CN105178383B - Load electromechanical drive independent steering system - Google Patents

Load electromechanical drive independent steering system Download PDF

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Publication number
CN105178383B
CN105178383B CN201510679038.0A CN201510679038A CN105178383B CN 105178383 B CN105178383 B CN 105178383B CN 201510679038 A CN201510679038 A CN 201510679038A CN 105178383 B CN105178383 B CN 105178383B
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CN
China
Prior art keywords
hydraulic
electro
steering
flow controlling
controlling unit
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Expired - Fee Related
Application number
CN201510679038.0A
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Chinese (zh)
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CN105178383A (en
Inventor
权龙�
王翔宇
梁涛
郝惠敏
熊晓燕
武兵
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Dingxiang Huangxing Machining Co ltd
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Taiyuan University of Technology
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Priority to CN201510679038.0A priority Critical patent/CN105178383B/en
Publication of CN105178383A publication Critical patent/CN105178383A/en
Application granted granted Critical
Publication of CN105178383B publication Critical patent/CN105178383B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention discloses load electromechanical drive independent steering system, including the steering executing agency being made up of steering gear, steering wheel, check valve, safety valve, hydraulic steering cylinder and fuel tank, the power unit being made up of fuel tank, hydraulic pump, motor, safety valve and pressure-gradient control valve, and electro-hydraulic flow controlling unit and B solenoid directional control valves.The technical scheme, the mode of the quantitative pressure of original-pack carrier aircraft steering is changed into the pressure that change is provided needed for turning to, it is necessary to how much pressure just supply how much, so as to reduce loading machine steering system energy consumption, improve hydraulic system efficiency.Solve the oil consumption height of original-pack carrier aircraft steering presence, discharge the big and big technical problem of hydraulic slip, have the advantages that to reduce loading machine steering system energy consumption and raising hydraulic system efficiency.

Description

Load electromechanical drive independent steering system
Technical field
The invention belongs to steering control system technical field, and in particular to one kind loads electromechanical drive independent steering system.
Background technology
Loading machine is a kind of engineering machinery applied widely.It is mainly used in loading and shovel dress loose unpacked material, and Slight shovel excavation construction mineral etc..Loading machine needs the complete machine under frequently load or Light Condition to turn in overall operation.Mesh Frontloader generally uses constant displacement pump steering, no matter size and speed that the system is turned to all supply identical pressure, from And produce larger energy loss.Because loading machine load change is frequent, and excursion is big, so existing, oil consumption is high, discharge Big the problems such as.How a direction that energy consumption be loading machine research is reduced.
Patent " hydraulic circuit, hydraulic steering system and loading machine " (CN203270662U) proposes a kind of loader hydraulic Steering.The hydraulic steering system is after steering gear receives turn signal, the liquid that will be provided by pressure-gradient control valve by hydraulic pump Force feed is delivered in steering;If steering gear does not receive turn signal, the hydraulic oil that hydraulic pump is provided will be by preferential Valve is delivered in hydraulic system.Hydraulic steering system and hydraulic system are serially connected shared by this control mode The Hydraulic Elements such as fuel tank, pump, reduce cost, and no matter payload and are turning to speed using process, and pressure-gradient control valve is all excellent Hydraulic oil first is distributed to steering gear, remaining flow is reallocated to hydraulic system after the completion of steering, so as to reduce loading The power loss of machine, improves operating efficiency.But the system payload and steering speed are all supplied to steering Identical pressure, remaining flow is difficult to control to when supplying hydraulic system, and system still suffers from many hydraulic slips.
Accordingly, it would be desirable to which a kind of fuel delivery makes constant displacement pump with the hydraulic oil feed system for turning to size and speed and changing The quantitative pressure provided can need and change with actual steering, reach the purpose of efficient energy-saving.
The content of the invention
The main object of the present invention is needed for the mode for providing quantitative pressure by original-pack carrier aircraft steering is changed into turning to And provide change pressure, it is necessary to how much pressure just supply how much so that reduce loading machine steering system energy consumption, improve hydraulic pressure system System efficiency.
Load it is electromechanical drive independent steering system, including by steering gear (1), steering wheel (2), check valve (3), safety valve (4), Steering executing agency that hydraulic steering cylinder (5) and fuel tank (6) are constituted and by fuel tank (6), hydraulic pump (7), motor (8), safety The power unit that valve (9) and pressure-gradient control valve (10) are constituted, it also includes electro-hydraulic flow controlling unit and B solenoid directional control valves (18), institute Stating electro-hydraulic flow controlling unit includes A check valves (11), B check valves (12), C check valves (13), C solenoid directional control valves (14), electricity The hydraulic pump (15) of flow quantity control unit, the motor (16) of electro-hydraulic flow controlling unit, A solenoid directional control valves (17), accumulation of energy Device (19), pressure sensor (20), motor driver (21), angular transducer (22), control unit (23) and A safety valves (24), the hydraulic pump (15) of electro-hydraulic flow controlling unit couples with the motor (16) of electro-hydraulic flow controlling unit and by electro-hydraulic stream Motor (16) driving of control unit is measured, hydraulic pump (15) oil inlet of electro-hydraulic flow controlling unit passes through A check valves (11) It is connected with fuel tank (6), the oil-out of the hydraulic pump (15) of electro-hydraulic flow controlling unit is connected with the P mouths of steering gear (1), safety valve (9) it is connected by C check valves (13) with the oil-out of the hydraulic pump (15) of electro-hydraulic flow controlling unit, accumulator (19) passes through C Solenoid directional control valve (14) is connected with the oil-out of the hydraulic pump (15) of electro-hydraulic flow controlling unit, while accumulator (19) passes through A Solenoid directional control valve (17) is connected with the oil inlet of the hydraulic pump (15) of electro-hydraulic flow controlling unit, A safety valves (24) and accumulator (19) connected with fuel tank (6), angular transducer (22) is arranged on steering wheel (2), pressure sensor (20) is arranged on accumulator (19) enter on fuel-displaced path, control unit (23) and A solenoid directional control valves (17), B solenoid directional control valves (18), C solenoid directional control valves (14), pressure sensor (20), motor driver (21) are connected with angular transducer (22), motor driver (21) with it is electro-hydraulic Motor (16) connection of flow controlling unit, the CF mouths of the oil inlet and outlets of B solenoid directional control valves (18) respectively with pressure-gradient control valve (10) Connected with the P mouths of steering gear (1);The oil inlet of B check valves (12) is connected with the oil-out of hydraulic pump (7), B check valves (12) Oil-out is connected with the oil inlet of safety valve (9).
Due to present invention employs above-mentioned technical proposal, the mode of the quantitative pressure of original-pack carrier aircraft steering is changed into turning To it is required and provide change pressure, it is necessary to how much pressure just supply how much so that reduce loading machine steering system energy consumption, raising Hydraulic system efficiency.Solve the oil consumption height of original-pack carrier aircraft steering presence, discharge the big and big technical problem of hydraulic slip. Compared with background technology, the present invention has the advantages that to reduce loading machine steering system energy consumption and improves hydraulic system efficiency.
Brief description of the drawings
Fig. 1 is loading machine steering system original hydraulic system schematic diagram;
Fig. 2 is schematic diagram of the invention.
In figure, I- turns to executing agency, II-power unit, III-electro-hydraulic flow controlling unit, 1- steering gears;2- directions Disk;3- check valves;4- safety valves;5- hydraulic steering cylinders;6- fuel tanks;7- hydraulic pumps;8- motor;9- safety valves;10- is preferential Valve;11-A check valves;12-B check valves;13-C check valves;14-C solenoid directional control valves;The hydraulic pressure of the electro-hydraulic flow controlling units of 15- Pump;The motor of the electro-hydraulic flow controlling units of 16-;17-A solenoid directional control valves;18-B solenoid directional control valves;19- accumulators;20- is pressed Force snesor;21- motor drivers;22- angular transducers;23- control units;24-A safety valves.
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
As shown in Fig. 2 the loading electromechanics in the present embodiment drives independent steering system, including by steering gear 1, steering wheel 2, list To valve 3, safety valve 4, hydraulic steering cylinder 5 and fuel tank 6 constitute steering executing agency I and by fuel tank 6, hydraulic pump 7, motor 8, The power unit II that safety valve 9 and pressure-gradient control valve 10 are constituted, steering wheel 2 is connected with steering gear 1, A, B hydraulic fluid port and hydraulic pressure of steering gear 1 The rod chamber connection of cylinder 5, B, A hydraulic fluid port of steering gear 1 is connected with the rodless cavity of hydraulic cylinder 5, T, P mouth of steering gear 1 respectively with oil Case 6 is connected, the connection of the oil-out of the hydraulic pump 15 of electro-hydraulic flow controlling unit, the oil inlet and oil-out of safety valve 4 respectively with The rod chamber and fuel tank 6 of hydraulic steering cylinder 5 are connected, the oil inlet and oil-out of check valve 3 respectively with fuel tank 6 and hydraulic steering cylinder 5 rod chamber connection;Motor 8 is connected with hydraulic pump 7, and the EF mouths of pressure-gradient control valve 10 are connected with hydraulic system;Wherein:It is also Including electro-hydraulic flow controlling unit III and B solenoid directional control valves 18, it is unidirectional that the electro-hydraulic flow controlling unit includes A check valves 11, B Valve 12, C check valves 13, C solenoid directional control valves 14, the hydraulic pump 15 of electro-hydraulic flow controlling unit, the electricity of electro-hydraulic flow controlling unit Motivation 16, A solenoid directional control valves 17, accumulator 19, pressure sensor 20, motor driver 21, angular transducer 22, control unit 23 and A safety valves 24, the hydraulic pump 15 of electro-hydraulic flow controlling unit couple with the motor 16 of electro-hydraulic flow controlling unit and by The motor 16 of electro-hydraulic flow controlling unit drives, and the oil inlet of hydraulic pump 15 of electro-hydraulic flow controlling unit passes through A check valves 11 It is connected with fuel tank 6, the oil-out of the hydraulic pump 15 of electro-hydraulic flow controlling unit is connected with the P mouths of steering gear 1, and safety valve 9 passes through C Check valve 13 is connected with the oil-out of the hydraulic pump 15 of electro-hydraulic flow controlling unit, accumulator 19 by C solenoid directional control valves 14 with The oil-out connection of the hydraulic pump 15 of electro-hydraulic flow controlling unit, while accumulator 19 passes through A solenoid directional control valves 17 and electro-hydraulic stream The oil inlet connection of the hydraulic pump 15 of control unit is measured, A safety valves 24 are connected with accumulator 19 and fuel tank 6 respectively, angle sensor Device 22 is arranged on steering wheel 2, and pressure sensor 20 enters on fuel-displaced path installed in accumulator 19, control unit 23 and A electricity Magnetic reversal valve 17, B solenoid directional control valves 18, C solenoid directional control valves 14, pressure sensor 20, motor driver 21 and angular transducer 22 are connected, and motor driver 21 is connected with the motor 16 of electro-hydraulic flow controlling unit, the oil inlet and outlet of B solenoid directional control valves 18 It is connected respectively with the CF mouths of pressure-gradient control valve 10 and the P mouths of steering gear 1;The oil inlet of B check valves 12 connects with the oil-out of hydraulic pump 7 Connect, the oil-out of B check valves 12 is connected with the oil inlet of safety valve 9.
Angular transducer 22 gathers the direction information of steering wheel 2, and pressure sensor 20 gathers the pressure information of accumulator 19, And by its common transport to control unit 23;When underloading is turned to, steering angle is smaller, steering is too fast, control unit 23 is controlled Motor driver 21 reduces the rotating speed of the motor 16 of electro-hydraulic flow controlling unit, and A solenoid directional control valves 17 is in disconnection shape State, the hydraulic pump 15 of electro-hydraulic flow controlling unit is by unnecessary energy storage into accumulator 19;When heavy duty steering, steering angle When larger, steering is too fast, the controlled motor driver 21 of control unit 23 improves turning for the motor 16 of electro-hydraulic flow controlling unit Speed, and make A solenoid directional control valves 17 in an ON state, the hydraulic pump 15 and accumulator 19 of electro-hydraulic flow controlling unit are to turn jointly Energized to executing agency.
The steering that the motor 16 of electro-hydraulic flow controlling unit provides needed for turning to executing agency I with accumulator 19 jointly is moved The signal that power, pressure sensor 20 and angular transducer 22 are detected is sent to control unit 23, and control unit 23 sends instruction control Motor driver 21 processed realizes the speed governing of motor 16 and the opening and closing of A solenoid directional control valves 17;The liquid of electro-hydraulic flow controlling unit The hydraulic oil part that press pump 15 is provided turns to executing agency I by the P mouths supply of steering gear 1, and another part is changed by C electromagnetism Accumulator 19 is supplied to valve 14;B check valves 12 are used to prevent hydraulic oil from flowing into power unit II;C check valves 13 are used for anti-stop The hydraulic oil of power unit II is flowed into electro-hydraulic flow controlling unit III;C solenoid directional control valves 14 are by accumulator 19 with turning to execution machine Structure I isolates;A safety valves 24 ensure that accumulator 19 works in normally-pressured neighbor;C solenoid directional control valves 14 and B solenoid directional control valves 18 are used for the switching of electro-hydraulic flow controlling unit III and power unit II.
Electro-hydraulic flow controlling unit III, which is received, to be turned to after the turn signal that steering wheel 2 is sent in executing agency I, by angle Sensor 22 sends signal to control unit 23 with pressure sensor 20, controls electro-hydraulic flow control single by control unit 23 The speed of the motor 16 of member and the opening and closing of accumulator 19, so as to provide corresponding steering power to turn to executing agency I, thus Come realize be supplied to turn to executing agency I pressure with steering wheel angle size with rotation speed and change.When electro-hydraulic When flow controlling unit III breaks down, by C solenoid directional control valves 14 and B solenoid directional control valves 18 by electro-hydraulic flow controlling unit III Be converted to power unit II and provide steering energy to turn to executing agency I.In power unit II, when reception in power unit II During the turn signal sent to steering gear 1, it is steering executing agency that the hydraulic oil that hydraulic pump 7 is provided, which passes through EF mouths of pressure-gradient control valve 10, I provides constant steering power;If power unit II is not received by turn signal, the hydraulic oil that hydraulic pump 7 is provided will lead to The CF mouths for crossing pressure-gradient control valve 10 provide operation power for hydraulic system.But now no matter the anglec of rotation of steering wheel 2 is much, speed The degree pressure how soon hydraulic oil is supplied is invariable, and this will result in the waste of energy, is only limited to emergency condition use.
In the power unit II, it is not received by turn signal in steering gear 1 and B solenoid directional control valves 18 is not switched on When, the hydraulic oil that hydraulic pump 7 is provided is supplied to hydraulic system of working by the EF mouths of pressure-gradient control valve 10;When the steering of steering wheel 2 Signal is delivered to steering gear 1, and electro-hydraulic flow controlling unit III is when breaking down, B solenoid directional control valves 18 and C solenoid directional control valves 14 connect, now pressure-gradient control valve 10 hydraulic pump 7 will be provided hydraulic oil through CF oral instructions to steering executing agency I in.
In the electro-hydraulic flow controlling unit III of institute's statement, when energy needed for turning to executing agency I is smaller, by electro-hydraulic flow control The motor 16 of unit processed drives the independent supply hydraulic fluid of hydraulic pump 15 of electro-hydraulic flow controlling unit, and is stored up into accumulator 19 Deposit energy;When steering energy is larger needed for turning to executing agency I, by the hydraulic pump 15 and accumulator of electro-hydraulic flow controlling unit 19 common provide turn to required energy.
In the electro-hydraulic flow controlling unit III of institute's statement, control unit 23 passes through analytic angle sensor 22 and pressure sensor The signals of 20 feedbacks control size and the opening and closing of accumulator 19 of the power output of motor 16 of electro-hydraulic flow controlling unit.
The present invention adds accumulator 19, pressure sensor 20, motor driver 21, angle on the basis of original steering Spend sensor 22 and the grade element of control unit 23.By constant pressure turn to be changed into transformation turn to, when turn to executing agency I needed for energy compared with Small, when such as underloading is turned to, steering angle is smaller, the motor 16 of electro-hydraulic flow controlling unit can be steering executing agency I and storage Can the energy supply jointly of device 19;The energy needed for executing agency I is turned to is larger, and such as heavy duty is turned to, steering angle is larger, steering is too fast When, the motor 16 and accumulator 19 of electro-hydraulic flow controlling unit can energize to turn to executing agency I jointly;Electro-hydraulic flow control Pressure sensor 20 and angular transducer 22 in unit III can feed back according to the speed of steering with size to control unit 23, from And the function that the speed of motor 16 for adjusting electro-hydraulic flow controlling unit is opened and closed with accumulator 19 is reached, and then realize control input The purpose changed to the energy for turning to executing agency I with steering situation.The present invention can make to be supplied to using above scheme to be turned Change to the size of organization hydraulic pressure pressure with size and speed is turned to, so as to reach reasonable distribution motor output work Rate, the purpose for reducing original hydraulic system loss, improving steering efficiency and precision.

Claims (1)

1. load it is electromechanical drive independent steering system, including by steering gear (1), steering wheel (2), check valve (3), safety valve (4), turn The steering executing agency that is constituted to hydraulic cylinder (5) and fuel tank (6) and by fuel tank (6), hydraulic pump (7), motor (8), safety valve (9) and pressure-gradient control valve (10) constitute power unit, it is characterised in that:It also includes electro-hydraulic flow controlling unit and B electromagnetic switch Valve (18), the electro-hydraulic flow controlling unit includes A check valves (11), B check valves (12), C check valves (13), C electromagnetic switch Valve (14), the hydraulic pump (15) of electro-hydraulic flow controlling unit, motor (16), the A solenoid directional control valves of electro-hydraulic flow controlling unit (17), accumulator (19), pressure sensor (20), motor driver (21), angular transducer (22), control unit (23) and A Safety valve (24), the hydraulic pump (15) of electro-hydraulic flow controlling unit is driven by the motor (16) of electro-hydraulic flow controlling unit, electricity Hydraulic pump (15) oil inlet of flow quantity control unit is connected by A check valves (11) with fuel tank (6), electro-hydraulic flow controlling unit The oil-out of hydraulic pump (15) be connected with the P mouths of steering gear (1), safety valve (9) passes through C check valves (13) and electro-hydraulic flow control The oil-out connection of the hydraulic pump (15) of unit processed, accumulator (19) is controlled single by C solenoid directional control valves (14) and electro-hydraulic flow The oil-out connection of the hydraulic pump (15) of member, while accumulator (19) controls list by A solenoid directional control valves (17) and electro-hydraulic flow The oil inlet connection of the hydraulic pump (15) of member, A safety valves (24) are connected with accumulator (19) and fuel tank (6) respectively, angle sensor Device (22) is arranged on steering wheel (2), and pressure sensor (20) enters on fuel-displaced path installed in accumulator (19), control unit (23) with motor (16), A solenoid directional control valves (17), B solenoid directional control valves (18), the C electromagnetic switch of electro-hydraulic flow controlling unit Valve (14), pressure sensor (20), motor driver (21) and angular transducer (22) are connected, B solenoid directional control valves (18) Oil inlet and outlet is connected with the CF mouths of pressure-gradient control valve (10) and the P mouths of steering gear (1) respectively;
The steering that the motor (16) of electro-hydraulic flow controlling unit provides needed for turning to executing agency I with accumulator (19) jointly is moved The signal of power, pressure sensor (20) and angular transducer (22) detection is sent to control unit (23), control unit (23) hair Instruction controlled motor driver (21) is sent to realize the speed governing of motor (16) and the opening and closing of A solenoid directional control valves (17);Electro-hydraulic stream A part of P mouths supply steering executing agency I by steering gear (1) of hydraulic oil that the hydraulic pump (15) of control unit is provided is measured, Another part supplies accumulator (19) by C solenoid directional control valves (14);B check valves (12) are used to prevent hydraulic oil from flowing into power list Member II;C check valves (13) are used to prevent the hydraulic oil of power unit II from flowing into electro-hydraulic flow controlling unit III;C electromagnetic switch Valve (14) isolates accumulator (19) with turning to executing agency I;A safety valves (24) ensure accumulator (19) in normally-pressured neighbor Interior work;C solenoid directional control valves (14) are used for the switching of electro-hydraulic flow controlling unit and power unit with B solenoid directional control valves (18);
The direction information of angular transducer (22) collection steering wheel (2), the pressure of pressure sensor (20) collection accumulator (19) Information, and give control unit (23) by its common transport;When underloading is turned to, steering angle is smaller, steering is too fast, control unit (23) controlled motor driver (21) reduces the rotating speed of the motor (16) of electro-hydraulic flow controlling unit, and makes A solenoid directional control valves (17) it is off, the hydraulic pump (15) of electro-hydraulic flow controlling unit is by unnecessary energy storage to accumulator (19); When heavy duty is turned to, steering angle is larger, steering is too fast, control unit (23) controlled motor driver (21) improves electro-hydraulic flow The rotating speed of the motor (16) of control unit, and make A solenoid directional control valves (17) in an ON state, electro-hydraulic flow controlling unit Hydraulic pump (15) and accumulator (19) energize to turn to executing agency jointly.
CN201510679038.0A 2015-10-19 2015-10-19 Load electromechanical drive independent steering system Expired - Fee Related CN105178383B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510679038.0A CN105178383B (en) 2015-10-19 2015-10-19 Load electromechanical drive independent steering system

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Application Number Priority Date Filing Date Title
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CN105178383B true CN105178383B (en) 2017-08-29

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105507362B (en) * 2016-01-24 2017-11-14 吉林大学 Without spill losses loader hydraulic system and its control method
CN106224306B (en) * 2016-09-29 2019-03-15 徐工集团工程机械股份有限公司科技分公司 Hydraulic system with flow-compensated function
CN113502871B (en) * 2021-07-30 2022-07-29 华侨大学 Loader steering system based on motor-pump/motor

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CN204590153U (en) * 2015-03-27 2015-08-26 福建晋工机械有限公司 A kind of energy-conservation walking mode switched system of wheel excavator
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WO2008075648A1 (en) * 2006-12-18 2008-06-26 Hitachi Construction Machinery Co., Ltd. Hydraulic drive device for hydraulic excavator
CN202152473U (en) * 2011-07-04 2012-02-29 山推工程机械股份有限公司 Novel variable-speed steering hydraulic system of bulldozer
CN102704524A (en) * 2012-04-19 2012-10-03 华南理工大学 Rotary energy saving system of hydraulic excavator
CN102635144A (en) * 2012-05-04 2012-08-15 山东理工大学 Hydraulic system for loader
CN103046607A (en) * 2012-12-25 2013-04-17 三一重机有限公司 Engineering machine, rapid oil return control system and rapid oil return control method
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Legal Events

Date Code Title Description
CB03 Change of inventor or designer information

Inventor after: Quan Long

Inventor after: Wang Xiangyu

Inventor after: Liang Tao

Inventor after: Hao Huimin

Inventor after: Xiong Xiaoyan

Inventor after: Wu Bing

Inventor before: Quan Long

Inventor before: Wang Xiangyu

Inventor before: Hao Huimin

Inventor before: Xiong Xiaoyan

Inventor before: Wu Bing

TR01 Transfer of patent right

Effective date of registration: 20200609

Address after: 035400 Shanxi city of Xinzhou province Dingxiang County Zhuang Industrial Zone

Patentee after: Dingxiang Huangxing machining Co.,Ltd.

Address before: 030024 West Street, Taiyuan, Shanxi, No. 79, No.

Patentee before: Taiyuan University of Technology

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170829

Termination date: 20211019