CN102030037B

CN102030037B - Crane for eight-shaft automobile chassis, and steering control system

Info

Publication number: CN102030037B
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: 2012-12-05
Anticipated expiration: 2030-12-06
Also published as: CN102030037A

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

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 is aided with hydraulic booster system, and 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, and steering drop arm rotates counterclockwise around hinge A1 through 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, and 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, it is hinged that the tenth rod assembly 17 and the 11 rod assembly 19 pass through the 6th rocking arm 18; So; Promote the 7th rocking arm 21 and clockwise rotate 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, the steering direction of the wheel on the first, second, third, fourth, the 7th and the 8th steering shaft is opposite with the steering direction of aforementioned each wheel, repeats no more at this.

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; Receive the restriction in space; Mechanical steering gear can't be arranged into the 5th and the 6th steering shaft, and therefore, the wheel on existing eight full ground hoisting cranes the 5th and the 6th steering shaft can not be participated 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 the member structure that is formed by former and later two combination of components; The locked of former and later two assemblies and release two states can be provided; Under locking state, former and later two assemblies are equivalent to the pull bar of a rigidity, can be with steering angle steering shaft transmission rearwards; And under the state of release; Can freely rotate between former and later two assemblies, so the steering shaft transmission that steering angle can't be rearwards turns 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, the wheel on the 7th and the 8th steering shaft can only be followed the turning to of wheel on first steering shaft and turned to simultaneously, and the steering direction of the steering direction of the wheel on the 7th and the 8th steering shaft and the wheel on first steering shaft is opposite.

Can know that according to above description existing eight full ground hoisting cranes turn to through the wheel on mechanical steering gear control the first, second, third, fourth and the 7th, the 8th steering shaft, 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, a kind of pattern that turns to can only be provided, 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, and hydraulic booster system can be delivered to the 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, 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 to existing structure; With the stability of satisfied eight car chassis handling maneuvers and the requirement of bend carrying capacity and maneuverability property, 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

To 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; 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 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; Said 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; 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 and the locking of rear axle meta to turn to three 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, 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; 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; Five, the meta of the 6th, the 7th and the 8th steering shaft locking 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 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.

Preferably; 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 first oil return electromagnetic switch valve; Oil-feed electromagnetic switch valve on the oil-feed oil circuit of at least one the said meta locked cylinder on the 5th and the 6th steering shaft and the said first oil return electromagnetic switch valve receive said control signal respectively, connect the oil-feed oil circuit of the said meta locked cylinder at least one the 5th and the 6th steering shaft; The oil return circuit of the said 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 said meta locked cylinder on the 7th and the 8th steering shaft and the said second oil return electromagnetic switch valve receive said control signal respectively, connect the oil-feed oil circuit of the said 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 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 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, first rocking arm between first, second steering shaft and the center be used for eight car chassiss hinged; 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 said 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 said first 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 first rocking arm are hinged, the other end be used for said 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 said first, second rocking arm respectively; One end of the 5th rod assembly and the lower end of said second rocking arm are hinged, and the input end of the track arm on the other end and said the 3rd steering shaft is hinged; The two ends of the 6th rod assembly are hinged with the middle part of said second, third rocking arm respectively; One end of the 7th rod assembly and the lower end of said the 3rd rocking arm are hinged, the other end be used for said the 4th steering shaft on the input end of track arm 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 the 5th steering shaft the corresponding driving that turns to oil cylinder down with first steering shaft on wheel turn to wheel on identical, the 6th, the 7th and the 8th steering shaft 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 said meta locked cylinder on the 5th, the 7th and the 8th steering shaft, and break off the oil-feed oil circuit of the said meta locked cylinder on the 6th steering shaft; Connect the said 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 break off the said 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;

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: connect each said meta locked cylinder and each said oil-feed oil circuit that turns to oil cylinder, and the wheel on the 5th steering shaft the corresponding driving that turns to oil cylinder down with first steering shaft on wheel turn to wheel on identical, the 6th, the 7th and the 8th steering shaft under the corresponding driving that turns to oil cylinder and the switched in opposite of the wheel on first steering shaft.

Preferably; 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 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, 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 detect first, second, the steering angle of the wheel on the 5th, the 6th, the 7th and the 8th steering shaft; 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 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 through 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 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; Make said meta locked cylinder locking or release on the 5th, the 6th, the 7th and the 8th 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.

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 and the locking of rear axle meta to turn to three 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 the 5th steering shaft identical, and the wheel on the 6th, the 7th and the 8th 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; Five, the said meta locked cylinder release on the 7th and the 8th steering shaft; Said meta locked cylinder locking on the 6th steering shaft; Five, the said 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, the wheel on the 7th, the 8th steering shaft is opposite with the steering direction of the wheel on first steering shaft, and the wheel on the 6th steering shaft is in stays;

Go when turning to pattern when vehicle is in express highway, the said 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 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 5th steering shaft identical, and the wheel on the 6th, the 7th and the 8th 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 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 said 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 said 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 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; 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 transmission of power to the miscellaneous part that turns to oil cylinder under the abnomal condition and the phenomenon that occurs rupturing appearance; 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 GES and be in the pattern that turns to that low speed, middling speed or express highway go; And send the wheel that control signal controls on corresponding the 5th, the 6th, the 7th and the 8th steering shaft and turn to accordingly; Particularly going at express highway turns under the pattern, automatically locks the meta locked cylinder on the 5th, the 6th, the 7th and the 8th steering shaft, makes 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, turned under the pattern in the locking of rear axle meta, control unit is exported control signal respectively: break off 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 the 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 5;

Fig. 7 is the steering principle scheme drawing that low speed road described in the specific embodiment goes 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 goes 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, the left and right wheel on 511-the 5th 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; 702, the left and right oil cylinder that turns on 712-the 7th steering shaft, 802, the left and right oil cylinder that turns on 812-the 8th steering shaft, 504,604,704, the meta locked cylinder on 804-the the the 5th, the 6th, the 7th, the 8th steering shaft; The 505-connecting rod; The 506-jointed shaft, 507-pull bar, the 508-first control cock group; The 808-second control cock group, 509,609,709,809-the the 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 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 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 among this paper 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 from headstock to the tailstock.The functional components such as chassis, winding plant and Lifting device of these eight 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.

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 goes 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 between first, second steering shaft L1, the L2 and the center is used for eight car chassiss hinged; Second rocking arm 108 is arranged between second, third steering shaft L2, the L3 and its upper end is used for eight car chassiss hinged; The 3rd rocking arm is between the 4th, the 5th steering shaft and be used for eight car chassiss hinged on it; Bearing circle 101 is passed to deflector through 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 hinged with the lower end of first, second rocking arm 105,108 respectively; The two ends of the 6th rod assembly 110 are hinged with the middle part of second, third rocking arm 108,112 respectively; 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, and hinged with the track arm that drives the wheel steering on the 3rd steering shaft, an 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 of center; 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 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 5th steering shaft) below, a kind of specific embodiment of realizing this interlocking gear is explained.

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 through steering swivel; Meta locked cylinder 504 with turn to oil cylinder to be fixedly installed on the both sides of the 5th steering shaft 503 respectively; Wherein, Left and rightly turn to oil cylinder 502,512 to be respectively applied for driving left and right wheel 501,511 to turn to (top with drawing among Fig. 4 is the right side, below be a left side).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 through pull bar 507, realizes the 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, then drive 504 withdrawals of meta locked cylinder, thereby 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 of meta locked cylinder 504 and oil return circuit all break off, 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 through 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 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 flesh and blood 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 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; 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. 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 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 5, 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 introduce 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 504,604 on the 5th and the 6th steering shaft is connected on the first control cock group 508 through corresponding the 3rd valve group 509,609 respectively; Meta locked cylinder 704,804 on the 7th and the 8th steering shaft is connected on the second control cock group 808 through corresponding the 3rd valve group 709,809 respectively; The structure of first, second control cock group 508,808 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, 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 504,604; Electromagnetic switch valve Y823 and Y824 are used to control the break-make of the oil-feed oil circuit of the meta locked cylinder 504,604 on the 5th and the 6th 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 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 through 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.The oil return circuit of meta locked cylinder 504,604 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 504,604 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 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, 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 504,604 all breaks off with the system oil return oil circuit on the 5th and the 6th steering shaft, so meta locked cylinder 504,604 all locks, can't realize stretching; Like this; Because meta locked cylinder 504 forms interlocking gear with the corresponding left and right oil cylinder 502,512 that turns to, meta locked cylinder 604 forms interlocking gear with the corresponding left and right oil cylinder 602,612 that turns to, 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 wheel on the 5th, the 6th steering shaft can only can't turn to along straight-line travelling.Likewise; The second control cock group 808 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 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 through 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, repeats no more at this.

In the such scheme; Meta locked cylinder on the 5th and the 6th, the 7th and the 8th 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 508,808, 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. 7; 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 504,604,704 and 804 oil-feed and oil return circuit on the 5th, the 6th, the 7th and the 8th 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 holds electricly, the b of electro-hydraulic proportion reversing valve Y814, Y815, Y816 holds electricly, 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 the 5th 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 6th, the 7th and the 8th steering shaft under the effect that turns to oil cylinder separately with first steering shaft on the steering direction of wheel opposite.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 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, Y825, Y805; Connect meta locked cylinder 504,704 and 804 oil-feed and oil return circuit on the 5th, the 7th and the 8th steering shaft, meta locked cylinder 504,704 and 804 releases are through controlling the first oil return electromagnetic switch valve Y834 and oil-feed electromagnetic switch valve Y824; Break off 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 with first steering shaft on identical, the 7th and the 8th steering shaft of the steering direction of wheel on 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; 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 504,604,704 and 804 oil-feed and oil return circuit on the 5th, the 6th, the 7th and the 8th steering shaft, all meta locked cylinder lockings; Like this; Five, the wheel on the 6th, the 7th and the 8th steering shaft can not turn to along with the rotation of bearing circle, and 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; 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 504,604,704 and 804 oil-feed and oil return circuit on the 5th, the 6th, the 7th and the 8th 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; Make on the 5th 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 6th, the 7th and the 8th steering shaft under the effect that turns to oil cylinder separately with first steering shaft on the steering direction of wheel opposite.This pattern has to go than low speed road and turns to the littler turning-circle diameter of pattern.

See also Figure 11; 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 504,604,704 and 804 oil-feed and the oil return circuit connected on the 5th, the 6th, the 7th and the 8th 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 5th, the 6th, the 7th with the 8th 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 12; 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 504,604,704 and 804 oil-feed and oil return circuit on the 5th, the 6th, the 7th and the 8th steering shaft; 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 go and turns to pattern according to automatically switch corresponding low speed, middling speed or express highway of current vehicle speed, 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 through the rear axle meta on TIP locking, makes the meta locked cylinder locking on the 5th, the 6th, the 7th and the 8th steering shaft of vehicle, and the 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 is shown in figure 13; Adopt the structural shape of piston rod and double-piston separation type; Comprise cylinder body 901, left and right piston 909,902 is set to the inner chamber interval of cylinder body 901, be separated into rod chamber 905, intermediate cavity and 906 3 parts of rodless cavity through left and right piston 909,902 inner chambers with cylinder body 901; 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 installs the meta locating piece 908 of tubulose on the inwall of intermediate cavity, is 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, and 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, and refluxes in meta chamber 904 welding system all the time; Rod chamber 905 and pressure oil circuit or the oil return circuit of rodless cavity 906 through 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 outer force urges piston rod 903 on the piston rod 903 and stretches 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, contacts with in intermediate piston 907 or the meta locating piece 908 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 908 and the length of intermediate piston 907, can adjust the meta locked cylinder and lock timer-operated particular location, and intermediate piston 908 is equivalent to provide the protection of dual location with meta locating piece 908.

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, angular transducer all is set on the wheel on the 5th, the 6th, the 7th and the 8th steering shaft, 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, 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.

This 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 through 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 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; Make said meta locked cylinder locking or release on the 5th, the 6th, the 7th and the 8th 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.

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; 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 and the locking of rear axle meta to turn to three 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 the 5th steering shaft identical, the wheel on the 6th, the 7th and the 8th steering shaft is opposite with the steering direction of the wheel on first steering shaft;

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 5th steering shaft identical, the wheel on the 6th, the 7th and the 8th 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 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 said 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 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 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; 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 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;

Said 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; 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;

Said rod-pulling type steering gear comprises:

First rocking arm, between first, second steering shaft and the center 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 said 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 said first rocking arm is hinged, the other end be used for said first steering shaft on the input end of track arm hinged;

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

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

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

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

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

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

Be respectively arranged with the oil-feed electromagnetic switch valve on the oil-feed oil circuit of the said meta locked cylinder on each steering shaft; 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.

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

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

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

5. the steering control system of eight car chassiss according to claim 3; 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 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.

6. the steering control system of eight 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 the 5th steering shaft the corresponding driving that turns to oil cylinder down with first steering shaft on wheel turn to wheel on identical, the 6th, the 7th and the 8th steering shaft under the corresponding driving that turns to oil cylinder and the switched in opposite of the wheel on first steering shaft;

7. the steering control system of eight 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 5th steering shaft the corresponding driving that turns to oil cylinder down with first steering shaft on wheel turn to wheel on identical, the 6th, the 7th and the 8th steering shaft under the corresponding driving that turns to oil cylinder and the switched in opposite of the wheel on first steering shaft.

8. the steering control system of eight 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 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.

9. the steering control system of eight 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.

10. 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 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.