each described meta locked cylinder and the external part that turns to oil cylinder all be connected with track arm on the corresponding steering shaft, form interlocking gear;
Turn to pattern according to the vehicle present located, make described meta locked cylinder locking or release on the 3rd, the 4th, the 5th and the 6th steering shaft, and control the wheel steering that turns to accordingly on the corresponding steering shaft of hydraulic oil cylinder driving according to the rotation direction and the rotational angle of bearing circle.
18. the rotating direction control method of six car chassiss according to claim 17 is characterized in that,
Obtain current vehicle according to vehicle speed signal and be in the pattern that turns to that low speed, middling speed or express highway travel;
Obtain the pattern that turns to of the residing operating mode of current vehicle according to user's selection, can turn to pattern to comprise that little turning turns to pattern, crab row mode, anti-whipping to turn to pattern and the locking of rear axle meta to turn to four kinds of patterns for the operating mode that the user selects.
19. the rotating direction control method of six car chassiss according to claim 17 is characterized in that,
When being in low speed road, vehicle travels when turning to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on third and fourth steering shaft identical, the steering direction of the wheel on the wheel on the 5th and the 6th steering shaft and first steering shaft is opposite;
When vehicle is in the middling speed road running and turns to pattern, described meta locked cylinder release on the 3rd and the 6th steering shaft, the the 4th and the 5th turns to the described meta locked cylinder locking on the oil cylinder, the described oil cylinder that turns on the 3rd and the 6th steering shaft stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 3rd steering shaft identical, the steering direction of the wheel on the wheel on the 6th steering shaft and first steering shaft is opposite, and the wheel on the 4th and the 5th steering shaft is in stays;
Travel when turning to pattern when vehicle is in express highway, the meta locked cylinder locking on the 3rd, the 4th, the 5th and the 6th steering shaft makes the wheel on the corresponding steering shaft in stays.
20. the rotating direction control method of six car chassiss according to claim 17 is characterized in that,
When vehicle is in little turning and turns to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 3rd steering shaft identical, the steering direction of the wheel on the wheel on the 4th, the 5th and the 6th steering shaft and first steering shaft is opposite.
21. the rotating direction control method of six car chassiss according to claim 17 is characterized in that,
When vehicle is in the crab row mode, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the 3rd, the 4th, the 5th with the 6th steering shaft on wheel and first steering shaft on the steering direction of wheel identical.
22. the rotating direction control method of six car chassiss according to claim 17 is characterized in that,
When vehicle is in anti-whipping and turns to pattern, described meta locked cylinder release on third and fourth steering shaft, the the 5th and the 6th turns to the described meta locked cylinder locking on the oil cylinder, the described oil cylinder that turns on third and fourth steering shaft stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on the wheel and first steering shaft on third and fourth steering shaft identical, the wheel on the 5th and the 6th steering shaft is in stays.
23. the rotating direction control method of six car chassiss according to claim 17 is characterized in that,
When vehicle was in rear axle meta locking and turns to pattern, each described meta locked cylinder locking made the wheel on the 3rd, the 4th, the 5th and the 6th steering shaft in stays.
24. the rotating direction control method of six car chassiss according to claim 17 is characterized in that,
The operating mode of selecting for the user also comprises rear axle independent steering pattern, when vehicle is in rear axle independent steering pattern, each described meta locked cylinder release, each is described turn to oil cylinder subsequently the rotation direction and the rotational angle of axle independent steering knob stretch, make the 3rd, the 4th, the 5th with the 6th steering shaft on the steering direction of wheel all identical.
25. the rotating direction control method according to claim 11 to 24 described six car chassis of each claim is characterized in that,
If detect gap between the pairing standard value of deflection angle characteristic curve of the steering angle of any wheel and this wheel greater than setting value, then send alerting signal.
26. six car chassis hoisting cranes have the steering control system of controlling each wheel steering, it is characterized in that the concrete steering control system as each described six car chassiss of claim 1-16 of described steering control system.
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CN107364489A (en) * 2017-07-25 2017-11-21 徐州工业职业技术学院 A kind of heavy-duty truck electro-hydraulic steering control system
CN108189907A (en) * 2016-12-08 2018-06-22 辽宁丹东新弘源农业科技发展有限公司企业技术研究开发中心 Vapour drags all-in-one machine fluid-link steering control system
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CN103273960B (en) * 2013-06-18 2015-09-16 中联重科股份有限公司 Arrange method and the multi-shaft steering vehicle of the power-assisted oil cylinder of multi-shaft steering vehicle
CN104176119A (en) * 2014-08-19 2014-12-03 徐州重型机械有限公司 Steering system and crane
CN104401396A (en) * 2014-10-28 2015-03-11 北京北方车辆集团有限公司 Vehicle chassis structure
CN106080763A (en) * 2016-07-25 2016-11-09 同济大学 A kind of fluid motor-driven steering based on all-hydraulic steering gear
CN106080763B (en) * 2016-07-25 2018-02-09 同济大学 A kind of fluid motor-driven steering based on all-hydraulic steering gear
CN108189907A (en) * 2016-12-08 2018-06-22 辽宁丹东新弘源农业科技发展有限公司企业技术研究开发中心 Vapour drags all-in-one machine fluid-link steering control system
CN108189907B (en) * 2016-12-08 2023-12-26 辽宁丹东新弘源农业科技发展有限公司企业技术研究开发中心 Hydraulic steering control system for steam-towing integrated machine
CN107364489A (en) * 2017-07-25 2017-11-21 徐州工业职业技术学院 A kind of heavy-duty truck electro-hydraulic steering control system
CN107364489B (en) * 2017-07-25 2019-07-09 徐州工业职业技术学院 A kind of heavy-duty truck electro-hydraulic steering control system
CN114789752A (en) * 2022-04-29 2022-07-26 徐工集团工程机械股份有限公司 Hydraulic steering system of unmanned vehicle and unmanned vehicle
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