CN102030037A

CN102030037A - Crane for eight-shaft automobile chassis, and steering control system and method of eight-shaft automobile chassis

Info

Publication number: CN102030037A
Application number: CN 201010575943
Authority: CN
Inventors: 史先信; 朱亚夫; 朱长建; 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: 2011-04-27
Anticipated expiration: 2030-12-06
Also published as: CN102030037B

Abstract

The invention discloses a steering control system and a steering control method of an eight-shaft automobile chassis. The system comprises a mechanical driving device used for driving wheels to change the direction, a hydraulic driving device and a steering control device, wherein the mechanical driving device drives wheels on first, second, third and forth steering shafts to change the direction respectively; neutral position locking cylinders and steering cylinders are arranged on fifth, sixth, seventh and eighth steering shafts respectively; extension ends of each neutral position locking cylinder and steering cylinder are connected with an steering knuckle arm of the corresponding steering shaft so as to form an interlocking mechanism; and the steering control device turns on or turns off oil inlet circuits and oil return circuits of the corresponding neutral position locking cylinders and steering cylinders according to a steering mode so as to drive the wheels on the corresponding steering shafts to change the direction. The mechanical driving device and the hydraulic driving device drive the wheels on different steering shafts to change the direction respectively, so that a plurality of steering modes of driving on roads, on-site operation and the like are provided. On the basis of the steering control system and the steering control method, the invention also provides a crane adopting the steering control system.

Description

Eight 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 eight 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 full ground elevator machinery more and more widely.

As everyone knows, the steering control system of multiaxis large-tonnage car chassis is quite complicated, with eight full ground hoisting cranes is example, the steering hardware of existing eight full ground hoisting cranes generally all adopts the link-type mechanical steering gear, and being aided with hydraulic booster system, the steering angle of each steering shaft is by the layout decision of the steering gear connection of whole steering hardware.Fig. 1 shows the link-type mechanical steering gear scheme drawing of a kind of eight full ground hoisting cranes of prior art, see also Fig. 1, when clockwise rotating bearing circle 1, turn sign is passed to deflector 2 by bearing circle 1 and the steering drop arm that drives on it rotates corresponding angle around the output shaft of deflector 2, steering drop arm rotates counterclockwise around hinge A1 by first rod assembly, 3 pullings, first Rocker arm 4, so under the drive of first Rocker arm 4, second rod assembly 5 promotes second rocking arm 7 and rotates counterclockwise around hinge A2, like this, second rocking arm, 7 pullings the 3rd rod assembly 6 moves right, thereby the pulling with the first steering shaft L1 on the cooresponding track arm of wheel move, make on the first steering shaft L1 the wheel right-hand turning to; Four-pull-rod assembly 8 promote with the second axle steer axle L2 on the cooresponding track arm of wheel move, make on the second steering shaft L2 the wheel right-hand turning to; Simultaneously, the 5th rod assembly 9 makes the 3rd rocking arm 10 rotate counterclockwise around hinge A3, by that analogy, the 6th rod assembly 11 make on the 3rd steering shaft L3 the wheel right-hand turning to, the 7th rod assembly 12 makes the 4th rocking arm 13 rotate counterclockwise around hinge A4, the 8th rod assembly 14 promote on the 4th steering shaft L4 the wheel right-hand turning to, the 9th rod assembly 15 pullings the 6th rocking arm 16 rotates counterclockwise around hinge A5, the tenth rod assembly 17 and the 11 rod assembly 19 are hinged by the 6th rocking arm 18, so, promoting the 7th rocking arm 21 clockwise rotates around hinge A6, the 12 rod assembly 20 to promote on the 7th steering shaft L7 the wheel left-handed turning to, the wheel left-handed turning on the 13 rod assembly 22 pullings the 8th steering shaft L8 to.More than be that vehicle is under the road running pattern, when clockwise rotating bearing circle, wheel steering change procedure on each steering shaft, conter clockwise steering dish, first, second, third, fourth, the steering direction of the wheel on the 7th and the 8th steering shaft is opposite with the steering direction of aforementioned each wheel, does not repeat them here.

For eight full ground hoisting cranes, because the 5th and the 6th axle steer axle is positioned at before and after its revolution seat ring, be subjected to the restriction in space, mechanical steering gear can't be arranged into the 5th and the 6th steering shaft, therefore, the wheel on existing eight full ground hoisting cranes the 5th and the 6th steering shaft can not participate in steering procedure; In addition, be because limited space equally, the tenth rod assembly 17 also can't be by turning to locking device to substitute that (turning to locking device is by preceding, the member structure that latter two combination of components forms, before can providing, locked and the release two states of latter two assembly, under locking state, before, latter two assembly is equivalent to the pull bar of a rigidity, can be with steering angle steering shaft transmission rearwards, and under the state of release, before, can freely rotate between latter two assembly, so steering shaft transmission that steering angle can't be rearwards, turn to locking device in the steering control system of six full ground hoisting cranes, extensively to adopt at present, be used to the switching that realizes that the 5th and the 6th steering shaft Mechanical Driven and hydraulic-driven turn to), therefore, wheel on the 7th and the 8th steering shaft can only be followed the turning to of wheel on first steering shaft and be turned to simultaneously, and the steering direction of the wheel on the steering direction of the wheel on the 7th and the 8th steering shaft and first steering shaft is opposite.

According to above description as can be known, existing eight full ground hoisting cranes turn to by the wheel on mechanical steering gear control the first, second, third, fourth and the 7th, the 8th steering shaft, and wherein the wheel on the 5th and the 6th steering shaft does not participate in turning to.Clearly, adopt this mechanical steering gear mode to turn to control to have following some shortcomings:

The first, can only provide a kind of pattern that turns to, promptly road running turns to pattern, can not obtain more turning-circle diameter, a little less than the bend carrying capacity of vehicle;

Second, the wheel of being controlled on the corresponding steering shaft by mechanical steering gear turns to, if the wheel that is arranged on a certain steering shaft is stuck, perhaps there are movement interference in steering gear and near parts, hydraulic booster system can by the steering track rod assembly power that turns to oil cylinder to provide be provided on the miscellaneous part, thereby can cause the stressed of local steering gear connection phenomenon of rupture to occur, bring life danger to chaufeur above its allowable stress range.

The 3rd, if the design of mechanical steering gear is unreasonable, the corner of different steering shafts is inharmonious each other, can cause the local heel and toe wear of tire, reduces vehicle safety.

In view of this, demand urgently being optimized design at existing structure, with the stability of satisfied eight car chassis handling maneuvers and the requirement of bend carrying capacity and maneuverability, reduce the local heel and toe wear of tire, and when the speed of a motor vehicle is higher, make the wheel on back four steering shafts keep the meta lock-out state automatically, guarantee driving safety.

Summary of the invention

At above-mentioned defective, the technical matters that the present invention solves is, a kind of steering control system of eight car chassiss is provided, and makes eight vehicles 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 rotating direction control method of eight car chassiss and has had eight car chassis hoisting cranes of this steering control system.

The steering control system of eight car chassiss provided by the invention, comprise and be used for mechanical actuation device and fluid pressure drive device and the steering controlling device that drive wheels turns to, described mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle, described rod-pulling type steering gear has four mouths, is respectively applied for to connect the track arm that drives the wheel steering on the first, second, third and the 4th steering shaft; Described fluid pressure drive device comprises the oil cylinder that turns to that is fixedly installed on the meta locked cylinder on the 5th, the 6th, the 7th and the 8th steering shaft respectively and drives wheel steering on the corresponding steering shaft; Described meta locked cylinder on each steering shaft all is connected with the track arm of corresponding steering shaft with the external part that turns to oil cylinder, forms interlocking gear; Described steering controlling device is according to turning to pattern output control signal, with oil-feed oil circuit and the oil return circuit that is switched on or switched off described meta locked cylinder and turns to oil cylinder.

Preferably, described steering controlling device comprises TIP, detecting unit and control unit, and described TIP is provided with little turning and turns to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of operating modes of pattern to turn to mode selecting key; Described detecting unit is exported current vehicle according to vehicle speed signal and is in the mode signal that turns to that low speed, middling speed or express highway travel, and the corresponding options button of selecting according to the user is exported the residing corresponding operating mode of current vehicle and turned to mode signal; Described control unit is exported described control signal according to the described mode signal that turns to.

Preferably, be respectively arranged with the oil-feed electromagnetic switch valve on the oil-feed oil circuit of each described meta locked cylinder, receive the oil-feed oil circuit that described control signal is switched on or switched off corresponding described meta locked cylinder; Each is described to turn on the oil-feed oil circuit of oil cylinder and is respectively arranged with the solenoid-operated proportional change-over valve, receives described control signal and is switched on or switched off and correspondingly describedly turns to the oil-feed oil circuit of oil cylinder and adjust the described oil-feed flow that turns to oil cylinder; Five, the meta of the 6th, the 7th and the 8th steering shaft locking and release are received by the described oil-feed electromagnetic switch valve on the corresponding steering shaft, oil return electromagnetic switch valve and described solenoid-operated proportional change-over valve that described control signal is switched on or switched off corresponding oil-feed, oil return circuit is realized.

Preferably, be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the described meta locked cylinder on each steering shaft, and with this meta locked cylinder oil-feed oil circuit on oil-feed electromagnetic switch valve and corresponding described solenoid-operated proportional change-over valve interlock on axle.

Preferably, the oil return circuit of the described meta locked cylinder on 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 first oil return electromagnetic switch valve, oil-feed electromagnetic switch valve on the oil-feed oil circuit of at least one the described meta locked cylinder on the 5th and the 6th steering shaft and the described first oil return electromagnetic switch valve receive described control signal respectively, tap into the electromagnetic oil switch valve and the described first oil return electromagnetic switch valve receives described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 5th and the 6th steering shaft; The oil return circuit of the described meta locked cylinder on the 7th and the 8th 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 on the oil-feed oil circuit of at least one the described meta locked cylinder on the 7th and the 8th steering shaft and the described second oil return electromagnetic switch valve receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 7th and the 8th steering shaft.

Preferably, five, be respectively equipped with connecting rod on the 6th, the 7th and the 8th steering shaft, the middle part of each described connecting rod is hinged on respectively on the corresponding steering shaft, the described meta locked cylinder on the corresponding steering shaft and turn to the external part of oil cylinder hinged with the both ends of described connecting rod respectively; Each described connecting rod respectively be used to be connected corresponding track arm, to drive the wheel steering on the corresponding steering shaft.

Preferably, described rod-pulling type steering gear comprises first rocking arm, second rocking arm and the 3rd rocking arm and first rod assembly, second rod assembly, the 3rd rod assembly, four-pull-rod assembly, the 5th rod assembly, the 6th rod assembly and the 7th rod assembly, and first rocking arm is between first, second steering shaft and be used for eight car chassiss hinged in the middle part of it; Second rocking arm is between second, third steering shaft and be used for eight car chassiss hinged on it; The 3rd rocking arm is between the 4th, the 5th steering shaft and be used for eight car chassiss hinged on it; One end of first rod assembly and the upper end of described first rocking arm are hinged, the other end be used for eight car chassiss on the mouth of steering drop arm hinged; One end of second rod assembly and the lower end of described first rocking arm are hinged, the other end be used for described first steering shaft on the input end of track arm hinged; One end of the 3rd rod assembly and the lower end of described first rocking arm are hinged, the other end be used for described second steering shaft on the input end of track arm hinged; The two ends of four-pull-rod assembly are hinged with the lower end of described first, second rocking arm respectively; One end of the 5th rod assembly and the lower end of described second rocking arm are hinged, and the input end of the track arm on the other end and described the 3rd steering shaft is hinged; The two ends of the 6th rod assembly are hinged with the middle part of described second, third rocking arm respectively; One end of the 7th rod assembly and the lower end of described the 3rd rocking arm are hinged, the other end be used for described the 4th steering shaft on the input end of track arm hinged.

Preferably, travel at low speed road and to turn under the pattern, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the wheel on the 5th steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn on identical, the 6th, the 7th and the 8th steering shaft wheel under the corresponding driving that turns to oil cylinder with first steering shaft on the switched in opposite of wheel;

Turn under the pattern at the middling speed road running, described control unit is exported control signal respectively: connect the oil-feed oil circuit of the described meta locked cylinder on the 5th, the 7th and the 8th steering shaft, and disconnect the oil-feed oil circuit of the described meta locked cylinder on the 6th steering shaft; Connect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 5th, the 6th and the 7th steering shaft, and disconnect the described oil-feed oil circuit that turns to oil cylinder that drives the wheel steering on the 6th steering shaft; Wheel on the 5th steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn to identical, seven, the wheel on the 8th steering shaft under the corresponding effect that turns to oil cylinder with first steering shaft on the switched in opposite of wheel, the wheel on the 6th steering shaft does not turn to;

Turning under the pattern that express highway travels, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.

Preferably, turn under the pattern in little turning, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the wheel on the 5th steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn on identical, the 6th, the 7th and the 8th steering shaft wheel under the corresponding driving that turns to oil cylinder with first steering shaft on the switched in opposite of wheel.

Preferably, described control unit is exported control signal respectively: connect the oil-feed oil circuit of each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the 5th, the 6th, the 7th with the 8th steering shaft on wheel under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn to identical.

Preferably, turn under the pattern in the locking of rear axle meta, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.

Preferably, also comprise a plurality of angular transducers, be respectively applied for detect first, second, the steering angle of the wheel on the 5th, the 6th, the 7th and the 8th steering shaft, whether dangerous whether described detecting unit collects the steering angle of this wheel and the gap between the pairing standard value of this wheel turning angle characteristic curve according to any angular transducer is foundation greater than setting value, obtain the current judged result that turns to; When showing, judged result currently turns to when dangerous described control unit output alarm signal.

The rotating direction control method of eight car chassiss provided by the invention may further comprise the steps: be arranged on wheel on the first, second, third and the 4th steering shaft and drive it by bearing circle respectively by the rod-pulling type steering gear and turn to; Five, be respectively equipped with the meta locked cylinder on the 6th, the 7th and the 8th steering shaft and turn to oil cylinder, and each described meta locked cylinder and the external part that turns to oil cylinder all be connected with track arm on the corresponding steering shaft, form interlocking gear; Turn to pattern according to the vehicle present located, make described meta locked cylinder locking or release on the 5th, the 6th, the 7th and the 8th steering shaft, and control the wheel steering that turns to accordingly on the corresponding steering shaft of hydraulic oil cylinder driving according to the rotation direction and the rotational angle of bearing circle.

Preferably, obtain current vehicle according to vehicle speed signal and be in the pattern that turns to that low speed, middling speed or express highway travel; Obtain the pattern that turns to of the residing operating mode of current vehicle according to user's selection, can turn to pattern to comprise that little turning turns to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of patterns for the operating mode that the user selects.

Preferably, when being in low speed road, vehicle travels when turning to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 5th steering shaft identical, the steering direction of the wheel on the wheel on the 6th, the 7th and the 8th steering shaft and first steering shaft is opposite;

When vehicle is in the middling speed road running and turns to pattern, five, the described meta locked cylinder release on the 7th and the 8th steering shaft, described meta locked cylinder locking on the 6th steering shaft, five, the described oil cylinder that turns on the 7th and the 8th 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 5th steering shaft identical, seven, the steering direction of the wheel on the wheel on the 8th steering shaft and first steering shaft is opposite, and the wheel on the 6th steering shaft is in stays;

Travel when turning to pattern when vehicle is in express highway, the described meta locked cylinder locking on the 5th, the 6th, the 7th and the 8th steering shaft makes the wheel on the corresponding steering shaft in stays.

Preferably, when vehicle is in little turning and turns to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 5th steering shaft identical, the steering direction of the wheel on the wheel on the 6th, the 7th and the 8th steering shaft and first steering shaft is opposite.

Preferably, when vehicle is in the crab row mode, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the 5th, the 6th, the 7th with the 8th steering shaft on wheel and first steering shaft on the steering direction of wheel identical.

Preferably, when vehicle was in rear axle meta locking and turns to pattern, each described meta locked cylinder locking made the wheel on the 5th, the 6th, the 7th and the 8th steering shaft in stays.

Preferably, if detect first, second, the gap between the pairing standard value of deflection angle characteristic curve of the steering angle of any wheel on the 5th, the 6th, the 7th and the 8th steering shaft and this wheel is greater than setting value, then sends alerting signal.

Eight car chassis hoisting cranes provided by the invention have the steering control system of controlling each wheel steering, the steering control system of concrete foregoing eight car chassiss of described steering control system.

The steering control system of eight car chassiss provided by the invention, wheel steering on the first, second, third and the 4th steering shaft is realized that by mechanical actuation device the wheel on the 5th, the 6th, the 7th and the 8th steering shaft is realized by fluid pressure drive device according to steering controlling device respectively.Compared with prior art, this programme has significantly reduced rod-type structure, and controls turning to of wheel on each rear side axletree by fluid pressure drive device, has improved the accuracy of positioning that turns to of complete machine wheel greatly; Simultaneously, all be similar under the condition that satisfies the Ackermam theorem at the steering angle that guarantees all wheels, provide multiple different turning-circle diameter, to adapt to the needs that difference turns to pattern, significantly reduced Tyte Wear, the deflection angle control accuracy when further having improved wheel steering; In addition, five, the meta locked cylinder on the 6th, the 7th and the 8th steering shaft and the oil cylinder that turns to that drives wheel steering on the corresponding steering shaft form interlocking gear, can effectively evade the phenomenon that the transmission of power that turns to oil cylinder under the abnomal condition occurs rupturing to miscellaneous part occurs, therefore, improved the functional reliability of control system.

In a kind of preferred version of the steering control system of eight car chassiss provided by the invention, automatically obtain current vehicle according to vehicle speed signal and be in low speed, middling speed or express highway travel turns to pattern, and send control signal and control the corresponding the 5th, the 6th, wheel on the 7th and the 8th steering shaft turns to accordingly, particularly travel and turn under the pattern at express highway, automatically lock the 5th, the 6th, meta locked cylinder on the 7th and the 8th steering shaft, make the wheel on these steering shafts keep the straight-line travelling state, do not participate in turning to, improved the safety of high speed traveling greatly.

In a kind of preferred version of the steering control system of eight car chassiss provided by the invention, provide the locking of rear axle meta to turn to pattern, turn under the pattern in the locking of rear axle meta, control unit is exported control signal respectively: disconnect each meta locked cylinder and turn to the oil-feed oil circuit of oil cylinder with each, that is to say, turn under the pattern in rear axle meta locking, the wheel on the 5th, the 6th, the 7th and the 8th steering shaft can only be along straight-line travelling, thereby guarantees traffic safety.The locking of rear axle meta turns to pattern to be applicable to following three kinds of situations: (1) when high vehicle speeds, vehicle starts the locking of rear axle meta automatically and turns to pattern; (2) when any one link such as fluid pressure drive device or steering controlling device breaks down, the angular errors of wheel on first and second steering shaft is big, the angular transducer wire harness comes off or the like, for guaranteeing vehicle safety, vehicle starts rear axle meta locking mode automatically, and the wheel on the 5th, the 6th, the 7th, the 8th steering shaft no longer participates in turning to; (3) carry situation according to the vehicle band, chaufeur also can manual switchover turn to mode switch to rear axle meta locking mode when stationary vehicle.

In the another kind of preferred version of the steering control system of eight 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 eight full ground hoisting crane mechanical steering gear scheme drawings of the prior art;

Fig. 2 is eight full ground hoisting crane steering principle figure of the prior art;

Fig. 3 is the scheme drawing of the mechanical actuation device of the wheel steering on realization first, second, third described in the specific embodiment and the 4th steering shaft;

Fig. 4 is meta locked cylinder on the 5th 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 of the wheel steering on realization the the 5th, the 6th, the 7th described in Fig. 5 specific embodiment and the 8th steering shaft;

Fig. 6 is meta locked cylinder in the fluid pressure drive device shown in Figure 5 and the connection diagram that turns to oil cylinder and first, second control cock group;

Fig. 7 is the steering principle scheme drawing that low speed road described in the specific embodiment travels and turns to pattern;

Fig. 8 is the steering principle scheme drawing that the road running of middling speed described in the specific embodiment turns to pattern;

Fig. 9 is the steering principle scheme drawing that express highway described in the specific embodiment travels and turns to pattern;

Figure 10 is the steering principle scheme drawing that little turning described in the specific embodiment turns to pattern;

Figure 11 is the steering principle scheme drawing of the row mode of crab described in the specific embodiment;

Figure 12 is the steering principle scheme drawing that the locking of the meta of rear axle described in the specific embodiment turns to pattern;

Figure 13 is the structural representation of the locked cylinder of meta described in the specific embodiment;

Figure 14 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, L7-the 7th steering shaft, L8-the 8th steering shaft;

The 1-bearing circle, the 2-deflector, 3-first rod assembly, 4-first rocking arm, 5-second rod assembly, 6-the 3rd rod assembly, 7-second rocking arm, 8-four-pull-rod assembly, 9-the 5th rod assembly, 10-the 3rd rocking arm, 11-the 6th rod assembly, 12-the 7th rod assembly, 13-the 4th rocking arm, 14-the 8th rod assembly, 15-the 9th rod assembly, 16-the 6th rocking arm, 17-the tenth rod assembly, 18-the 6th rocking arm, 19-the 11 rod assembly, 20-the 12 rod assembly, 21-the 7th rocking arm, 22-the 13 rod assembly;

101-bearing circle, 102-deflector, 103-first rod assembly, 104-second rod assembly, 105-first rocking arm, 106-the 3rd rod assembly, 107-four-pull-rod assembly, 108-second rocking arm, 109-the 5th rod assembly, 110-the 6th rod assembly, 111-the 7th rod assembly, 112-the 3rd rocking arm;

501, left side on 511-the 5th steering shaft, right wheel, 502, left side on 512-the 5th steering shaft, the right steering oil cylinder, 602, left side on 612-the 6th steering shaft, the right steering oil cylinder, 702, left side on 712-the 7th steering shaft, the right steering oil cylinder, 802, left side on 812-the 8th steering shaft, the right steering oil cylinder, 504,604,704,804-the 5th, the 6th, the 7th, meta locked cylinder on the 8th steering shaft, the 505-connecting rod, the 506-jointed shaft, the 507-pull bar, the 508-first control cock group, the 808-second control cock group, 509,609,709,809-the 5th, the 6th, the 7th, the 8th steering shaft is with the 3rd control cock group;

The 901-cylinder body, the right piston of 902-, 903-piston rod, 904-meta chamber, 905-rod chamber, 906-rodless cavity, 907-intermediate piston, 908-meta locating piece, 909-left piston.

The specific embodiment

Core of the present invention provides a kind of steering control system and method for eight car chassiss, so that adopt construction machinery and equipments such as the autotruck of this car chassis or full ground hoisting crane to have a plurality of turning-circle diameters, thereby has sensitive steering response, stronger road-holding property and wear on tyres amount is less.Below in conjunction with Figure of description explanation the specific embodiment of the present invention.

Be without loss of generality, this paper is that example is elaborated with eight full ground hoisting cranes, sees also Figure 14, 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 eight full ground hoisting cranes, adopt the construction machinery and equipment of eight car chassiss all to be suitable for other.Mention eight, 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, the 6th steering shaft L6, the 7th steering shaft L7 and the 8th steering shaft L8 successively herein from headstock to the tailstock.The functional components such as chassis, winding plant and Lifting device of these eight full ground hoisting cranes are same as the prior art, and those skilled in the art can realize fully that based on prior art this paper repeats no more.

Only have road running based on existing eight full ground hoisting cranes and turn to a kind of pattern that turns to of pattern, the present invention has increased little turning and has turned to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of patterns; And under road running turns to pattern, being provided with low speed, middling speed and express highway travels three kinds and turns to pattern, therefore, adopt eight car chassiss of this specific embodiment to have six kinds and turn to pattern, also just be equivalent to provide six kinds of turning-circle diameters, improve the steering manipulation performance of eight 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 eight 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 the first, second, third and the 4th steering shaft drives it by mechanical actuation device respectively and turns to, and the wheel on the 5th, the 6th, the 7th and the 8th 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 four mouths, is respectively applied for to connect the track arm that drives the wheel steering on the first, second, third and the 4th steering shaft.See also Fig. 3, the figure shows the scheme drawing of the mechanical actuation device of realizing the wheel steering on the first, second, third and the 4th 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 comprises first rocking arm 105, second rocking arm 108 and the 3rd rocking arm 112 and first rod assembly 103, second rod assembly 104, the 3rd rod assembly 106, four-pull-rod assembly 107, the 5th rod assembly 109, the 6th rod assembly 110 and the 7th rod assembly 111, first rocking arm 105 is arranged on first, the second steering shaft L1, between the L2 and its middle part is used for eight car chassiss hinged, second rocking arm 108 is arranged on second, the 3rd steering shaft L2, between the L3 and its upper end is used for eight car chassiss hinged, the 3rd rocking arm is positioned at the 4th, between the 5th steering shaft and its upper end is used for eight car chassiss hinged, bearing circle 101 is passed to deflector by steerage gear device 102 with turn sign, and the steering drop arm that drives in the deflector rotates corresponding angle around the output shaft of deflector.One end of first rod assembly 103 is connected on the mouth of steering drop arm, the upper end of the other end and first rocking arm 105 is hinged, the lower end of first rocking arm 105 is hinged with an end of second rod assembly 104 and the 3rd rod assembly 106 respectively, the other end of second rod assembly 104 is as first mouth of rod-pulling type steering gear, hinged with the track arm that drives the wheel steering on first steering shaft, the other end of the 3rd rod assembly 106 is as second mouth of rod-pulling type steering gear, and is hinged with the track arm that drives the wheel steering on second steering shaft.The two ends of four-pull-rod assembly 107 are respectively with first, second rocking arm 105,108 lower end is hinged, the two ends of the 6th rod assembly 110 are respectively with second, the 3rd rocking arm 108,112 middle part is hinged, one end of the 5th rod assembly 109 and the lower end of second rocking arm 108 are hinged, the other end is as the 3rd mouth of rod-pulling type steering gear, hinged with the track arm that drives the wheel steering on the 3rd steering shaft, one end of the 7th rod assembly 111 and the lower end of the 3rd rocking arm 112 are hinged, the other end is as the 4th mouth of rod-pulling type steering gear, and is hinged with the track arm that drives the wheel steering on the 4th steering shaft.When first rocking arm 105 during with the clockwise rotating of bearing circle 101, under the drive of first rod assembly 103, first rocking arm 105 is around the hinge rotating certain angle at its middle part, so, second rod assembly 104 drive on first turning cylinder the wheel right-hand turning to, the 3rd rod assembly 106 drive on second steering shaft the wheel right-hand turning to, the 5th rod assembly 109 drive on the 3rd steering shaft the wheel right-hand turning to, the 7th rod assembly 111 drive on the 4th steering shaft 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, third, fourth steering shaft respectively left-handed turning to.

Fluid pressure drive device comprises and is separately positioned on the meta locked cylinder on the 5th, the 6th, the 7th and the 8th steering shaft and drives the oil cylinder that turns to that wheel on the corresponding steering shaft turns to.Each meta locked cylinder and the external part that turns to oil cylinder all are connected to form linkage structure with the track arm of corresponding steering shaft, if promptly the oil-feed of meta locked cylinder and oil return circuit all disconnect, then the meta locked cylinder is in the lock state, because track arm is connected with the external part of meta locked cylinder, therefore, track arm can not move with regard to locked, at this moment, even connect and to turn to the oil-feed and the oil return circuit of oil cylinder, move and drive corresponding wheel and realize turning to thereby also can't drive track arm.Be example with wherein a steering shaft (the 5th steering shaft) below, a kind of specific embodiment of realizing this interlocking gear is illustrated.

See also Fig. 4, Fig. 4 is meta locked cylinder on the 5th steering shaft and a kind of specific embodiment scheme drawing that turns to the interlocking gear of oil cylinder composition.Left and right wheel 501,511 is arranged on the two ends of the 5th steering shaft 503 (being L5) respectively by steering swivel, meta locked cylinder 504 and turn to oil cylinder to be fixedly installed on the both sides of the 5th steering shaft 503 respectively, wherein, left and right turn to oil cylinder 502,512 to be respectively applied for to drive left and right wheel 501,511 turn to (top with drawing among Fig. 4 is right side, and the below is left).The middle part of connecting rod 505 is hinged on the right part of the 5th steering shaft 503, the external part of meta locked cylinder 504 and right steering oil cylinder 512 is hinged on the two ends of connecting rod 505 respectively, connecting rod 505 is connected with the track arm of right wheel 511, is used to drive right wheel 511 and realizes turning to.The external part of left steering oil cylinder 502 is connected on the track arm of left wheel 501, and the track arm on the left and right wheel 501,511 is connected to form connecting rod mechanism by pull bar 507, realizes interlock between the left and right track arm with this.When the oil-feed of meta locked cylinder 504 and oil return circuit are all connected, if the control infradextroversion at bearing circle stretches out to oil cylinder 512, then withdraw to oil cylinder 502 at the effect infralevoversion of pull bar 507, connecting rod 505 rotates counterclockwise around jointed shaft 506, so drive 504 withdrawals of meta locked cylinder, thus drive left and right wheel 501,511 left-handed turnings to; Otherwise if right steering oil cylinder 512 withdrawal, then the effect infralevoversion at pull bar 507 stretches out to oil cylinder 502, and connecting rod 505 clockwise rotates around jointed shaft 506, drives meta locked cylinder 504 and stretches out, drive left and right wheel 501,511 right-hand turnings to.But, if the oil-feed and the oil return circuit of meta locked cylinder 504 all disconnect, then meta locked cylinder 504 is locked, so stationkeeping of connecting rod 505, can not rotate around jointed shaft 506, therefore the left and right oil cylinder 502,512 that turns to can't be realized stretching, and also just can not drive track arm left and right wheel 501,511 is turned to, thereby only realized under the situation of meta locked cylinder 504 releases (oil-feed and oil return circuit are all connected), could handling wheel and turning to.

The steering controlling device basis turns to the control signal of pattern output, the oil-feed oil circuit and the oil return circuit that are switched on or switched off the meta locked cylinder and turn to oil cylinder, thus the wheel of controlling on the corresponding steering shaft turns to.Steering controlling device comprises detecting unit, TIP and control unit, and the function of detecting unit and control unit is realized by programming by micro controller system respectively.TIP is provided with little turning and turns to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of operating modes of pattern to turn to the model selection options button.Detecting unit is gathered the vehicle speed signal that obtains current vehicle in real time according to the gear of current engine speed of vehicle and change speed gear box, and export current vehicle automatically and be in low speed, middling speed or express highway travel turns to the mode signal (low speed of being mentioned here, middling speed or need at a high speed to carry the attitude of travelling under the operating mode in different band according to a certain concrete vehicle, the angle of comprehensive vehicle handling and stability and the best attitude of travelling is considered to determine, certainly, this accomplishes for the ordinary skill in the art easily, even can not obtain best speed setting value, also can not have influence on flesh and blood of the present invention); Export the residing corresponding mode signal that turns to of current vehicle according to the corresponding options button that the user selects; Control unit is according to described control signal, the oil-feed oil circuit and the oil return circuit that are switched on or switched off described meta locked cylinder and turn to oil cylinder are so that the wheel on corresponding the 5th, the 6th, the 7th and the 8th steering shaft turns to or do not turn to the rotation of bearing circle.

The concrete scheme that realizes wheel steering is: each turns to the flexible by a solenoid-operated proportional change-over valve control of oil cylinder, the flexible of each meta locked cylinder controlled by at least one oil-feed electromagnetic switch valve, when only adopting an oil-feed electromagnetic switch valve, this oil-feed electromagnetic switch valve is arranged on the oil-feed oil circuit of meta locked cylinder, when needs improve the system works reliability, respectively be provided with an electromagnetic switch valve on the oil-feed of meta locked cylinder and the oil return circuit, promptly on the oil-feed oil circuit of meta locked cylinder, be provided with the oil-feed electromagnetic switch valve, oil return circuit is provided with the oil return electromagnetic switch valve, and oil-feed electromagnetic switch valve and the interlock of oil return electromagnetic switch valve, by oil-feed electromagnetic switch valve and the interlock of oil return electromagnetic switch valve, make the oil-feed of meta locked cylinder, oil return circuit is switched on or switched off simultaneously.Control unit turns to pattern to output control signals to corresponding oil-feed electromagnetic switch valve and oil return electromagnetic switch valve respectively according to the vehicle present located, and the rotation direction and the rotational angle signal of the bearing circle that collects according to detecting unit are exported control signal respectively, adjust the operative orientation and the valve port opening size of corresponding electromagnetism proportional reversing valve, thereby realize that vehicle turns to turning under the pattern in difference.The steering angle of the medial and lateral wheel on each steering shaft should satisfy Ackerman principle, and those skilled in the art can realize fully that based on prior art this paper repeats no more.

Fig. 5 is a kind of fluid pressure drive device hydraulic schematic diagram of the wheel steering on realization the the 5th, the 6th, the 7th described in the specific embodiment and the 8th steering shaft, Fig. 6 is fluid pressure drive device meta locked cylinder shown in Figure 5 and the connection diagram that turns to oil cylinder and first, second control cock group, and Fig. 7 to Figure 12 is respectively aforementioned six kinds and turns to the cooresponding steering principle scheme drawing of pattern.Turn to pattern to be introduced one by one below in conjunction with Fig. 5, Fig. 6 and Fig. 7 to Figure 12 to each.

As shown in Figure 5, meta locked cylinder 504 on the 5th and the 6th steering shaft, 604 respectively by corresponding the 3rd valve group 509,609 are connected on the first control cock group 508, meta locked cylinder 704 on the 7th and the 8th steering shaft, 804 respectively by corresponding the 3rd valve group 709,809 are connected on the second control cock group 808, first, the second control cock group 508,808 structure is identical, concrete structure and connection mode are as shown in Figure 6, the first control cock group 508 comprises two electro-hydraulic proportion reversing valve Y813 with pressure compensation, Y814 and three electromagnetic switch valve Y834, Y823, Y824, electromagnetic switch valve Y834 is as the first oil return electromagnetic switch valve, be used to control meta locked cylinder 504, the break-make of 604 oil return circuit, electromagnetic switch valve Y823 and Y824 are used to control the meta locked cylinder 504 on the 5th and the 6th steering shaft respectively as the oil-feed electromagnetic switch valve, the break-make of 604 oil-feed oil circuit.Each electro-hydraulic proportion reversing valve control is by flow that turns to oil cylinder and direction on the steering shaft, turn to oil cylinder comprise respectively two be symmetrically arranged turn to oil cylinder 502,512, equivalence is one a pair of hydraulic ram that goes out rod-type, guarantees that the execution load is advanced, the area ratio of oil back chamber is 1.Be applied to by control electro-hydraulic proportion reversing valve Y813, Y814 a, b two ends electromagnet order and the size of electric current, come the valve port opening of control ratio valve, and then control flows is to the flow that turns to oil cylinder, to realize the adjusting of corresponding wheel steering angle size.Meta locked cylinder 504,604 oil return circuit is communicated with and the first electromagnetic switch valve Y834 is arranged on this connection oil circuit, this connection oil circuit is communicated to the system oil return oil circuit, by first electromagnetic switch valve Y834 control meta locked cylinder 504, the break-make of 604 oil return circuit, oil-feed electromagnetic switch valve Y823 is arranged on the oil-feed oil circuit of the meta locked cylinder 504 on the 5th steering shaft, oil-feed electromagnetic switch valve Y824 is arranged on the oil-feed oil circuit of the meta locked cylinder 604 on 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.When the first electromagnetic switch valve Y834 gets when electric, the oil return circuit of meta locked cylinder 504,604 all communicates with the system oil return oil circuit on the 5th and the 6th steering shaft, so meta locked cylinder 504,604 equal releases on the 5th and the 6th steering shaft, at this moment, among electromagnetic switch valve Y823, the Y824 any gets, the oil-feed oil circuit of corresponding meta locked cylinder communicates with the system high pressure oil circuit, cooperate electro-hydraulic proportion reversing valve Y813, Y814 to realize correspondingly turning to the flexible of oil cylinder, thereby the wheel that drives on the corresponding steering shaft turn to.If the first electromagnetic switch valve Y834 dead electricity, meta locked cylinder 504 on the 5th and the 6th steering shaft then, 604 oil return circuit all disconnects with the system oil return oil circuit, so meta locked cylinder 504,604 all lockings, can't realize stretching, like this, because a meta locked cylinder 504 and a corresponding left side, right steering oil cylinder 502,512 form interlocking gear, a meta locked cylinder 604 and a corresponding left side, right steering oil cylinder 602,612 form interlocking gear, therefore, even electro-hydraulic proportion reversing valve Y813 and/or Y814 get, turn to oil cylinder 502,512,602,612 also can't stretch, the 5th, wheel on the 6th steering shaft can only can't turn to along straight-line travelling.Similarly, the second control cock group 808 comprises two electro-hydraulic proportion reversing valve Y815, Y816 with pressure compensation and three electromagnetic switch valve Y865, Y825, Y805, electromagnetic switch valve Y865 is as the second oil return electromagnetic switch valve, be used to control the break-make of the oil return circuit of two the meta locked cylinders 704,804 on the 7th and the 8th 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 704,804.Electro-hydraulic proportion reversing valve Y815, Y816 control by left and right flow and the direction that turns to oil cylinder 702,712 and 802,812 on the 7th and the 8th 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 808 is identical with the control principle of the first control cock group 508, does not repeat them here.

In the such scheme, the break-make that meta locked cylinder on the 5th and the 6th, the 7th and the 8th steering shaft is controlled its oil return circuit by first, second oil return electromagnetic switch valve Y834 in first, second control cock group 508,808, Y865 respectively, obviously, each meta locked cylinder all realizes that by an electromagnetic switch valve break-make of its oil return circuit also can realize the technical program.Perhaps, only control the oil-feed of meta locked cylinder or the break-make of oil return circuit and also can realize the technical program.

See also Fig. 7, be in low speed road and travel when turning to pattern when detecting unit detects current vehicle, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y805, Y825, connect meta locked cylinder 504,604,704 on the 5th, the 6th, the 7th and the 8th steering shaft and 804 oil-feed and oil return circuit, all equal releases of meta locked cylinder.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and control corresponding electro-hydraulic proportion reversing valve respectively according to the rotation direction and the rotational angle of bearing circle, for example, when bearing circle clockwise rotates, control unit output control signal is held a of electro-hydraulic proportion reversing valve Y813, electro-hydraulic proportion reversing valve Y814, Y815, the b of Y816 holds, and according to the size adjustment electro-hydraulic proportion reversing valve Y813 of bearing circle rotational angle, Y814, the aperture of the ratio valve port of Y815 and Y816, it is identical with the steering direction of wheel on first steering shaft that wheel on the 5th steering shaft is turned under the effect of oil cylinder at it, and the 6th, wheel on the 7th and the 8th steering shaft is opposite with the steering direction of wheel on first steering shaft under the effect that turns to oil cylinder separately.When bearing circle rotated counterclockwise, control unit output control signal made that the b of electro-hydraulic proportion reversing valve Y813 holds electricly, a of electro-hydraulic proportion reversing valve Y814, Y815, Y816 holds electricly, and vehicle is turned to along conter clockwise.

See also Fig. 8, when detecting unit detects vehicle and is in the middling speed road running and turns to pattern, by controlling first, the second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y825, Y805, connect the 5th, meta locked cylinder 504 on the 7th and the 8th steering shaft, 704 and 804 oil-feed and oil return circuit, meta locked cylinder 504,704 and 804 releases, by controlling the first oil return electromagnetic switch valve Y834 and oil-feed electromagnetic switch valve Y824, disconnect the oil-feed oil circuit of the meta locked cylinder 604 on the 6th steering shaft, make 604 lockings 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 Y813 and Y816 respectively according to the rotation direction and the steering angle of bearing circle, make on the 5th steering shaft wheel its turn under the effect of oil cylinder on, the 7th and the 8th steering shaft identical with the steering direction of wheel on first steering shaft wheel under the effect that turns to oil cylinder separately with first steering shaft on the steering direction of wheel opposite, the wheel on the 6th steering shaft does not participate in turning to along straight-line travelling all the time.

See also Fig. 9, be in express highway and travel when turning to pattern when detecting unit detects vehicle, by controlling first, the second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y805, Y825, disconnect the 5th, the 6th, meta locked cylinder 504 on the 7th and the 8th steering shaft, 604,704 and 804 oil-feed and oil return circuit, all meta locked cylinder lockings, like this, the 5th, the 6th, wheel on the 7th and the 8th 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.

See also Figure 10, when the user selects little turning on the TIP to turn to mode selecting key, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y805, Y825, connect meta locked cylinder 504,604,704 on the 5th, the 6th, the 7th and the 8th steering shaft and 804 oil-feed and oil return circuit, all equal releases of meta locked cylinder.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and control corresponding electro-hydraulic proportion reversing valve respectively according to the rotation direction and the rotational angle of bearing circle, it is identical with the steering direction of wheel on first steering shaft that wheel on the 5th steering shaft is turned under the effect of oil cylinder at it, and the wheel on the 6th, the 7th and the 8th steering shaft is opposite with the steering direction of wheel on first steering shaft under the effect that turns to oil cylinder separately.This pattern has to travel than low speed road and turns to the littler turning-circle diameter of pattern.

See also Figure 11, when the user selects crab row mode options button on the TIP, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805, connect meta locked cylinder 504,604,704 on the 5th, the 6th, the 7th and the 8th steering shaft and 804 oil-feed and oil return circuit and all connect all meta locked cylinder releases.At this moment, detecting unit constantly detects the rotation direction of bearing circle and the size of rotational angle, and according to the rotation direction of bearing circle and rotational angle control electro-hydraulic proportion reversing valve, make the 5th, the 6th, the 7th with the 8th steering shaft on wheel identical under the effect that turns to oil cylinder separately with the steering direction of wheel on first steering shaft.

See also Figure 12, when the user selects rear axle meta locking on the TIP to turn to pattern, by controlling first, second oil return electromagnetic switch valve Y834, Y865 and oil-feed electromagnetic switch valve Y823, Y824 and Y825, Y805, disconnect meta locked cylinder 504,604,704 on the 5th, the 6th, the 7th and the 8th steering shaft and 804 oil-feed and oil return circuit, all meta locked cylinder lockings, like this, the wheel on the 5th, the 6th, the 7th and the 8th steering shaft can not turn to along with the rotation of bearing circle.

The locking of rear axle meta turns to pattern to belong to a kind of manual protected mode.Generally under the normal highway travel situations, steering controller can be according to the current vehicle speed corresponding low speed that automaticallyes switch, middling speed or express highway travel and turn to pattern, so that vehicle keeps vehicle attitude steady in traveling process, certainly, if this moment, car load was bigger, chaufeur can turn to mode selecting key by the locking of the rear axle meta on the TIP, make the 5th of vehicle, the 6th, meta locked cylinder locking on the 7th and the 8th steering shaft, wheel on these steering shafts can only be along straight-line travelling, can not carry out active steering, thus the danger of avoiding vehicle to topple because turning circle diameter is too small.

In order to improve the functional reliability of meta locked cylinder, the concrete structure of the meta locked cylinder that is adopted among the present invention as shown in figure 13, adopt the structural shape of piston rod and double-piston separation type, comprise cylinder body 901, the compartment of terrain is provided with a left side in the inner chamber of cylinder body 901, right piston 909,902, by a left side, right piston 909,902 inner chambers with cylinder body 901 are separated into rod chamber 905,906 3 parts of intermediate cavity and rodless cavity, piston rod 903 is step axle shape and large-diameter portion places in the intermediate cavity, minor diameter is stretched out after passing right piston 902 and cylinder body right end cap successively, fixedly install the meta locating piece 908 of tubulose on the inwall of intermediate cavity, be set with intermediate piston 907 on the outer circumference surface of the major diameter part of piston rod 903, gap between the outer circumference surface of intermediate piston 907 and meta locating piece 908 inwalls forms meta chamber 904, the length of intermediate piston 907 is more than or equal to the length of meta locating piece 908, the right side of the pars intermedia of the left side of intermediate piston 907 and left piston 909 offsets and the peripheral part of left piston 909 right sides and the left side of meta locating piece 908 offset, reflux in meta chamber 904 welding system all the time, rod chamber 905 and rodless cavity 906 are by the pressure oil circuit or the oil return circuit of corresponding oil-feed and oil return electromagnetic switch valve while connected system, when rod chamber 905 and rodless cavity 906 are all connected the system oil return oil circuit, when the meta locked cylinder is in released state, is applied to external force on the piston rod 903 and promotes piston rod 903 and stretch out or withdraw; When rod chamber 905, the rodless cavity 906 of meta locked cylinder communicates with the pressure oil circuit of system, and meta chamber 904 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 902 is moved to the left up to offseting with meta locating piece 908, left piston 909 moves right under the effect of pressure oil, contact with in intermediate piston 907 or the meta locating piece 908 at least one, guaranteed that the wheel on the corresponding steering shaft keeps straight-line travelling.The position by adjusting meta locating piece 908 and the length of intermediate piston 907 can be adjusted the meta locked cylinder and lock timer-operated particular location, and intermediate piston 908 and meta locating piece 908 are equivalent to provide the protection of dual location.

In order to ensure the reliability of steering control system work, to avoid danger occurring owing to the fault of electric, hydraulic pressure or component of machine, steering control system also possesses expeditious measures.Concrete measure is, first, second, the 5th, the 6th, on the wheel on the 7th and the 8th steering shaft angular transducer is set all, whether detecting unit collects the steering angle of wheel and the gap between the pairing standard value of this wheel turning angle characteristic curve according to any angular transducer is foundation greater than setting value, for example setting value is 3 °, obtain the current whether dangerous judged result that turns to, the deflection angle characteristic curve here is meant current and turns under the pattern, when judged result shows current turning to when dangerous, the control unit output alarm signal, prompting user parking checking makes all wheels be reset to the straight-line travelling state.

In addition, for avoiding occurring steering swivel system inefficacy, the hardover failure of travelling, situations such as slide-out, steering control system also possesses expeditious measures, when electric, hydraulic pressure or component of machine break down, automatically start the locking of rear axle meta and turn to pattern, such as, in case angle of arrival is measured situations such as mistake, bus controller deadlock, steering controller deadlock, solenoid-operated proportional change-over valve fault, the pollution of hydraulic efficiency pressure system oil circuit or obstruction in the rear axle steering hydraulic efficiency pressure system, promptly reporting to the police and starting the rear axle meta automatically locks the pattern that turns to.

Present embodiment also provides a kind of eight automobile universal chassis rotating direction control methods, may further comprise the steps:

Being arranged on wheel on the first, second, third and the 4th steering shaft drives it by bearing circle respectively by the rod-pulling type steering gear and turns to;

Five, be respectively equipped with the meta locked cylinder on the 6th, the 7th and the 8th steering shaft and turn to oil cylinder, and each described meta locked cylinder and the external part that turns to oil cylinder all be connected with track arm on the corresponding steering shaft, form interlocking gear;

Turn to pattern according to the vehicle present located, make described meta locked cylinder locking or release on the 5th, the 6th, the 7th and the 8th steering shaft, and control the wheel steering that turns to accordingly on the corresponding steering shaft of hydraulic oil cylinder driving according to the rotation direction and the rotational angle of bearing circle.

In said method, obtain current vehicle according to vehicle speed signal and be in the pattern that turns to that low speed, middling speed or express highway travel; Obtain the pattern that turns to of the residing operating mode of current vehicle according to user's selection, can turn to pattern to comprise that little turning turns to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of patterns for the operating mode that the user selects.

Specifically, the corresponding different patterns that turn to, the wheel of controlling on the corresponding steering shaft carries out different turning to, but prerequisite is the at first release of meta locked cylinder on the corresponding steering shaft.

When being in low speed road, vehicle travels when turning to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 5th steering shaft identical, the steering direction of the wheel on the wheel on the 6th, the 7th and the 8th steering shaft and first steering shaft is opposite;

When vehicle is in little turning and turns to pattern, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the steering direction of the wheel on wheel and first steering shaft on the 5th steering shaft identical, the steering direction of the wheel on the wheel on the 6th, the 7th and the 8th steering shaft and first steering shaft is opposite.

When vehicle is in the crab row mode, each described meta locked cylinder release, each described oil cylinder that turns to stretches with the rotation direction and the rotational angle of bearing circle, make the 5th, the 6th, the 7th with the 8th steering shaft on wheel and first steering shaft on the steering direction of wheel identical.

When vehicle was in rear axle meta locking and turns to pattern, each described meta locked cylinder locking made the wheel on the 5th, the 6th, the 7th and the 8th steering shaft in stays.

In the rotating direction control method of eight car chassiss provided by the invention, if detect first, second, the gap between the pairing standard value of deflection angle characteristic curve of the steering angle of any wheel on the 5th, the 6th, the 7th and the 8th steering shaft and this wheel is greater than setting value, then sends alerting signal.

Above-described only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims

1. the steering control system of eight car chassiss, comprise and be used for mechanical actuation device and fluid pressure drive device and the steering controlling device that drive wheels turns to, described mechanical actuation device comprises bearing circle and the rod-pulling type steering gear that is driven by bearing circle, it is characterized in that

Described rod-pulling type steering gear has four mouths, is respectively applied for to connect the track arm that drives the wheel steering on the first, second, third and the 4th steering shaft;

Described fluid pressure drive device comprises the oil cylinder that turns to that is fixedly installed on the meta locked cylinder on the 5th, the 6th, the 7th and the 8th steering shaft respectively and drives wheel steering on the corresponding steering shaft; Described meta locked cylinder on each steering shaft all is connected with the track arm of corresponding steering shaft with the external part that turns to oil cylinder, forms interlocking gear;

Described steering controlling device is according to turning to pattern output control signal, with oil-feed oil circuit and the oil return circuit that is switched on or switched off described meta locked cylinder and turns to oil cylinder.

2. the steering control system of eight car chassiss according to claim 1 is characterized in that, described steering controlling device comprises:

TIP which is provided with little turning and turns to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of operating modes of pattern to turn to mode selecting key;

Detecting unit is exported current vehicle according to vehicle speed signal and is in the mode signal that turns to that low speed, middling speed or express highway travel; Export the residing corresponding operating mode of current vehicle according to the corresponding options button of user's selection and turn to mode signal;

Control unit is exported described control signal according to the described mode signal that turns to.

3. the steering control system of eight car chassiss according to claim 2 is characterized in that,

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

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

Five, the meta of the 6th, the 7th and the 8th steering shaft locking and release are received by the described oil-feed electromagnetic switch valve on the corresponding steering shaft, oil return electromagnetic switch valve and described solenoid-operated proportional change-over valve that described control signal is switched on or switched off corresponding oil-feed, oil return circuit is realized.

4. the steering control system of eight car chassiss according to claim 3 is characterized in that,

Be respectively equipped with the oil return electromagnetic switch valve on the oil return circuit of the described meta locked cylinder on each steering shaft, and with this meta locked cylinder oil-feed oil circuit on oil-feed electromagnetic switch valve and corresponding described solenoid-operated proportional change-over valve interlock on axle.

5. the steering control system of eight car chassiss according to claim 3 is characterized in that,

The oil return circuit of the described meta locked cylinder on the 5th and the 6th steering shaft is communicated with, this connection oil circuit is communicated with and is communicated with oil circuit with the system oil return oil circuit and is provided with the first oil return electromagnetic switch valve, oil-feed electromagnetic switch valve on the oil-feed oil circuit of at least one the described meta locked cylinder on the 5th and the 6th steering shaft and the described first oil return electromagnetic switch valve receive described control signal respectively, tap into the electromagnetic oil switch valve and the described first oil return electromagnetic switch valve receives described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 5th and the 6th steering shaft;

The oil return circuit of the described meta locked cylinder on the 7th and the 8th 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 on the oil-feed oil circuit of at least one the described meta locked cylinder on the 7th and the 8th steering shaft and the described second oil return electromagnetic switch valve receive described control signal respectively, connect the oil-feed oil circuit of the described meta locked cylinder at least one the 7th and the 8th steering shaft.

6. the steering control system of eight car chassiss according to claim 1, it is characterized in that, five, be respectively equipped with connecting rod on the 6th, the 7th and the 8th steering shaft, the middle part of each described connecting rod is hinged on respectively on the corresponding steering shaft, the described meta locked cylinder on the corresponding steering shaft and turn to the external part of oil cylinder hinged with the both ends of described connecting rod respectively; Each described connecting rod is respectively applied for and connects corresponding track arm, to drive the wheel steering on the corresponding steering shaft.

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

First rocking arm, between first, second steering shaft and its middle part be used for eight car chassiss hinged;

Second rocking arm, between second, third steering shaft and its upper end be used for eight car chassiss hinged;

The 3rd rocking arm, between the 4th, the 5th steering shaft and its upper end be used for eight car chassiss hinged;

First rod assembly, the upper end of an end and described first rocking arm is hinged, the other end be used for eight car chassiss on the mouth of steering drop arm hinged;

Second rod assembly, the lower end of an end and described first rocking arm is hinged, the other end be used for described first steering shaft on the input end of track arm hinged;

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

Four-pull-rod assembly, two ends are hinged with the lower end of described first, second rocking arm respectively;

The 5th rod assembly, the lower end of an end and described second rocking arm is hinged, and the input end of the track arm on the other end and described the 3rd steering shaft is hinged;

The 6th rod assembly, two ends are hinged with the middle part of described second, third rocking arm respectively;

The 7th rod assembly, the lower end of an end and described the 3rd rocking arm is hinged, the other end be used for described the 4th steering shaft on the input end of track arm hinged.

8. according to the steering control system of claim 3,4 or 5 described eight car chassiss, it is characterized in that,

Travel at low speed road and to turn under the pattern, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the wheel on the 5th steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn on identical, the 6th, the 7th and the 8th steering shaft wheel under the corresponding driving that turns to oil cylinder with first steering shaft on the switched in opposite of wheel;

9. according to the steering control system of claim 3,4 or 5 described eight car chassiss, it is characterized in that,

Turn under the pattern in little turning, described control unit is exported control signal respectively: connect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the wheel on the 5th steering shaft under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn on identical, the 6th, the 7th and the 8th steering shaft wheel under the corresponding driving that turns to oil cylinder with first steering shaft on the switched in opposite of wheel.

10. according to the steering control system of claim 3,4 or 5 described eight car chassiss, it is characterized in that,

Under the crab row mode, described control unit is exported control signal respectively: connect the oil-feed oil circuit of each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder, and the 5th, the 6th, the 7th with the 8th steering shaft on wheel under the corresponding driving that turns to oil cylinder with first steering shaft on wheel turn to identical.

11. the steering control system according to claim 3,4 or 5 described eight car chassiss is characterized in that,

Turn under the pattern in the locking of rear axle meta, described control unit is exported control signal respectively: disconnect each described meta locked cylinder and each described oil-feed oil circuit that turns to oil cylinder.

12. the steering control system of eight car chassiss according to claim 2, it is characterized in that, also comprise a plurality of angular transducers, be respectively applied for detect first, second, the steering angle of the wheel on the 5th, the 6th, the 7th and the 8th steering shaft, whether dangerous whether described detecting unit collects the steering angle of wheel and the gap between the pairing standard value of this wheel turning angle characteristic curve according to any angular transducer is foundation greater than setting value, obtain the current judged result that turns to; When showing, judged result currently turns to when dangerous described control unit output alarm signal.

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

14. the rotating direction control method of eight car chassiss according to claim 13 is characterized in that,

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

Obtain the pattern that turns to of the residing operating mode of current vehicle according to user's selection, can turn to pattern to comprise that little turning turns to pattern, crab row mode and the locking of rear axle meta to turn to three kinds of patterns for the operating mode that the user selects.

15. the rotating direction control method of eight car chassiss according to claim 14 is characterized in that,

16. the rotating direction control method of eight car chassiss according to claim 14 is characterized in that,

17. the rotating direction control method of eight car chassiss according to claim 14 is characterized in that,

18. the rotating direction control method of eight car chassiss according to claim 14 is characterized in that,

19. the rotating direction control method according to claim 13 to 18 described eight car chassis of each claim is characterized in that,

If detect first, second, the gap between the pairing standard value of deflection angle characteristic curve of the steering angle of any wheel on the 5th, the 6th, the 7th and the 8th steering shaft and this wheel is greater than setting value, then sends alerting signal.

20. eight car chassis hoisting cranes have the steering control system of controlling each wheel steering, it is characterized in that the concrete steering control system as each described eight car chassiss of claim 1 to 12 of described steering control system.