CN102019958B

CN102019958B - Six-shaft automobile chassis crane and steering control system and method thereof

Info

Publication number: CN102019958B
Application number: CN2010105757429A
Authority: CN
Inventors: 朱亚夫; 朱长建; 丁宏刚; 刘东宏; 王东华; 王志芳
Original assignee: Xuzhou Heavy Machinery Co Ltd
Current assignee: Xuzhou Heavy Machinery Co Ltd
Priority date: 2010-12-06
Filing date: 2010-12-06
Publication date: 2012-08-15
Anticipated expiration: 2030-12-06
Also published as: CN102019958A

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 going, 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), a kind of method of designing of taking turns heavy vehicle steering mechanism has been proposed more 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 prior art hoisting crane mechanical steering gear scheme drawing, and is as shown in Figure 1, and six full ground hoisting cranes of this 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 by the leverage of whole steering hardware arrange determine that 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 wheel on the 5th steering shaft L5 and the 6th steering shaft L6 is opposite with the steering direction of the wheel on the first steering shaft L1; 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 through 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 pulling the 3rd rod assembly 6 moves right, thus pulling move with the cooresponding track arm of wheel on the first steering shaft L1, 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; On the one hand spurs the 5th rod assembly 9 and move 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 through 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, promotes to turn to locking device 14 to drive the 5th Rocker arm assembly 15 and clockwise rotates the rotation of the 5th Rocker arm assembly 15 around hinge A5; 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 steering direction of the wheel on the 3rd, the 5th and the 6th steering shaft and above-mentioned each wheel is opposite, repeat no more at this.

Turn under pattern or the crab row mode in little turning; Turn to locking device 14 to be unlocked; At this moment, turn to locking device 14 can't drive the 5th Rocker arm assembly 15 and rotate, 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 through hydraulic booster formula steering swivel system.The concrete structure of hydraulic booster formula steering swivel system is following; 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, through 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; Wheel on the 5th steering shaft L5 and the 6th steering shaft L6 is opposite with the steering direction of the wheel on the first steering shaft L1, 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.

Can know that according to above description existing six full ground hoisting cranes turn to through the wheel on mechanical steering gear control the first, second, third, the 5th and the 6th steering shaft, 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 of steering gear is complicated, and 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 be delivered to the left and right power that turns to oil cylinder to provide on the miscellaneous part through the steering track rod assembly, thereby can cause the stressed of local steering gear connection phenomenon of rupture to occur above its allowable stress range, brings life danger to chaufeur.

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 to existing structure,, and when the speed of a motor vehicle is higher, improves vehicle and prevent the whipping ability, the assurance driving safety with the stability that satisfies the multiple-axle vehicle handling maneuver and the requirement of bend carrying capacity and maneuverability property.

Summary of the invention

To 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; Said mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle; Said 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; Said 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; Said 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; Said 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 said meta locked cylinder and turns to oil cylinder.

Preferably; Said steering controlling device comprises TIP, detecting unit and control unit, and said 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; Said detecting unit is in the mode signal that turns to that low speed, middling speed or express highway go according to GES output current vehicle, and the residing corresponding operating mode of selecting according to the user of corresponding options button output current vehicle turns to mode signal; Said control unit is exported said control signal according to the said mode signal that turns to.

Preferably, also be provided with rear axle independent steering mode selecting key and knob on the said TIP, said control unit is exported said control signal according to the rear axle independent steering pattern of user's selection and rotation direction, the rotational angle of said knob.

Preferably, be respectively arranged with the oil-feed electromagnetic switch valve on the oil-feed oil circuit of each said meta locked cylinder, receive the oil-feed oil circuit that said control signal is switched on or switched off corresponding said meta locked cylinder; Be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the said 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 steering shaft on said solenoid-operated proportional change-over valve interlock; Each is said to turn on the oil-feed oil circuit of oil cylinder and is respectively arranged with the solenoid-operated proportional change-over valve, receives said control signal and is switched on or switched off and correspondingly saidly turns to the oil-feed oil circuit of oil cylinder and adjust the said oil-feed flow that turns to oil cylinder; Locking of the meta of each steering shaft and release are received by the said oil-feed electromagnetic switch valve on the corresponding steering shaft, oil return electromagnetic switch valve and said solenoid-operated proportional change-over valve that said control signal is switched on or switched off corresponding oil-feed, oil return circuit is realized.

Preferably, be respectively arranged with the oil-feed electromagnetic switch valve on the oil-feed oil circuit of each said meta locked cylinder, receive the oil-feed oil circuit that said control signal is switched on or switched off corresponding said meta locked cylinder; The oil return circuit of the said 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 said first oil return electromagnetic switch valve on the said meta locked cylinder of on third and fourth steering shaft at least one the oil-feed oil circuit receive said control signal respectively, connect the oil-feed oil circuit of the said meta locked cylinder at least one third and fourth steering shaft; The oil return circuit of the said 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 said second oil return electromagnetic switch valve on the said meta locked cylinder oil-feed of on the 5th and the 6th steering shaft at least one oil circuit receive said control signal respectively, connect the oil-feed oil circuit of the said 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 said connecting rod is hinged on respectively on the corresponding steering shaft, the said meta locked cylinder on the corresponding steering shaft with turn to the external part of oil cylinder hinged with the both ends of said connecting rod respectively; Each said connecting rod respectively be used to be connected corresponding track arm, to drive the wheel steering on the corresponding steering shaft.

Preferably, said 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 said 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 said rocking arm are hinged, the other end be used for said first steering shaft on the input end of track arm hinged; One end of the 3rd rod assembly and the lower end of said rocking arm are hinged, the other end be used for said second steering shaft on the input end of track arm hinged.

Preferably, said 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 said 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 said rocking arm are hinged, and the input end of the track arm on the other end and said first steering shaft is hinged; One end of the 3rd rod assembly and the lower hinge of said rocking arm, the input end of the track arm on the other end and said second steering shaft is hinged.

Preferably; Go at low speed road and to turn under the pattern; Said control unit is exported control signal respectively: connect each said meta locked cylinder and each said oil-feed oil circuit that turns to oil cylinder, and the wheel on third and fourth steering shaft the corresponding driving that turns to oil cylinder down with first steering shaft on wheel turn to wheel on identical, the 5th and six steering shafts under the corresponding driving that turns to oil cylinder and the switched in opposite of the wheel on first steering shaft;

Turning under the pattern of middling speed road running; Said control unit is exported control signal respectively: connect the oil-feed oil circuit of the meta locked cylinder on the said the 3rd and the 6th steering shaft, and break off the oil-feed oil circuit of the meta locked cylinder on the said 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 said the 3rd and the 6th steering shaft, and break off the oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the said 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;

Turn under the pattern what express highway went, said control unit is exported control signal respectively: break off each said meta locked cylinder and each said oil-feed oil circuit that turns to oil cylinder.

Preferably; Turn under the pattern in little turning; Said control unit is exported control signal respectively: the oil-feed oil circuit and each said oil-feed oil circuit that turns to oil cylinder of connecting each said meta locked cylinder; While the wheel on the 3rd steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on the steering direction of wheel identical, 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.

Preferably; Under the crab row mode; Said control unit is exported control signal respectively: the oil-feed oil circuit of connecting each said meta locked cylinder and each said 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; Said control unit output control signal: connect the oil-feed oil circuit of the meta locked cylinder on said third and fourth steering shaft, and break off the oil-feed oil circuit of the meta locked cylinder on the said the 5th and the 6th steering shaft; Connect the oil-feed oil circuit that turns to oil cylinder of the wheel steering on said driving third and fourth steering shaft, and break off the oil-feed oil circuit that turns to oil cylinder of the wheel steering on said 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; Said control unit is exported control signal respectively: connect each said meta locked cylinder and each said oil-feed oil circuit that turns to oil cylinder; Said 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 said 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, said control unit is exported control signal respectively: break off each said meta locked cylinder and each said 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 said detecting unit is foundation greater than setting value according to steering angle and the gap between the pairing standard value of this wheel turning angle characteristic curve that any angular transducer collects this wheel, obtain the current judged result that turns to; When showing, judged result currently turns to when dangerous said 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 through 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 said meta locked cylinder and the external part that turns to oil cylinder all with corresponding steering shaft on track arm be connected; Form interlocking gear; Turn to pattern according to the vehicle present located; Three, the said meta locked cylinder on the 4th, the 5th and the 6th steering shaft locks or release, and turns to the wheel steering on the corresponding steering shaft of hydraulic oil cylinder driving accordingly according to the rotation direction and the rotational angle control of bearing circle.

Preferably, obtain current vehicle according to GES and be in the pattern that turns to that low speed, middling speed or express highway go; Obtain the pattern that turns to of the residing operating mode of current vehicle according to user's selection, the operating mode that can supply the user to select turns 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.

Preferably; When being in low speed road, vehicle goes when turning to pattern; Each said meta locked cylinder release; Each said oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, makes the steering direction of the wheel on wheel and first steering shaft on third and fourth steering shaft identical, and the wheel on the 5th and the 6th steering shaft is opposite with the steering direction of the wheel on first steering shaft; When vehicle is in the middling speed road running and turns to pattern; Meta locked cylinder release on the said 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 goes 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 said meta locked cylinder release; Each said oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, makes the steering direction of the wheel on wheel and first steering shaft on the 3rd steering shaft identical, and the wheel on the 4th, the 5th and the 6th steering shaft is opposite with the steering direction of the wheel on first steering shaft.

Preferably; When vehicle is in the crab row mode; Each said meta locked cylinder release; Each said 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; Said meta locked cylinder release on third and fourth steering shaft, the 5th and the 6th turns to the said meta locked cylinder locking on the oil cylinder, and the said 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 said 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 that supplies the user to select also comprises rear axle independent steering pattern; When vehicle is in rear axle independent steering pattern; Each said meta locked cylinder release, each is said 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 steering angle and this wheel of any 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 through the turning to of wheel on each rear side axletree of fluid pressure drive device control, has improved the accuracy of positioning that turns to of complete machine wheel greatly; Simultaneously; Steering angle guaranteeing all wheels all is similar under the condition that satisfies the Ackermam theorem, multiple different turning-circle diameter is provided, 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 transmission of power to the miscellaneous part that turns to oil cylinder under the abnomal condition and the phenomenon that occurs rupturing appearance, therefore, improve 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, the vehicle operating mode that gets into the warehouse in reversing for example, and the user moves backward when getting into 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; Wheel by on first, second steering shaft of bearing circle control 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 the scheme drawing that is connected that turns to oil cylinder with 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 goes 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 goes 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, the left and right wheel on 311-the 3rd steering shaft, 302, the left and right oil cylinder that turns on 312-the 3rd steering shaft, 402, the left and right oil cylinder that turns on 412-the 4th steering shaft; 502, the left and right oil cylinder that turns on 512-the 5th steering shaft, 602, the left and right oil cylinder that turns on 612-the 6th steering shaft, 304,404,504, the meta locked cylinder on 604-the the the 3rd, the 4th, the 5th, the 6th steering shaft; The 305-connecting rod; The 306-jointed shaft, 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 be 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 the construction machinery and equipments such as autotruck or full ground hoisting crane of this car chassis 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 the specific embodiment of the present invention is described.

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 among this paper 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 from headstock to the tailstock.The functional components such as chassis, winding plant and Lifting device of these six full ground hoisting cranes are identical with 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 goes 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; The center is hinged on six car chassiss; Bearing circle 101 is passed to deflector 103 through 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, and 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 of center, 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; that rocking arm 206 is arranged between the first steering shaft L1 and the second steering shaft L2; that and its upper articulation is on six car chassiss; that the mouth of the steering drop arm on an end of first rod assembly 204 and six car chassiss is hinged, and the middle part of the other end and rocking arm 206 is hinged, and 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 with 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 drive first, second steering shaft L1 respectively, the last wheel of 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 break off; Then the meta locked cylinder is in the lock state, owing to track arm is connected with the external part of meta locked cylinder, therefore; Track arm just has been locked and can not have moved; At this moment, turn to the oil-feed and the oil return circuit of oil cylinder, to move and drive corresponding wheel and realize turning to thereby also can't drive track arm even connect.Be example with wherein a steering shaft (the 3rd steering shaft) below, a kind of specific embodiment of realizing this interlocking gear is explained.

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 through steering swivel; Meta locked cylinder 304 with turn to oil cylinder to be fixedly installed on the both sides of the 3rd steering shaft 303 respectively; Wherein, Left and rightly turn to oil cylinder 302,312 to be respectively applied for driving left and right wheel 301,311 to turn to (top with drawing among Fig. 5 is the right side, below be a left side).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 through pull bar 307, realizes the 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, then drive 304 withdrawals of meta locked cylinder, thereby 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 of meta locked cylinder 304 and oil return circuit all break off, 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 through 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 GES that obtains current vehicle in real time according to the gear of current engine speed of vehicle and change speed gear box; And export automatically that current vehicle is in that low speed, middling speed or express highway go turn to mode signal (low speed of being mentioned, middling speed or need at a high speed carry the attitude of going under the operating mode in different band here according to a certain concrete vehicle; The angle of comprehensive vehicle handling and stability and the best attitude of going is considered to confirm; Certainly; This accomplishes for those of 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); Corresponding options button according to the user selects is exported the residing corresponding mode signal that turns to of current vehicle; Control unit is according to said control signal; The oil-feed oil circuit and the oil return circuit that are switched on or switched off said 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 through 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; Through oil-feed electromagnetic switch valve and the interlock of oil return electromagnetic switch valve, the oil-feed of meta locked cylinder, oil return circuit are 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 a fluid pressure drive device meta locked cylinder and the scheme drawing that is connected that turns to oil cylinder with first, second control cock group shown in Figure 6, 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 introduce 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 304,404 on third and fourth steering shaft is connected on the first control cock group 308 through corresponding the 3rd valve group 309,409 respectively; Meta locked cylinder 504,604 on the 5th and the 6th steering shaft is connected on the second control cock group 508 through corresponding the 3rd valve group 509,609 respectively; The structure of first, second control cock group 308,508 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, and electromagnetic switch valve Y834 is as the first oil return electromagnetic switch valve, is used to control the break-make of the oil return circuit of meta locked cylinder 304,404; Electromagnetic switch valve Y823 and Y824 are used to control the break-make of the oil-feed oil circuit of the meta locked cylinder 304,404 on third and fourth steering shaft respectively as the oil-feed electromagnetic switch valve.Each electro-hydraulic proportion reversing valve control is through 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 through 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.The oil return circuit of meta locked cylinder 304,404 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; Control the break-make of the oil return circuit of meta locked cylinder 304,404 through the first electromagnetic switch valve Y834; 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, any among electromagnetic switch valve Y823, the Y824 gets electric, and 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; Then the oil return circuit of meta locked cylinder 304,404 all breaks off with the system oil return oil circuit on third and fourth steering shaft, so meta locked cylinder 304,404 all locks, can't realize stretching; Like this; Because meta locked cylinder 304 forms interlocking gear with the corresponding left and right oil cylinder 302,312 that turns to, meta locked cylinder 404 forms interlocking gear with the corresponding left and right oil cylinder 402,412 that turns to, 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 wheel on the 3rd, the 4th steering shaft can only can't turn to along straight-line travelling.Likewise; The second control cock group 508 comprises two electro-hydraulic proportion reversing valve Y815 with pressure compensation, Y816 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 through 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, repeats no more at this.

In the such scheme; The third and fourth, the meta locked cylinder on the 5th and the 6th steering shaft is controlled the break-make of its oil return circuit respectively through first, second oil return electromagnetic switch valve Y834 in first, second control cock group 308,508, Y865; Obviously, each meta locked cylinder all realizes that through an electromagnetic switch valve break-make of its oil return circuit also can realize the present technique scheme.Perhaps, only control the oil-feed of meta locked cylinder or the break-make of oil return circuit and also can realize the present technique scheme.

See also Fig. 8; When being in low speed road to current vehicle, detection goes when turning to pattern; Through 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 and 604 oil-feed and oil return circuit on the 3rd, the 4th, the 5th and the 6th steering shaft, 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 rotated, control unit output control signal made that a of electro-hydraulic proportion reversing valve Y813, Y814 holds electricly, the b of electro-hydraulic proportion reversing valve Y815, Y816 holds; And according to the aperture of the ratio valve port of size adjustment electro-hydraulic proportion reversing valve Y813, Y814, Y815 and the Y816 of bearing circle rotational angle; Make on third and fourth steering shaft wheel under the effect that turns to oil cylinder separately with first steering shaft on the steering direction of wheel identical, the wheel on the 5th and the 6th steering shaft under the effect that turns to oil cylinder with first steering shaft on the steering direction of wheel opposite, at this moment; Vehicle turns to along cw, and the center of gyration O of vehicle is on the extended line between the 4th, 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 detection when vehicle is in the middling speed road running and turns to pattern; Through controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y805; Connect meta locked cylinder 304 and 604 oil-feed and oil return circuit on the 3rd and the 6th steering shaft, meta locked cylinder 304 and 604 releases are through controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y824, Y825; Break off meta locked cylinder 404 and 504 oil-feed oil circuit on the 4th and the 5th steering shaft, 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 with first steering shaft on identical, the 6th steering shaft of the steering direction of wheel on 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; When being in express highway to vehicle, detection goes when turning to pattern; Through controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y805, Y825; Break off meta locked cylinder 304,404,504 and 604 oil-feed and oil return circuit on the 3rd, the 4th, the 5th and the 6th steering shaft, all meta locked cylinder lockings, like this; Three, the wheel on the 4th, 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 on the extended line between the 4th, the 5th steering shaft.

See also Figure 11; When the user selects little turning on the TIP to turn to mode selecting key; Through 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 and 604 oil-feed and oil return circuit on the 3rd, the 4th, the 5th and the 6th steering shaft, 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 on the 3rd steering shaft wheel its turn under the effect of oil cylinder with first steering shaft on the steering direction of wheel identical; Four, the wheel on the 5th and the 6th steering shaft is opposite with the steering direction of the 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 on the extended line near the 4th steering shaft.

See also Figure 12; When the user selects the crab row mode options button on the TIP; Through controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805; Meta locked cylinder 304,404,504 and 604 oil-feed and the oil return circuit connected on the 3rd, the 4th, the 5th and the 6th steering shaft are all connected 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 under the effect that turns to oil cylinder separately with first steering shaft on the steering direction of wheel identical.

See also Figure 13; When the user selects anti-whipping on the TIP to turn to mode selecting key; Through controlling the first oil return electromagnetic switch valve Y834 and oil-feed electromagnetic switch valve Y823, Y824; Connect meta locked cylinder 304 and 404 oil-feed and oil return circuit on third and fourth steering shaft, meta locked cylinder 304 and 404 releases are through controlling the second oil return electromagnetic switch valve Y865 and oil-feed electromagnetic switch valve Y825, Y805; Break off meta locked cylinder 504 and 604 oil-feed oil circuit on the 5th and the 6th steering shaft, 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 on the 3rd, the 4th steering shaft wheel its turn under the effect of oil cylinder with first steering shaft on the steering direction of wheel identical, the wheel on the 5th, the 6th steering shaft does not turn to, 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; Through controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805; Break off meta locked cylinder 304,404,504 and 604 oil-feed and oil return circuit on the 3rd, the 4th, the 5th and the 6th steering shaft; 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 the rear axle independent steering mode selecting key on the TIP; Through 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 and 604 oil-feed and oil return circuit on the 3rd, the 4th, the 5th and the 6th steering shaft, 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 with the 6th steering shaft on the steering direction of wheel under the effect that turns to oil cylinder separately identical; Wheel banning of turning movement on first and second steering shafts, 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 is shown in figure 16; Adopt the structural shape of piston rod and double-piston separation type; Comprise cylinder body 701, left and right piston 709,702 is set to the inner chamber interval of cylinder body 701, be separated into rod chamber 705, intermediate cavity and 706 3 parts of rodless cavity through left and right piston 709,702 inner chambers with cylinder body 701; 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 installs the meta locating piece 708 of tubulose on the inwall of intermediate cavity, is 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, and 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, and refluxes in meta chamber 704 welding system all the time; Rod chamber 705 and pressure oil circuit or the oil return circuit of rodless cavity 706 through 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 outer force urges piston rod 703 on the piston rod 703 and stretches 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, contacts with in intermediate piston 707 or the meta locating piece 708 at least one, has guaranteed that the wheel on the corresponding steering shaft keeps straight-line travelling.Through the position of adjustment meta locating piece 708 and the length of intermediate piston 707, can adjust the meta locked cylinder and lock timer-operated particular location, and intermediate piston 708 is equivalent to provide the protection of dual location with meta locating piece 708.

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, and whether detecting unit is foundation greater than setting value according to steering angle and the gap between the pairing standard value of this wheel turning angle characteristic curve that any angular transducer collects wheel, and 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, currently turns to when dangerous the control unit output alarm signal when judged result shows; 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 going; Situation such as slide-out, steering control system also possess 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 through 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 said meta locked cylinder and the external part that turns to oil cylinder all with corresponding steering shaft on track arm be connected, form interlocking gear;

Turn to pattern according to the vehicle present located; Three, the said meta locked cylinder on the 4th, the 5th and the 6th steering shaft locks or release, and turns to the wheel steering on the corresponding steering shaft of hydraulic oil cylinder driving accordingly according to the rotation direction and the rotational angle control of bearing circle.

In said method, obtain current vehicle according to GES and be in the pattern that turns to that low speed, middling speed or express highway go; 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 goes when turning to pattern; Each said meta locked cylinder release; Each said 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 wheel on the 5th and the 6th steering shaft is opposite with the steering direction of the wheel on first steering shaft;

When vehicle is in the middling speed road running and turns to pattern; Meta locked cylinder release on the said 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 goes 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 said meta locked cylinder release; Each said 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 wheel on the 4th, the 5th and the 6th steering shaft is opposite with the steering direction of the wheel on first steering shaft.

When vehicle is in the crab row mode; Each said meta locked cylinder release; Each said 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 said third and fourth steering shaft; The the said the 5th and the 6th turns to the meta locked cylinder locking on the oil cylinder; The oil cylinder that turns on said third and fourth steering shaft stretches with the rotation direction and the rotational angle of bearing circle, makes the steering direction of the wheel on the wheel and first steering shaft on third and fourth steering shaft identical, and 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 said meta locked cylinder locking made the wheel on the 3rd, the 4th, the 5th and the 6th steering shaft in stays.

The operating mode that supplies the user to select also comprises rear axle independent steering pattern; When vehicle is in rear axle independent steering pattern; Each said meta locked cylinder release; Each is said 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 steering angle and this wheel of any 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 improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.

Claims

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; Said mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle, it is characterized in that

Said 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;

Said 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; Said 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;

Said 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 said 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, said 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 in the mode signal that turns to that low speed, middling speed or express highway go according to GES output current vehicle; The residing corresponding operating mode of selecting according to the user of corresponding options button output current vehicle turns to mode signal;

Control unit is exported said control signal according to the said 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 said TIP, said control unit is exported said control signal according to the rear axle independent steering pattern of user's selection and rotation direction, the rotational angle of said 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 said meta locked cylinder, receive the oil-feed oil circuit that said control signal is switched on or switched off corresponding said meta locked cylinder; Be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the said 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 steering shaft on said solenoid-operated proportional change-over valve interlock;

Each is said to turn on the oil-feed oil circuit of oil cylinder and is respectively arranged with the solenoid-operated proportional change-over valve, receives said control signal and is switched on or switched off and correspondingly saidly turns to the oil-feed oil circuit of oil cylinder and adjust the said oil-feed flow that turns to oil cylinder;

Locking of the meta of each steering shaft and release are received by the said oil-feed electromagnetic switch valve on the corresponding steering shaft, oil return electromagnetic switch valve and said solenoid-operated proportional change-over valve that said 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 3 is characterized in that,

Be respectively arranged with the oil-feed electromagnetic switch valve on the oil-feed oil circuit of each said meta locked cylinder, receive the oil-feed oil circuit that said control signal is switched on or switched off corresponding said meta locked cylinder;

The oil return circuit of the said 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 said first oil return electromagnetic switch valve on the said meta locked cylinder of on third and fourth steering shaft at least one the oil-feed oil circuit receive said control signal respectively, connect the oil-feed oil circuit of the said meta locked cylinder at least one third and fourth steering shaft;

The oil return circuit of the said 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 said second oil return electromagnetic switch valve on the said meta locked cylinder oil-feed of on the 5th and the 6th steering shaft at least one oil circuit receive said control signal respectively, connect the oil-feed oil circuit of the said meta locked cylinder at least one the 5th, the 6th steering shaft.

6. 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 said connecting rod is hinged on respectively on the corresponding steering shaft, the said meta locked cylinder on the corresponding steering shaft with turn to the external part of oil cylinder hinged with the both ends of said connecting rod respectively; Each said connecting rod is respectively applied for and connects corresponding track arm, to drive the wheel steering on the corresponding steering shaft.

7. the steering control system of six car chassiss according to claim 1 is characterized in that, said rod-pulling type steering gear comprises:

Rocking arm, center are used for six car chassiss hinged;

First rod assembly, the upper end of an end and said 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 said rocking arm is hinged, the other end be used for said first steering shaft on the input end of track arm hinged; With,

The 3rd rod assembly, the lower end of an end and said rocking arm is hinged, the other end be used for said second steering shaft on the input end of track arm hinged.

8. the steering control system of six car chassiss according to claim 1 is characterized in that, said 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 said 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 said rocking arm is hinged, and the input end of the track arm on the other end and said first steering shaft is hinged; With,

The 3rd rod assembly, the lower hinge of an end and said rocking arm, the input end of the track arm on the other end and said second steering shaft is hinged.

9. the steering control system of six car chassiss according to claim 4 is characterized in that,

Go at low speed road and to turn under the pattern; Said control unit is exported control signal respectively: connect each said meta locked cylinder and each said oil-feed oil circuit that turns to oil cylinder, and the wheel on third and fourth steering shaft the corresponding driving that turns to oil cylinder down with first steering shaft on wheel turn to wheel on identical, the 5th and six steering shafts under the corresponding driving that turns to oil cylinder and the switched in opposite of the wheel on first steering shaft;

Turn under the pattern at the middling speed road running; Said control unit is exported control signal respectively: connect the oil-feed oil circuit of the meta locked cylinder on the said the 3rd and the 6th steering shaft, and break off the oil-feed oil circuit of the meta locked cylinder on the said the 4th and the 5th steering shaft; Connect the oil-feed oil circuit that turns to oil cylinder of the wheel steering on said driving the 3rd and the 6th steering shaft, and break off the oil-feed oil circuit that turns to oil cylinder of the wheel steering on said 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;

10. the steering control system of six car chassiss according to claim 4 is characterized in that,

Turn under the pattern in little turning; Said control unit is exported control signal respectively: connect each said meta locked cylinder and each said oil-feed oil circuit that turns to oil cylinder; And the wheel on the 3rd steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on the steering direction of wheel identical, 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.

11. the steering control system of six car chassiss according to claim 4 is characterized in that,

Under the crab row mode; Said control unit is exported control signal respectively: the oil-feed oil circuit of connecting each said meta locked cylinder and each said 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.

12. the steering control system of six car chassiss according to claim 4 is characterized in that,

Turn under the pattern said control unit output control signal: connect the oil-feed oil circuit of the said meta locked cylinder on third and fourth steering shaft, and break off the oil-feed oil circuit of the said meta locked cylinder on the 5th and the 6th steering shaft at anti-whipping; Connect the said oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on third and fourth steering shaft, and break off the said 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.

13. 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, said control unit is exported control signal respectively: break off each said meta locked cylinder and each said oil-feed oil circuit that turns to oil cylinder.

14. the steering control system of six car chassiss according to claim 4 is characterized in that,

Under rear axle independent steering pattern; Said control unit is exported control signal respectively: connect each said meta locked cylinder and each said oil-feed oil circuit that turns to oil cylinder; Said 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 said 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.

15. steering control system according to claim 2 to 14 described six car chassis of each claim; It is characterized in that; Also comprise a plurality of angular transducers; Whether dangerous be respectively applied for the steering angle that detects each wheel, whether said detecting unit is foundation greater than setting value according to steering angle and the gap between the pairing standard value of this wheel turning angle characteristic curve that any angular transducer collects wheel, obtain the current judged result that turns to; When showing, judged result currently turns to when dangerous said control unit output alarm signal.

16. the rotating direction control method of six car chassiss is characterized in that may further comprise the steps:

Turn to pattern according to the vehicle present located; Make said meta locked cylinder locking or release on the 3rd, the 4th, the 5th and the 6th steering shaft, and turn to the wheel steering on the corresponding steering shaft of hydraulic oil cylinder driving accordingly according to the rotation direction and the rotational angle control of bearing circle.

17. the rotating direction control method of six car chassiss according to claim 16 is characterized in that,

Obtain current vehicle according to GES and be in the pattern that turns to that low speed, middling speed or express highway go;

Obtain the pattern that turns to of the residing operating mode of current vehicle according to user's selection, the operating mode that can supply the user to select turns 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.

18. the rotating direction control method of six car chassiss according to claim 16 is characterized in that,

When vehicle is in the middling speed road running and turns to pattern; Said meta locked cylinder release on the 3rd and the 6th steering shaft; The the 4th and the 5th turns to the said meta locked cylinder locking on the oil cylinder; The said 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;

Go 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.

19. the rotating direction control method of six car chassiss according to claim 16 is characterized in that,

20. the rotating direction control method of six car chassiss according to claim 16 is characterized in that,

21. the rotating direction control method of six car chassiss according to claim 16 is characterized in that,

When vehicle is in anti-whipping and turns to pattern; Said meta locked cylinder release on third and fourth steering shaft; The the 5th and the 6th turns to the said meta locked cylinder locking on the oil cylinder; The said oil cylinder that turns on third and fourth steering shaft stretches with the rotation direction and the rotational angle of bearing circle, makes the steering direction of the wheel on the wheel and first steering shaft on third and fourth steering shaft identical, and the wheel on the 5th and the 6th steering shaft is in stays.

22. the rotating direction control method of six car chassiss according to claim 16 is characterized in that,

23. the rotating direction control method of six car chassiss according to claim 16 is characterized in that,

24. the rotating direction control method according to claim 16 to 23 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 steering angle and this wheel of any wheel greater than setting value, then send alerting signal.

25. 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 like each described six car chassiss of claim 1-15 of said steering control system.