CN104071218B - A kind of longitudinal direction of car steering mechanism of travelling - Google Patents
A kind of longitudinal direction of car steering mechanism of travelling Download PDFInfo
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- CN104071218B CN104071218B CN201410269937.9A CN201410269937A CN104071218B CN 104071218 B CN104071218 B CN 104071218B CN 201410269937 A CN201410269937 A CN 201410269937A CN 104071218 B CN104071218 B CN 104071218B
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Abstract
The invention discloses a kind of longitudinal direction of car steering mechanism of travelling, it is characterized in that: be disposed with left steering oil cylinder and right turn oil cylinder in the both sides of two steering front wheels, left steering oil cylinder and right turn oil cylinder one end are hinged with steering 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 turn 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 drag link, 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 axis of symmetry between left steering wheel and right turn wheel a bit on. the present invention adopts the mode of hydraulic pressure and mechanical component to replace the mode of four motor steerings of computer programming control, improved the travel reliability of steering mechanism of longitudinal direction of car, reduced cost simultaneously.
Description
Technical field
The present invention relates to a kind of transfer, relate in particular to a kind of longitudinal direction of car steering mechanism of travelling, and be specially adapted to forkThe longitudinal driving steering mechanism of car.
Background technology
There is longitudinal driving and cross running function for four-wheel four directions to driving vehicle, particularly for four-wheel four directions to rowSail Side Fork Lift Trucks, it has the function of counterbalanced lift truck, Side Fork Lift Trucks, reach truck, Fixed Platform Trucks,Realized the object of a tractor serves several purposes, can be adapted to the material handling in various fields, especially slype travel withAnd for loading long material, more aobvious advantage.
But four-wheel four directions is different from the steering mechanism of conventional four-wheel drive vehicle, four to the steering mechanism of driving vehicleWheel four directions in longitudinal driving process, requires two front-wheels to driving vehicle in the time of left and right turn, and the axis of two wheels is wantedAsk and must hand in the symmetrical center line of front and rear wheel a bit. For parallelogram steering mechanism, because its corner equates,The axis that can not meet wheel is handed over a bit on center line, as shown in Figure 1, 2; Turn to double trapezoid for list is trapezoidalMechanism, can not realize the requirement that 90 degree switch, as shown in Figure 3,4.
With respect to the steering mechanism of conventional four-wheel drive vehicle, want to the technology of the steering of driving vehicle in four-wheel four directionsSummation technology content is all higher, and at present, domestic and international fertile producer is very little. For existing four-wheel four direction running carsTransfer, manufacturer generally adopts four motor steerings of mode control of computer programming, the ginseng of this methodNumber is set and is all depended on desirable smooth road surface, but ideal is departed from vehicle actual road surface in the process of moving far awayRoad surface requirement, causes the steering drag of four wheels to differ greatly, and makes four steer motor load difference very large, Yi ZaoBecome the stall of indivedual motors, thereby make the fault occurrence rate of motor and control panel very large, make the reliability of steeringPoor, and easily damage, meanwhile, use four steer motor and quadruplet to turn to the expense of control panel higher, also causeVehicle purchase car cost and maintenance cost 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, and what cost was low indulgesTo the steering mechanism of travelling.
The present invention solves the problems of the technologies described above adopted technical scheme: a kind of longitudinal direction of car steering mechanism of travelling, comprisesFrame, be symmetricly set on the deflecting roller of this frame front, rear, left and right four direction intersection, hinged on each deflecting rollerThere is steering arm, it is characterized in that: be disposed with left steering oil cylinder and right turn oil cylinder in the both sides of two steering front wheels,Left steering oil cylinder and right turn oil cylinder one end are hinged with steering arm separately, and the other end and frame are hinged, left steering oil cylinderRod chamber is connected with the rodless cavity oil circuit of right turn oil cylinder and sectional area equates, in front steering arm and the rear steering of vehicle left sideBetween the front steering arm between arm and vehicle right side and rear steering arm, be respectively provided with drag link, 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 wheelIn the axis of symmetry between left steering wheel and right turn wheel a bit on.
As improvement, between the rodless cavity of left steering oil cylinder and the rod chamber of right turn oil cylinder, be provided with bidirectional hydraulic lock, haveEffect prevents 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,The length of drag link is 1408mm.
Improve, described drag link is four station two-way cylinders again, each four station two-way cylinders comprise front oil cylinder and afterOil cylinder, the rodless cavity of the front oil cylinder in left side is connected with the rodless cavity oil circuit of the rear oil cylinder on right side and sectional area equates, left sideThe rodless cavity of rear oil cylinder 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,The rod chamber of left steering oil cylinder is connected with the rodless cavity of right turn oil cylinder, the second work of the rod chamber of right turn oil cylinder and oil pumpMaking hydraulic fluid port is connected.
Compared with prior art, owing to the invention has the advantages that: in longitudinal direction of car driving process, when longitudinal driving left and rightWhile turning to, left steering oil cylinder or right turn oil cylinder oil inlet, due to the rod chamber of left steering oil cylinder and right turn oil cylinder without barChamber sectional area is set to equate, the rod chamber of left steering oil cylinder and the rodless cavity of right turn oil cylinder are connected on by oil circuit simultaneouslyTogether, ensured left steering oil cylinder and right turn cylinder piston rod synchronization action, make the left steering in steering front wheelThe corner of wheel and right turn wheel is equal, meanwhile, and by the connecting rod effect of two drag links, by the left steering in steering front wheelThe rotation of wheel and right turn wheel passes to left steering wheel and the right turn wheel in rear steering wheel, thereby meets left steering wheel and rightThe corner correspondent equal of deflecting roller, makes four of deflecting roller axially to intersect on the axis of symmetry of left and right deflecting roller,Met the requirement that longitudinal direction of car travels, the present invention adopts the mode of hydraulic pressure and mechanical component to replace computer programming controlThe mode of four motor steerings, has improved the reliability of longitudinal driving steering mechanism, has reduced cost simultaneously.
Brief description of the drawings
Fig. 1 is the structural representation of existing parallelogram steering mechanism;
Fig. 2 is another structural representation of existing parallelogram steering mechanism;
Fig. 3 is the structural representation of existing single ackerman steering;
Fig. 4 is the structural representation of existing double trapezoid steering mechanism;
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 turn 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 deflecting roller 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 mechanism 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, the steering mechanism of travelling of the longitudinal direction of car in this enforcement, comprises 1, four deflecting roller of frame21,22,23,24, comprise successively front left deflecting roller 22, front right deflecting roller 21, rear left deflecting roller 23, rear right turnTake turns 24, four steering arms 31,32,33,34, comprise successively front left steering arm 32, front right steering arm 31, rear left-hand rotationTo arm 33,34, two four station two-way cylinders 41,42 of rear right steering arm, be followed successively by left four station two-way cylinders42 and right four station two-way cylinders 41, and two each and every one steering cylinders 51,52, be followed successively by left steering oil cylinder 52, the right sideSteering cylinder 51.
Wherein, four deflecting rollers 21,22,23,24 are symmetricly set on this frame 1 front, rear, left and right four directionIntersection, is hinged with steering arm 31,32,33,34 on each deflecting roller 21,22,23,24, is specially front left-hand rotationOn hinged front right steering arm 31, rear left deflecting roller 23 on hinged front left steering arm 32, front right deflecting roller 21 on wheel 22Hinged rear right steering arm 34 on hinged rear left steering arm 33, rear right deflecting roller 24, front steering arm 32,31 and rear steeringNot etc., and left steering arm 32,33 and right turn arm 31,34 be not about left steering wheel 22,23 and for the length of arm 33,34The axis of symmetry of right turn wheel 21,24 is arranged symmetrically with, and is disposed with left-hand rotation in the both sides of two steering front wheels 22,21To oil cylinder 52 and right turn oil cylinder 51, left steering oil cylinder 52 and right turn oil cylinder 51 one end are hinged with steering arm separately,The other end and frame are hinged, are specially left steering oil cylinder 52 one end and front left steering arm 32 hinged, and other end frame 1 is cut with scissorsConnect, meanwhile, it is hinged that right turn oil cylinder 51 one end and front right turn steering 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 turn oil cylinder 51 and sectional area equates, on a left sideBetween the rod chamber of the rodless cavity of steering cylinder 52 and right turn oil cylinder 51, be provided with bidirectional hydraulic lock, vehicle is longitudinal in front and backIn driving process, in the time there is left and right turn, the front left deflecting roller 22 of vehicle, front right deflecting roller 21, rear left deflecting roller23 and four axes intersect of rear right deflecting roller 24 symmetry between left steering wheel 22,23 and right turn wheel 21,24In any of axis, in addition, at front left steering arm 32 and rear left steering arm 33 and the vehicle front right steering arm 21 of vehicleAnd between rear right steering arm 24, be respectively arranged with left four station two-way cylinders 42 and right four station two-way cylinders 41, everyIndividual four station two-way cylinders 41,42 comprise front oil cylinder and rear oil cylinder, be 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 oil circuit of the rodless cavity of front left oil cylinder 421 and rear right oil cylinder 412 connectsConnect and sectional area equate, the rodless cavity of rear left oil cylinder 422 is connected and sectional area phase with the rodless cavity oil circuit of front right oil cylinder 411Deng.
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,The rod chamber of left steering oil cylinder 52 is connected with the rodless cavity of right turn oil cylinder 51, the rod chamber of right turn oil cylinder 51 and oilThe second actuator port of pump is connected.
The operation principle of vehicle in longitudinal driving process is: in longitudinal direction of car driving process, and four station two-way cylinders41, the piston rod of 42 front left oil cylinder 421, rear left oil cylinder 422, front right oil cylinder 411 and rear right oil cylinder 412 is retracted alsoLocking, is used as connecting rod, in the time of longitudinal driving left and right turn, and left steering oil cylinder 52 or 51 oil-feeds of right turn oil cylinder,Because the rod chamber of left steering oil cylinder 52 and the rodless cavity sectional area of right turn oil cylinder 51 are set to equate, left steering simultaneouslyThe rodless cavity of the rod chamber of oil cylinder 52 and right turn oil cylinder 51 is cascaded by oil circuit, has ensured left steering oil cylinder 52With right turn oil cylinder 51 piston rods synchronization action, make the corner phase of front left deflecting roller 22 and front right deflecting roller 21Deng, meanwhile, by the connecting rod effect of two four station two-way cylinders 41,42, by front left deflecting roller 22 and front right-hand rotationRotation to wheel 21 passes to rear left deflecting roller 23 and rear right deflecting roller 24, thereby meets left steering wheel 22,23 and rightThe corner correspondent equal of deflecting roller 21,24, makes four of deflecting roller axially to intersect at left steering wheel 22,23 and rightOn the axis of symmetry of deflecting roller 21,24, 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, requirementThe axis of deflecting roller is handed on the axis of symmetry between left steering wheel 22,23 and right turn wheel 21,24. Specifically comprise threeKind of situation: the first, when two left steerings wheels 22,23 are during in left and right turn, front left deflecting roller 22 and rear left deflecting roller23 axes intersect is on the axis of symmetry between left steering wheel 22,23 and right turn wheel 21,24, as Fig. 5,6Show; The second, when two right turns wheel 21,24 is during in left and right turn, front right deflecting roller 21 and rear right deflecting roller 24Axes intersect on the axis of symmetry between left steering wheel 22,23 and right turn wheel 21,24, as shown in Figure 7; TheThree kinds, in the time there is left and right turn at the same time in four deflecting rollers 21,22,23,24, front left deflecting roller 22, front right-hand rotationTo wheel 21, rear left deflecting roller 23 with four axes intersect of rear right deflecting roller 24 in left steering wheel 22,23 and right turnIn the same point of the axis of symmetry between 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, below steering mechanism meetsThe equation of motion:
ctgβ-ctgα＝2M/L(1)
In formula, α is the interior corner of taking turns, and β is foreign steamer corner, M be steering front wheel 21,22 and rear steering wheel 23,24 itBetween wheelspan, L is wheelspan between left steering wheel 22,23 takes turns 21,24 with right turn.
For formula (1), it is that front left deflecting roller 22 takes turns 22,23 with the axes intersect of rear left deflecting roller 23 in left steeringAnd right turn is taken turns the necessary condition on the axis of symmetry between 21,24. Can determine thus the geometric parameter of steering mechanism,Be specially for fork truck wheelspan specification, because M and L are the wheelspan of having determined, therefore also have the length of rear left steering arm 33Degree m1, the steering arm angle θ 1 of rear left steering arm 33, the length m 2 of front left steering arm 32, the turning of front left steering arm 32To be determined to 2, four parameters of arm angle θ, and that these four parameters can be mapped repeatedly by diagram method is definite, convolution simultaneously(1) equation of motion in checks, and the result of trying to achieve is, the length m 1=222mm of rear left steering arm 33, afterThe steering arm angle θ 1=47 ° of left steering arm 33, the length m 2=198mm of front left steering arm 32, front left steering arm 32Steering arm angle θ 2=54 °, when these four parameters determine after, be hinged on front steering arm 31,32 and rear steering arm 33,Length n when the piston rod of four station two-way cylinders 41,42 between 34 is all retracted has also just determined, result n＝1408mm。
For second case, the requirement for two right turns wheel 21,24 when the left and right turn, due to front right turnThe particular location relation of arm 31 and rear right steering arm 34 meets: in the time that right turn wheel 21,24 turns to, and front right-hand rotationAxes intersect to wheel 21 and rear right deflecting roller 24 is taken turns the symmetry between 21,24 in left steering wheel 22,23 and right turnOn axis, due to, right turn arm 31,34 with left steering arm 32,33 about this left steering wheel 22,23 and right turnThe axis of symmetry between wheel 21,24 is arranged symmetrically with, and 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, the requirement for four of front and back deflecting roller 22,21,23,24 when the left and right turn, byIn being arranged symmetrically with of deflecting roller 22,21,23,24 and steering arm 32,31,33,34, and pass through left steering oilThe rod chamber of cylinder 52 is set to equate with the rodless cavity sectional area of right turn oil cylinder 51, and left steering oil cylinder 52 has simultaneouslyBar chamber and right turn oil cylinder 51 be cascaded by oil circuit, ensured left steering oil cylinder 52 and right turn oil cylinder 51The action of piston rod is synchronous, and makes the corner correspondent equal of left steering wheel 22,23 and right turn wheel 21,24, fromAnd four axis that make deflecting roller 22,21,23,24 are handed at left steering wheel 22,23 and right turn wheel 21,24A bit on the axis of symmetry, has met 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 side of four motor steerings of computer programming controlFormula, has improved the travel reliability of steering mechanism of longitudinal direction of car, has reduced cost simultaneously.
Claims (5)
1. the longitudinal direction of car steering mechanism of travelling, comprises frame, is symmetricly set on this frame front, rear, left and right fourThe deflecting roller of individual direction intersection, is hinged with steering arm on each deflecting roller, it is characterized in that: at two steering front wheelsBoth sides are disposed with left steering oil cylinder and right turn oil cylinder, left steering oil cylinder and right turn oil cylinder one end and turning to separatelyArm is hinged, and the other end and frame are hinged, and the rod chamber of left steering oil cylinder is connected with the rodless cavity oil circuit of right turn oil cylinder and cutsArea equates, between the front steering arm of vehicle left side and rear steering arm and front steering arm and the rear steering arm on vehicle right sideBetween be respectively provided with drag link, when occurring when left and right turn, the steering front wheel of vehicle left side and rear steering wheel and the vehicle right sideOne of the axis of symmetry of four axes intersect of the steering front wheel of side and rear steering wheel between left steering wheel and right turn wheelPoint on.
2. the longitudinal direction of car according to claim 1 steering mechanism of travelling, is characterized in that: at left steering oil cylinderBetween the rod chamber of rodless cavity and right turn oil cylinder, be provided with bidirectional hydraulic lock.
3. the longitudinal direction of car according to claim 1 and 2 steering mechanism of travelling, is characterized in that: rear steering brachiumDegree is 222mm, and front steering arm lengths is 198mm, and the length of drag link is 1408mm.
4. the longitudinal direction of car according to claim 1 and 2 steering mechanism of travelling, is characterized in that: described drag linkBe four station two-way cylinders, each four station two-way cylinders comprise front oil cylinder and rear oil cylinder, the nothing of the front oil cylinder in left sideBar chamber is connected with the rodless cavity oil circuit of the rear oil cylinder on right side and sectional area equates, the rodless cavity of the rear oil cylinder in left side and right sideThe rodless cavity oil circuit of front oil cylinder connects and sectional area equates.
5. the longitudinal direction of car according to claim 1 and 2 steering mechanism of travelling, is characterized in that: also comprise oil pumpAnd 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 cylinderBe connected with the rodless cavity of right turn oil cylinder, the rod chamber of right turn oil cylinder is connected with the second actuator port of oil pump.
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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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Cited By (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 |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| US5454583A (en) * | 1994-05-10 | 1995-10-03 | Ag-Chem Equipment Company, Inc. | Automatically adjusted rear axle track for agricultural vehicle with adjustable axles |
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| 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
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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 (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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