CN104071218A - Vehicle longitudinal travel steering mechanism - Google Patents
Vehicle longitudinal travel steering mechanism Download PDFInfo
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- CN104071218A CN104071218A CN201410269937.9A CN201410269937A CN104071218A CN 104071218 A CN104071218 A CN 104071218A CN 201410269937 A CN201410269937 A CN 201410269937A CN 104071218 A CN104071218 A CN 104071218A
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Abstract
The invention discloses a vehicle longitudinal travel steering mechanism. The vehicle longitudinal travel steering mechanism is characterized in that a left steering oil cylinder and a right steering oil cylinder are arranged at the two sides of two front steering wheels in sequence; one ends of the left steering oil cylinder and the right steering oil cylinder are hinged to respective steering arms, and the other ends of the left steering oil cylinder and the right steering oil cylinder are hinged to a frame; a rod cavity of the left steering oil cylinder is in oil way connection with a rodless cavity of the right steering oil cylinder, and the rod cavity of the left steering oil cylinder is equal to the rodless cavity of the right steering oil cylinder in section area; and when the left and right steering is occurred, four axle lines of the front and rear steering wheels at the left and right side of a vehicle are intersected at one point of the symmetrical axis between the left and right steering wheels. The vehicle longitudinal travel steering mechanism controls the steering modes of four motors by adopting the manners of hydraulic pressure and mechanical components to replace the computer programming, so that the reliability of the vehicle longitudinal travel steering mechanism is improved, and the cost is reduced.
Description
Technical field
The present invention relates to a kind of steering hardware, relate in particular to a kind of longitudinal direction of car steering hardware that travels, and be specially adapted to the longitudinal driving steering hardware of fork truck.
Background technology
There is longitudinal driving and cross running function for four-wheel four directions to driving vehicle, particularly for four-wheel four direction running side fork lift truck, it has the function of counterbalanced lift truck, side fork lift truck, reach truck, Fixed Platform Trucks, realize the object of a tractor serves several purposes, can be adapted to the material handling in various fields, especially the material that travels and grow for loading at slype, more aobvious advantage.
But, four-wheel four directions is different from the steering hardware of conventional 4Wdvehicle to the steering hardware of driving vehicle, four-wheel four directions to driving vehicle in longitudinal driving process, require two front-wheels in the time of left and right turn, the axis of two wheels requires to hand in the symmetrical center line of front and rear wheel a bit.For parallelogram steering hardware, because its corner equates, the axis that can not meet wheel is handed over a bit on line of centers, as shown in Figure 1, 2; For single trapezoidal and double trapezoid steering hardware, can not realize the requirement that 90 degree switch, as shown in Figure 3,4.
With respect to the steering hardware of conventional 4Wdvehicle, four-wheel four directions is all higher to technical requirements and the technology content of the steering swivel system of driving vehicle, and at present, domestic and international fertile producer is very little.Steering hardware for from existing four-wheel four directions to driving vehicle, manufacturer generally adopts four motor steerings of mode control of computer programming, the setting parameter of this method all depends on desirable smooth road surface, but, the requirement of desirable road surface is departed from vehicle actual road surface in the process of moving far away, cause the cornering resistance of four wheels to differ greatly, make four steer motor load difference very large, easily cause the stall of indivedual motors, thereby make the fault occurrence rate of motor and control panel very large, make the poor reliability of steering swivel system, and easily damage, simultaneously, use four steer motor and quadruplet to turn to the expense of control panel higher, also caused vehicle purchase car cost and service expenditure improves greatly.
Summary of the invention
The technical problem to be solved in the present invention is the present situation for prior art, provides a kind of reliability high, the longitudinal driving steering hardware that cost is low.
The present invention solves the problems of the technologies described above adopted technical scheme: a kind of longitudinal direction of car steering hardware that travels, comprise frame, be symmetricly set on before this frame, after, left, the wheel flutter of right four direction intersection, on each wheel flutter, be hinged with spindle arm, it is characterized in that: be disposed with left steering oil cylinder and right steering oil cylinder in the both sides of two steering front wheeles, left steering oil cylinder and right steering oil cylinder one end are hinged with spindle arm separately, the other end and frame are hinged, the rod chamber of left steering oil cylinder is connected with the rodless cavity oil circuit of right steering oil cylinder and sectional area equates, between the front steering arm of vehicle left side and rear steering arm and between the front steering arm on vehicle right side and rear steering arm, be respectively provided with intermediate rod, in the time there is left and right turn, four axes intersect of the steering front wheel on the steering front wheel of vehicle left side and rear steering wheel and vehicle right side and rear steering wheel in the diad between left steering wheel and right steering wheel a bit on.
As improvement, between the rodless cavity of left steering oil cylinder and the rod chamber of right steering oil cylinder, be provided with bidirectional hydraulic lock, effectively prevent the play of the piston rod of oil cylinder.
Preferably, for fork truck wheelspan specification, rear steering arm lengths is 222mm, and front steering arm lengths is 198mm, and the length of intermediate rod is 1408mm.
Improve again, described intermediate rod is four station two-way cylinders, each four station two-way cylinders comprise front oil cylinder and rear oil cylinder, and the rodless cavity oil circuit of the rear oil cylinder on right side is connected the rodless cavity of front oil cylinder in left side and sectional area equates, the rodless cavity of the rear oil cylinder in left side is connected with the rodless cavity oil circuit of the front oil cylinder on right side and sectional area equates.
Improve, also comprise oil pump and fuel tank, the first actuator port of oil pump is connected with the rodless cavity of left steering oil cylinder, and the rod chamber of left steering oil cylinder is connected with the rodless cavity of right steering oil cylinder, and the rod chamber of right steering oil cylinder is connected with the second actuator port of oil pump.
Compared with prior art, owing to the invention has the advantages that: in longitudinal direction of car driving process, in the time of longitudinal driving left and right turn, left steering oil cylinder or right steering oil cylinder oil inlet, because the rod chamber of left steering oil cylinder and the rodless cavity sectional area of right steering oil cylinder are set to equate, the rod chamber of left steering oil cylinder and the rodless cavity of right steering oil cylinder are cascaded by oil circuit simultaneously, ensured left steering oil cylinder and right steering cylinder piston rod synchronization action, make the left steering in steering front wheel take turns equal with the corner of right steering wheel, simultaneously, by the connecting rod effect of two intermediate rods, the rotation of the left steering wheel in steering front wheel and right steering wheel is passed to left steering wheel and the right steering wheel in rear steering wheel, thereby meet the corner correspondent equal of left steering wheel and right steering wheel, make four of wheel flutter axially to intersect on a left side, on the diad of right steering wheel, meet the requirement that longitudinal direction of car travels, the present invention adopts the mode of hydraulic pressure and mechanical component to replace the mode of four motor steerings of computer programming control, improve the reliability of longitudinal driving steering hardware, reduced cost simultaneously.
Brief description of the drawings
Fig. 1 is the structural representation of existing parallelogram steering hardware;
Fig. 2 is another structural representation of existing parallelogram steering hardware;
Fig. 3 is the structural representation of existing single Ackerman steering mechanism;
Fig. 4 is the structural representation of existing double trapezoid steering hardware;
Fig. 5 is structural representation when left steering is taken turns left and right turn when longitudinal direction of car travels in the embodiment of the present invention;
Fig. 6 is another structural representation when left steering is taken turns left and right turn when longitudinal direction of car travels in the embodiment of the present invention;
Fig. 7 is structural representation when right steering is taken turns left and right turn when longitudinal direction of car travels in the embodiment of the present invention;
Fig. 8 is structural representation when four wheel flutter left and right turns when longitudinal direction of car travels in the embodiment of the present invention;
Fig. 9 is the structural representation of four-wheel steering when longitudinal direction of car travels in the embodiment of the present invention;
Figure 10 is the travel structural representation of steering hardware of longitudinal direction of car in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment is described in further detail the present invention.
As shown in Fig. 1 to 10, longitudinal direction of car in this enforcement steering hardware that travels, comprise frame 1, four wheel flutters 21, 22, 23, 24, comprise successively front left wheel flutter 22, front right wheel flutter 21, rear left wheel flutter 23, rear right wheel flutter 24, four spindle arms 31, 32, 33, 34, comprise successively front left spindle arm 32, front right spindle arm 31, rear left spindle arm 33, rear right spindle arm 34, two four station two-way cylinders 41, 42, be followed successively by left four station two-way cylinders 42 and right four station two-way cylinders 41, and two each and every one steering cylinder 51, 52, be followed successively by left steering oil cylinder 52, right steering oil cylinder 51.
Wherein, four wheel flutters 21, 22, 23, 24 are symmetricly set on before this frame 1, after, left, right four direction intersection, each wheel flutter 21, 22, 23, on 24, be hinged with spindle arm 31, 32, 33, 34, be specially hinged front left spindle arm 32 on front left wheel flutter 22, hinged front right spindle arm 31 on front right wheel flutter 21, hinged rear left spindle arm 33 on rear left wheel flutter 23, hinged rear right spindle arm 34 on rear right wheel flutter 24, front steering arm 32, 31 with rear steering arm 33, 34 length not etc., and left steering arm 32, 33 and right steering arm 31, 34 about left steering wheel 22, 23 and right steering wheel 21, 24 diad is arranged symmetrically with, at two steering front wheeles 22, 21 both sides are disposed with left steering oil cylinder 52 and right steering oil cylinder 51, left steering oil cylinder 52 and right steering oil cylinder 51 one end are hinged with spindle arm separately, the other end and frame are hinged, be specially left steering oil cylinder 52 one end and front left spindle arm 32 hinged, other end frame 1 is hinged, simultaneously, it is hinged that right steering oil cylinder 51 one end and front right turn spindle arm 31, other end frame 1, as shown in Figure 9, in addition, the rod chamber of left steering oil cylinder 52 is connected with the rodless cavity oil circuit of right steering oil cylinder 51 and sectional area equates, between the rodless cavity of left steering oil cylinder 52 and the rod chamber of right steering oil cylinder 51, be provided with bidirectional hydraulic lock, vehicle is in the longitudinal driving process of front and back, in the time there is left and right turn, the front left wheel flutter 22 of vehicle, front right wheel flutter 21, four axes intersect of rear left wheel flutter 23 and rear right wheel flutter 24 are in left steering wheel 22, 23 and right steering wheel 21, in any of diad between 24, in addition, between the front left spindle arm 32 of vehicle and rear left spindle arm 33 and vehicle front right spindle arm 21 and rear right spindle arm 24, be respectively arranged with left four station two-way cylinders 42 and right four station two-way cylinders 41, each four station two-way cylinders 41, 42 comprise front oil cylinder and rear oil cylinder, are respectively front left oil cylinder 421, rear left oil cylinder 422, front right oil cylinder 411 and rear right oil cylinder 412, the rodless cavity of front left oil cylinder 421 is connected with the rodless cavity oil circuit of rear right oil cylinder 412 and sectional area equates, and the rodless cavity of rear left oil cylinder 422 is connected with the rodless cavity oil circuit of front right oil cylinder 411 and sectional area equates.
In addition, also comprise oil pump and fuel tank, the first actuator port of oil pump is connected with the rodless cavity of left steering oil cylinder 52, and the rod chamber of left steering oil cylinder 52 is connected with the rodless cavity of right steering oil cylinder 51, and the rod chamber of right steering oil cylinder 51 is connected with the second actuator port of oil pump.
The principle of work of vehicle in longitudinal driving process is: in longitudinal direction of car driving process, four station two-way cylinders 41, 42 front left oil cylinder 421, rear left oil cylinder 422, the piston rod of front right oil cylinder 411 and rear right oil cylinder 412 is retracted and is locked, use as connecting rod, in the time of longitudinal driving left and right turn, left steering oil cylinder 52 or 51 oil-feeds of right steering oil cylinder, because the rod chamber of left steering oil cylinder 52 and the rodless cavity sectional area of right steering oil cylinder 51 are set to equate, the rod chamber of left steering oil cylinder 52 and the rodless cavity of right steering oil cylinder 51 are cascaded by oil circuit simultaneously, ensured left steering oil cylinder 52 and right steering oil cylinder 51 piston rods synchronization action, the corner of front left wheel flutter 22 and front right wheel flutter 21 is equated, simultaneously, by two four station two-way cylinders 41, 42 connecting rod effect, the rotation of front left wheel flutter 22 and front right wheel flutter 21 is passed to rear left wheel flutter 23 and rear right wheel flutter 24, thereby meet left steering wheel 22, 23 and right steering wheel 21, 24 corner correspondent equal, make four of wheel flutter axially to intersect at left steering wheel 22, 23 and right steering wheel 21, on 24 diad, meet the requirement that longitudinal direction of car travels.
Then the mechanism parameter in longitudinal direction of car driving process is made to brief analysis.
Longitudinal driving function according to from four-wheel four directions to driving vehicle, in longitudinal driving process, left and right vehicle wheel turns to, and requires the axis of wheel flutter to hand on the diad between left steering wheel 22,23 and right steering wheel 21,24.Specifically comprise three kinds of situations: the first, when two left steerings wheel 22,23 is during in left and right turn, the axes intersect of front left wheel flutter 22 and rear left wheel flutter 23 is taken turns on the diad between 21,24, as shown in Figure 5,6 in left steering wheel 22,23 and right steering; The second, when two right steerings wheel 21,24 is during in left and right turn, the axes intersect of front right wheel flutter 21 and rear right wheel flutter 24 is taken turns on the diad between 21,24, as shown in Figure 7 in left steering wheel 22,23 and right steering; The third, in the time there is left and right turn at the same time in four wheel flutters 21,22,23,24, four axes intersect of front left wheel flutter 22, front right wheel flutter 21, rear left wheel flutter 23 and rear right wheel flutter 24 are in the same point of the diad between left steering wheel 22,23 and right steering wheel 21,24, as shown in Figure 8.
First, for the first situation, two left steering wheels 22,23 are in the time of left and right turn, and steering hardware meets the following equation of motion:
ctgβ-ctgα＝2M/L(1)
In formula, α is the interior corner of taking turns, and β is foreign steamer corner, and M is the wheelspan between steering front wheel 21,22 and rear steering wheel 23,24, and L is wheelspan between left steering wheel 22,23 and right steering wheel 21,24.
For formula (1), it is the axes intersect of front left wheel flutter 22 and rear left wheel flutter 23 necessary condition on the diad between left steering wheel 22,23 and right steering wheel 21,24.Can determine thus the geometric parameter of steering hardware, be specially for fork truck wheelspan specification, because M and L are the wheelspan of having determined, therefore also have the length m 1 of rear left spindle arm 33, the spindle arm angle θ 1 of rear left spindle arm 33, the length m 2 of front left spindle arm 32, the spindle arm angle θ 2 of front left spindle arm 32, four parameters are to be determined, and these four parameters can be mapped definite by graphical means repeatedly, the equation of motion in convolution (1) checks simultaneously, the result of trying to achieve is, the length m 1=222mm of rear left spindle arm 33, the spindle arm angle θ 1=47 ° of rear left spindle arm 33, the length m 2=198mm of front left spindle arm 32, the spindle arm angle θ 2=54 ° of front left spindle arm 32, after these four parameters are determined, be hinged on front steering arm 31, 32 with rear steering arm 33, four station two-way cylinders 41 between 34, length n when 42 piston rod is all retracted has also just determined, result n=1408mm.
For second case, for two right steering wheels 21, 24 requirements in the time of left and right turn, because the particular location relation of front right spindle arm 31 and rear right spindle arm 34 meets: at right steering wheel 21, 24 when turn to, front right wheel flutter 21 takes turns 22 with the axes intersect of rear right wheel flutter 24 in left steering, 23 and right steering wheel 21, on diad between 24, due to, right steering arm 31, 34 with left steering arm 32, 33 about this left steering wheel 22, 23 and right steering wheel 21, diad between 24 is arranged symmetrically with, therefore, on the one hand, their mechanism parameter is identical, on the other hand, in the time that longitudinal direction of car travels, as long as the first situation can meet the demands, second case also can meet the demands.
For the third situation, for four of front and back wheel flutter 22, 21, 23, 24 requirements in the time of left and right turn, due to wheel flutter 22, 21, 23, 24 and spindle arm 32, 31, 33, 34 be arranged symmetrically with, and be set to equate by the rod chamber of left steering oil cylinder 52 and the rodless cavity sectional area of right steering oil cylinder 51, rod chamber and the right steering oil cylinder 51 of left steering oil cylinder 52 are cascaded by oil circuit simultaneously, ensure that left steering oil cylinder 52 synchronizes with the action of the piston rod of right steering oil cylinder 51, and make left steering wheel 22, 23 and right steering wheel 21, 24 corner correspondent equal, thereby make wheel flutter 22, 21, 23, four axis of 24 are handed at left steering wheel 22, 23 and right steering wheel 21, a bit on 24 diad, meet the requirement that longitudinal direction of car travels.
To sum up, the present invention adopts the mode of hydraulic pressure and mechanical component to replace the mode of four motor steerings of computer programming control, has improved the travel reliability of steering hardware of longitudinal direction of car, has reduced cost simultaneously.
Claims (5)
1. the longitudinal direction of car steering hardware that travels, comprise frame, be symmetricly set on before this frame, after, left, the wheel flutter of right four direction intersection, on each wheel flutter, be hinged with spindle arm, it is characterized in that: be disposed with left steering oil cylinder and right steering oil cylinder in the both sides of two steering front wheeles, left steering oil cylinder and right steering oil cylinder one end are hinged with spindle arm separately, the other end and frame are hinged, the rod chamber of left steering oil cylinder is connected with the rodless cavity oil circuit of right steering oil cylinder and sectional area equates, between the front steering arm of vehicle left side and rear steering arm and between the front steering arm on vehicle right side and rear steering arm, be respectively provided with intermediate rod, in the time there is left and right turn, four axes intersect of the steering front wheel on the steering front wheel of vehicle left side and rear steering wheel and vehicle right side and rear steering wheel in the diad between left steering wheel and right steering wheel a bit on.
2. the longitudinal direction of car according to claim 1 steering hardware that travels, is characterized in that: between the rodless cavity of left steering oil cylinder and the rod chamber of right steering oil cylinder, be provided with bidirectional hydraulic lock.
3. the longitudinal direction of car according to claim 1 and 2 steering hardware that travels, is characterized in that: rear steering arm lengths is 222mm, and front steering arm lengths is 198mm, and the length of intermediate rod is 1408mm.
4. the longitudinal direction of car according to claim 1 and 2 steering hardware that travels, it is characterized in that: described intermediate rod is four station two-way cylinders, each four station two-way cylinders comprise front oil cylinder and rear oil cylinder, and the rodless cavity oil circuit of the rear oil cylinder on right side is connected the rodless cavity of front oil cylinder in left side and sectional area equates, the rodless cavity of the rear oil cylinder in left side is connected with the rodless cavity oil circuit of the front oil cylinder on right side and sectional area equates.
5. the longitudinal direction of car according to claim 1 and 2 steering hardware that travels, it is characterized in that: also comprise oil pump and fuel tank, the first actuator port of oil pump is connected with the rodless cavity of described left steering oil cylinder, the rod chamber of left steering oil cylinder is connected with the rodless cavity of right steering oil cylinder, and the rod chamber of right steering oil cylinder is connected with the second actuator port of oil pump.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410269937.9A CN104071218B (en) | 2014-06-17 | 2014-06-17 | A kind of longitudinal direction of car steering mechanism of travelling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410269937.9A CN104071218B (en) | 2014-06-17 | 2014-06-17 | A kind of longitudinal direction of car steering mechanism of travelling |
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| CN104071218A true CN104071218A (en) | 2014-10-01 |
| CN104071218B CN104071218B (en) | 2016-05-25 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275069A (en) * | 2015-05-27 | 2017-01-04 | 比亚迪股份有限公司 | Wheel steering mechanism and vehicle |
| CN106864586A (en) * | 2017-03-08 | 2017-06-20 | 苏州易摩物联科技有限公司 | Agv steering mechanism |
| CN107416022A (en) * | 2017-06-16 | 2017-12-01 | 十堰戎马汽车特种传动有限公司 | Preferable steering characteristic operating mechanism |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107672671A (en) * | 2017-11-07 | 2018-02-09 | 扬州市伏尔坎机械制造有限公司 | A kind of steering mechanism for heavy vehicle |
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| US5238078A (en) * | 1990-11-08 | 1993-08-24 | Toyota Jidosha Kabushiki Kaisha | Electric control apparatus for four-wheel steering vehicle |
| US5454583A (en) * | 1994-05-10 | 1995-10-03 | Ag-Chem Equipment Company, Inc. | Automatically adjusted rear axle track for agricultural vehicle with adjustable axles |
| CN1702007A (en) * | 2005-05-26 | 2005-11-30 | 江苏大学 | Separated steering device for vehicular four wheels and its control method |
| CN102248964A (en) * | 2011-05-30 | 2011-11-23 | 郭红海 | Four-wheel steering automobile |
| CN203920883U (en) * | 2014-06-17 | 2014-11-05 | 宁波如意股份有限公司 | A kind of longitudinal direction of car steering hardware that travels |
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2014
- 2014-06-17 CN CN201410269937.9A patent/CN104071218B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5238078A (en) * | 1990-11-08 | 1993-08-24 | Toyota Jidosha Kabushiki Kaisha | Electric control apparatus for four-wheel steering vehicle |
| US5454583A (en) * | 1994-05-10 | 1995-10-03 | Ag-Chem Equipment Company, Inc. | Automatically adjusted rear axle track for agricultural vehicle with adjustable axles |
| CN1702007A (en) * | 2005-05-26 | 2005-11-30 | 江苏大学 | Separated steering device for vehicular four wheels and its control method |
| CN102248964A (en) * | 2011-05-30 | 2011-11-23 | 郭红海 | Four-wheel steering automobile |
| CN203920883U (en) * | 2014-06-17 | 2014-11-05 | 宁波如意股份有限公司 | A kind of longitudinal direction of car steering hardware that travels |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275069A (en) * | 2015-05-27 | 2017-01-04 | 比亚迪股份有限公司 | Wheel steering mechanism and vehicle |
| CN106275069B (en) * | 2015-05-27 | 2018-12-21 | 比亚迪股份有限公司 | Wheel steering mechanism and vehicle |
| CN106864586A (en) * | 2017-03-08 | 2017-06-20 | 苏州易摩物联科技有限公司 | Agv steering mechanism |
| CN107416022A (en) * | 2017-06-16 | 2017-12-01 | 十堰戎马汽车特种传动有限公司 | Preferable steering characteristic operating mechanism |
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| CN104071218B (en) | 2016-05-25 |
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