CN102285375A - All-wheel independent steering mechanism for special vehicle - Google Patents
All-wheel independent steering mechanism for special vehicle Download PDFInfo
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- CN102285375A CN102285375A CN2010102021964A CN201010202196A CN102285375A CN 102285375 A CN102285375 A CN 102285375A CN 2010102021964 A CN2010102021964 A CN 2010102021964A CN 201010202196 A CN201010202196 A CN 201010202196A CN 102285375 A CN102285375 A CN 102285375A
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Abstract
The invention discloses an all-wheel independent steering mechanism for a special vehicle. In the mechanism, an oil cylinder support seat and a steering support seat are welded with a box-shaped cross beam of a frame; the two ends of an arc steering swing arm are hinged with the steering support seat and one end of a planar swing rod respectively; the other end of the planar swing rod is provided with a through hole; one end of a vertical shaft is provided with threads and penetrates into the through hole at the other end of the planar swing rod, and the other end of the vertical shaft is welded with a vehicle suspension body; an anti-loose bolt is screwed into the threaded end of the vertical shaft and is positioned outside the planar swing rod; and the two ends of a steering oil cylinder are hinged with the oil cylinder support seat and the arc top of the arc steering swing arm respectively. Through the steering mechanism, the defects of the conventional mechanical connecting rod steering mechanism are overcome; steering, oblique running, transverse running, swing and in-situ steering functions of the vehicle are realized; the maneuverability and the accessibility of the vehicle are improved; and abnormal wear of tires is avoided.
Description
Technical field
The present invention relates to a kind of full wheel independent steering gear of special vehicle.
Background technology
Special vehicle comprises all kinds of power flat bed cars, big part transport trolley, engineering truck and fire extinguishing tanker etc.; At present, when diaxon or multi-wheeler turn to, generally be the front-wheel active steering, trailing wheel relies on that diff is passive to be turned to.Automobile more than three, trailing wheel generally adopt the mechanical steering connecting rod to realize turning to, and Linkage steering connects the spindle arm of each wheel successively, and spindle arm connects the suspension body of each wheel, and suspension body drives wheel.The steering hardware of this form needs repeatedly " reversing " can make vehicle near target, so its manoevreability and proximity deficiency, and efficient is also lower.
The steering hardware that comprises power flat bed car and big part transport trolley, still be the push-pull fashion of mechanical steering connecting rod at present, connecting rod is under the promotion or pulling of oil cylinder, making each suspension body do dead axle by certain geometric relationship rotates, can realize that " Eight characters " turns to, but the hard-over of suspension body generally can not surpass 60 degree, otherwise, the axis of revolution of connecting rod and suspension body is interfered, so vehicle that this kind turns to connecting rod, only can realize that " Eight characters " turns to, can't realize diagonal, walk crosswise, rotation and pivot stud function.This kind vehicle is because bulky, and when mobile, the manoevreability and the proximity that turn to are relatively poor, so there is certain limitation in this steering mode in locations, zonule such as workshop." Eight characters " that adopt this type of connecting rod mechanism to form turns to pattern, owing to limited by the relevance of connecting rod mechanism self between each suspension body, the actual rotational angle of each wheel can not be overlapped with theoretical corner, sometimes depart from bigger, all the more so in big angle range especially, this is because during Vehicular turn, between its construction parameter and the formed corner of each suspension body and nonlinear relationship, but trigonometric function relation, make and exist than large deviation between the actual rotational angle of each suspension body and the theoretical corner, can not satisfy the Ackermann steering principle of vehicle, the improper property wearing and tearing that this just certainly will aggravate tire have caused unnecessary loss economically.
Engineering truck and fire extinguishing tanker based on the automobile domain, generally be the front-wheel active steering, trailing wheel is passive to be turned to, still can not realize diagonal, walk crosswise, rotation and pivot stud function, under or the situation that the condition of a fire is critical narrow and small, can only repeatedly move forward and backward, when running into comparatively complex-terrain near target in the zone, more highlight the drawback of its manoevreability, proximity deficiency, this certainly will influence its work efficiency.
Summary of the invention
Technical matters to be solved by this invention provides a kind of full wheel independent steering gear of special vehicle, this steering hardware has overcome the defective of traditional mechanical connecting rod steering mechanism, realize the turning to of vehicle, diagonal, walk crosswise, rotation and pivot stud function, improve the manoevreability and the proximity of vehicle, avoided Abnormity abrasion about tyre.
For solving the problems of the technologies described above, the full wheel independent steering gear of special vehicle of the present invention comprises the oil cylinder supporting seat, turn to supporting seat, turn to oil cylinder, arc turns to swing arm, the plane fork, vertical shaft and black nut, the described oil cylinder that turns to, oil cylinder supporting seat and the box crossbeam and two supporting seats that turn to supporting seat to be positioned at vehicle frame are welded on the inwall of box crossbeam, described arc turns to hinged respectively described supporting seat and plane fork one end of turning in swing arm two ends, the described plane fork other end has through hole, described vertical shaft one end is provided with screw thread and penetrates in the through hole of the described plane fork other end, the described vertical shaft other end is by being welded to connect the vehicle hanging body, described lock bolt is twisted in the thread end of described vertical shaft and is positioned at the fork outside, described plane, the described arc top that turns to hinged respectively described oil cylinder supporting seat in oil cylinder two ends and arc to turn to swing arm.
Further, above-mentioned steering hardware also comprises plurality of strengthening ribs, and described plurality of strengthening ribs is welded plane on the periphery of being located at described vertical shaft and the vehicle hanging body at interval.
Because the full wheel independent steering gear of special vehicle of the present invention has adopted technique scheme, it is oil cylinder supporting seat and turn to supporting seat to be welded on the box crossbeam of vehicle frame, arc turns to swing arm two ends articulation steering supporting seat and plane fork one end respectively, the plane fork other end has through hole, vertical shaft one end is provided with screw thread and penetrates in the through hole of the plane fork other end, the vertical shaft other end is by being welded to connect the vehicle hanging body, lock bolt is twisted in the thread end of vertical shaft and is positioned at the fork outside, plane, turns to hinged respectively oil cylinder supporting seat in oil cylinder two ends and arc to turn to the arc top of swing arm.This steering hardware has overcome the defective of traditional mechanical connecting rod steering mechanism, realizes the turning to of vehicle, diagonal, walks crosswise, rotation and pivot stud function, has improved the manoevreability and the proximity of vehicle, has avoided Abnormity abrasion about tyre.
Description of drawings
The present invention is described in further detail below in conjunction with drawings and embodiments:
Fig. 1 is the structural representation of the full wheel independent steering gear of special vehicle of the present invention,
Fig. 2 is installed on the structural representation of carriage frame for this steering hardware,
The position view of this steering hardware when Fig. 3 keeps straight on for vehicle,
The position view of this steering hardware when Fig. 4 turns to for the vehicle Eight characters,
The position view of this steering hardware when Fig. 5 is the vehicle diagonal,
The position view of this steering hardware when Fig. 6 walks crosswise for vehicle.
The specific embodiment
As shown in Figure 1, the full wheel independent steering gear of special vehicle of the present invention comprises oil cylinder supporting seat 1, turn to supporting seat 2, turn to oil cylinder 6, arc turns to swing arm 3, plane fork 4, vertical shaft 5 and black nut 9, the described oil cylinder 6 that turns to, oil cylinder supporting seat 1 and the box crossbeam and two supporting seats that turn to supporting seat 2 to be positioned at vehicle frame are welded on the inwall of box crossbeam, described arc turns to hinged respectively described supporting seat 2 and plane fork 4 one ends of turning in swing arm 3 two ends, described plane fork 4 other ends have through hole, described vertical shaft 5 one ends are provided with screw thread and penetrate in the through hole of described plane fork 4 other ends, described vertical shaft 5 other ends are by being welded to connect vehicle hanging body 8, described lock bolt 9 is twisted in the thread end of described vertical shaft 5 and is positioned at fork 4 outsides, described plane, the described arc top that turns to hinged respectively described oil cylinder supporting seat 1 in oil cylinder 6 two ends and arc to turn to swing arm 3.
Further, above-mentioned steering hardware also comprises plurality of strengthening ribs 7, described plurality of strengthening ribs 7 welding at interval is located at plane on the periphery of described vertical shaft 5 and the vehicle hanging body 8, to strengthen vertical shaft 5 and vehicle hanging body 8 bonded assembly reliability, vertical shaft 5 and reinforced rib 7 are done dead axle with vehicle hanging body 8 and are rotated.
As shown in Figure 2, this steering hardware is by oil cylinder supporting seat 1 and turn to supporting seat 2 to be arranged near each wheel 12 of vehicle the vehicle frame box crossbeam 10, and by vertical shaft 5 connection vehicle hanging bodies 8, vehicle hanging body 8 is connected with vehicle frame box crossbeam 10 by pivoting support 13, turn to oil cylinder 6 by PLC stored program controlled and electro-hydraulic proportion reversing valve control, turn to oil cylinder 6 action to drive arcs and turn to swing arm 3 and plane fork 4 to move as the plane, the vertical shaft of being located in plane fork 4 through holes 5 is realized turning to by vehicle hanging body 8 and vehicle bridge 11 drive wheels 12.
This steering hardware is to overlap independently steering hardware, be that turning to independently of each suspension body of vehicle and vehicle bridge carried out, there is not mutual restriction relation mechanically between each suspension body, the steering angle of each suspension body and vehicle bridge turns to oil cylinder control by PLC stored program controlled and electro-hydraulic proportion reversing valve by driving, when one timing of vehicle structure parameter, the corner of each suspension body and vehicle bridge is theoretical corner, the Ackermann steering principle that meets vehicle, this just makes each tire of vehicle all do pure rolling in steering procedure, the improper property wearing and tearing of tire have been reduced, the service life of having improved tire.
During Vehicular turn, select the required pattern that turns to by the PLC stored program controlled, at this moment, electro-hydraulic proportion reversing valve group picked up signal is opened through-flow mouthful of flow valve separately in pre-set ratio aperture relation.Steering wheel rotation, when rotating counterclockwise for turning to the big chamber of oil cylinder oil-filled, loculus is fuel-displaced, when clockwise rotating for turning to the oil cylinder loculus oil-filled, big chamber is fuel-displaced, and along with the rotation of bearing circle, the relative cylinder body of steering oil cylinder piston rod is done straight-line motion, do plane motion with respect to vehicle frame, turn to oil cylinder to do dead axle and rotate around the afterbody supporting seat; Oil cylinder piston bar promotion this moment or pulling arc turn to swing arm to rotate and do the dead axle rotation to supporting seat; Fork one end in plane is subjected to arc to turn to swing arm to retrain, rotate around turning to supporting seat to do dead axle, the plane fork other end connects the vehicle hanging body by vertical shaft and does dead axle around the suspension body center and rotate, and does dead axle by vertical shaft promotion or pulling vehicle hanging body simultaneously and rotates.Thereby realize the independent steering of each vehicle bridge and wheel.
This steering hardware be equipped with the vehicle independent suspension can make the multiaxis line or take turns that special vehicle realizes that the Eight characters turns to more, diagonal, walk crosswise, functions such as rotation and pivot stud.During with engineering or the supporting use of fire-fighting vehicle, can strengthen the manoevreability and the proximity of vehicle, significantly improve work efficiency.
The concrete operations of Vehicular turn are as follows:
1. press the constructing variable and the Ackermann steering theory of vehicle, the good difference of calculated in advance turns to the theoretical corner of each suspension body of vehicle under the pattern, with the far-end inboard wheel is benchmark, try to achieve the corner relative value of other wheels, and, obtain the foundation of signal as electro-hydraulic proportion reversing valve with form of software input PLC stored program controlled;
2. before turning to operation, can click on the operator's compartment read-out " turning to pattern ", the direction of passage dish sends steering order to the PLC stored program controlled again, and bearing circle rotates from zero degree, and left-hand revolution is that positive-angle turns to, and clockwise turns to negative angle and turns to;
3. bearing circle instruction is controlled the flow of each electro-hydraulic proportion reversing valve by the PLC stored program controlled, and the pressure oil liquid of hydraulic efficiency pressure system charges into the cooresponding oil cylinder that turns to by electro-hydraulic proportion reversing valve.Each flow that turns to oil cylinder to obtain is according to the different patterns that turns to, and different turn to the theoretical corner that respectively turns to oil cylinder place suspension body under the pattern to calculate and obtain, because to be in charge of the resulting automatically controlled signal of each proportional reversing valve that turns to oil cylinder different, thus the flow that respectively turns to the hydraulic oil that oil cylinder obtains also difference (this situation turn to pattern when walking crosswise except).
4. according to the pattern of selecting in advance that turns to, the arc that respectively turns to oil cylinder to promote separately turns to swing arm to drive each suspension body and wheel; Angular-motion transducer is installed on the suspension body, steering angle can be fed back to the PLC stored program controlled, and on the operator's compartment monitor screen, show wheel steering angle.
Along with the rotation of bearing circle, chaufeur can judge this time to turn to whether put in place, thereby whether definite bearing circle appends angle or stop operating.
This steering hardware can make vehicle realize the various patterns that turn to, and existing division is as follows:
1. keep straight on: as shown in Figure 3, the arc of steering hardware turns to swing arm 3, plane fork 4 and turns to oil cylinder 6 when initial position, is straight-going mode;
2. the Eight characters turns to: as shown in Figure 4, steering hardware turns to oil cylinder 6 actions and drives arc and turns to swing arm 3 and plane fork 4 to make the dead axle plane motion, drive suspension body 8 and vehicle bridge 11 rotation α angles by vertical shaft 5, the realization Eight characters turns to, it is the most frequently used a kind of pattern that turns to that the Eight characters turns to, it is when turning with the difference of general power actuated vehicle, and the theoretical corner that all wheels are pressed separately simultaneously forms " eight " word shape, can make vehicle obtain minimum turning radius;
3. diagonal: as shown in Figure 5, bearing circle is rotated to the β angle, all wheels 12 of vehicle all can turn to this angle turning to oil cylinder 6, arc to turn under the driving of swing arm 3 and plane fork 4, all operations toward the direction of rear wheel 12 that put in place of wheel 12 corners;
4. walk crosswise: as shown in Figure 6, when turning to pattern to be changed to " walking crosswise ", suspension body 8 corners no longer respond the control of bearing circle rotating signal, respectively turning to oil cylinder 6 drive wheels 12 under the unified control of PLC stored program controlled and electro-hydraulic proportion reversing valve to revolve forward or backwards turn 90 degrees, after wheel 12 corners put in place, can make the lateral direction of car operation;
5. pivot stud: will turn to mode switch to arrive this shelves, steering wheel rotation, vehicle will be made pivot stud around the geometric centre position of self.
This steering hardware can be widely used in the power flat bed car and the big part transport vehicle of steel mill, shipyard, the common feature of such vehicle is, load carrying ability is big, speed is slow, and transportation range is short, turns to frequent, territorial environment is not spacious and complicated, often be operated between workshop and the harbour, satisfy the manoevreability and the proximity of Vehicular turn, improved the operating efficiency of vehicle.
Claims (2)
1. the full wheel independent steering gear of a special vehicle, it is characterized in that: described steering hardware comprises the oil cylinder supporting seat, turn to supporting seat, turn to oil cylinder, arc turns to swing arm, the plane fork, vertical shaft and black nut, the described oil cylinder that turns to, oil cylinder supporting seat and the box crossbeam and two supporting seats that turn to supporting seat to be positioned at vehicle frame are welded on the inwall of box crossbeam, described arc turns to the swing arm two ends by hinged respectively described supporting seat and plane fork one end of turning to of bearing pin, the described plane fork other end has through hole, described vertical shaft one end is provided with screw thread and penetrates in the through hole of the described plane fork other end, the described vertical shaft other end is by being welded to connect the vehicle hanging body, described lock bolt is twisted in the thread end of described vertical shaft and is positioned at the fork outside, described plane, the described arc top that turns to the oil cylinder two ends to turn to swing arm by hinged respectively described oil cylinder supporting seat of bearing pin and arc.
2. the full wheel independent steering gear of special vehicle according to claim 1, it is characterized in that: described steering hardware also comprises plurality of strengthening ribs, described plurality of strengthening ribs is welded plane on the periphery of being located at described vertical shaft and the vehicle hanging body at interval.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102021964A CN102285375A (en) | 2010-06-17 | 2010-06-17 | All-wheel independent steering mechanism for special vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102021964A CN102285375A (en) | 2010-06-17 | 2010-06-17 | All-wheel independent steering mechanism for special vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102285375A true CN102285375A (en) | 2011-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102021964A Pending CN102285375A (en) | 2010-06-17 | 2010-06-17 | All-wheel independent steering mechanism for special vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175861A (en) * | 2014-08-25 | 2014-12-03 | 安徽工程大学 | Chassis drive system for all-wheel drive and all-wheel steering electric forklift and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002193124A (en) * | 2000-10-16 | 2002-07-10 | Komatsu Forklift Co Ltd | Power steering device of industrial vehicle |
| CN1702007A (en) * | 2005-05-26 | 2005-11-30 | 江苏大学 | Separated steering device for vehicular four wheels and its control method |
| CN1850536A (en) * | 2006-05-29 | 2006-10-25 | 郑州大方桥梁机械有限公司 | Independent steering suspension for large-sized power flat bed transport vehicle |
| CN201009929Y (en) * | 2007-02-05 | 2008-01-23 | 北京科技大学 | Independent steering apparatus of dynamic flat plate carrying vehicle based on gear train with fixed axes |
| CN201432552Y (en) * | 2009-04-03 | 2010-03-31 | 安徽车桥有限公司 | Swing arm vehicle bridge |
-
2010
- 2010-06-17 CN CN2010102021964A patent/CN102285375A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002193124A (en) * | 2000-10-16 | 2002-07-10 | Komatsu Forklift Co Ltd | Power steering device of industrial vehicle |
| CN1702007A (en) * | 2005-05-26 | 2005-11-30 | 江苏大学 | Separated steering device for vehicular four wheels and its control method |
| CN1850536A (en) * | 2006-05-29 | 2006-10-25 | 郑州大方桥梁机械有限公司 | Independent steering suspension for large-sized power flat bed transport vehicle |
| CN201009929Y (en) * | 2007-02-05 | 2008-01-23 | 北京科技大学 | Independent steering apparatus of dynamic flat plate carrying vehicle based on gear train with fixed axes |
| CN201432552Y (en) * | 2009-04-03 | 2010-03-31 | 安徽车桥有限公司 | Swing arm vehicle bridge |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175861A (en) * | 2014-08-25 | 2014-12-03 | 安徽工程大学 | Chassis drive system for all-wheel drive and all-wheel steering electric forklift and control method thereof |
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Application publication date: 20111221 |