CN107458459A - Walking steer-drive and its control method - Google Patents
Walking steer-drive and its control method Download PDFInfo
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- CN107458459A CN107458459A CN201710595916.XA CN201710595916A CN107458459A CN 107458459 A CN107458459 A CN 107458459A CN 201710595916 A CN201710595916 A CN 201710595916A CN 107458459 A CN107458459 A CN 107458459A
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- hydraulic motor
- tire
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- valve
- load
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
- B62D5/14—Rotary motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
Abstract
The invention discloses one kind walking steer-drive and its control method, including prime mover, hydraulic pump, fuel tank, reversal valve, shuttle valve, steering cylinder, deflection fixed mount, deflection rack, reductor, tire, hydraulic motor.Described prime mover is connected by the import of pipeline and hydraulic pump, the outlet of hydraulic pump is connected by pipeline with reversal valve, reversal valve is connected by the import of pipeline and hydraulic motor respectively, fuel tank is connected by the outlet of pipeline and reversal valve, hydraulic motor and steering cylinder are all arranged on deflection fixed mount, and deflection rack and reductor are separately mounted to deflect the both ends of fixed mount.Because the present invention does not have semiaxis and universal joint, damaged in the absence of semiaxis and universal joint etc., the steering of vehicle drives deflection tire to turn to by oil cylinder by stub, avoid the tire cornering wear of tire, the driving of tire is rotated by hydraulic motor to realize, simple in construction, and arrangement is convenient, the 4 wheel driven of energy simple realization traveling vehicle and more drives, improve performance and save and reduce again cost.
Description
Technical field
The present invention relates to traveling vehicle field, more particularly to one kind walking steer-drive and its control method.
Background technology
Traveling vehicle will face different working environments, such as rugged road surface unavoidably, and the road surface of heavy grade is muddy
The road surface easily subside, piles with road surface of stone riprap, etc..Either there was only forerunner or the only vehicle of rear-guard in face of so multiple
Miscellaneous environment is all unable to do what one wishes, so 4 wheel driven or driving to tackle such workplace more.A but 4 wheel driven or that drive will is more
Can driving can turn to again, relatively common to have two ways, articulation steering and steering and driving axle turn to, articulation steering easily by
Fame dimensions limit, and turning radius is big, and vehicle center of gravity when turning to, which can change, easily causes vehicle unstability, or even overturns,
Sight behind after steering, which is blocked, can also easily cause traffic accident.Steering and driving axle, which turns to, that turning radius is small, stability
Well, the advantages of sight is good, but it is high there is also cost, and fault rate is high, uses seldom especially for the steering and driving axle of heavy-duty vehicle
It is exactly limited thereto.Steering and driving axle has the main transmission reducer of common drive axle and differential mechanism or has hub reduction gear again
Outside, wheel side has also needed universal joint and stub.Due in order to repair with it is easy for installation, universal joint is mostly half suspended state, in order to
Ensureing the reliability of universal joint, universal joint is all made bigger, heavier, but also due to manufacture and assembling deviation so that ten thousand
To saving there is very big centrifugal force in high speed rotates, when particularly steering angle is bigger, centrifugal force is bigger, such condition,
The sealing of the lighter's lubricating oil there is problem, and severe one causes joint, semiaxis damage under the double action of centrifugal force and driving torque
It is bad.Additionally, due to universal joint and stub decentraction, when there is steering angle, universal joint is by very big axial force, this axial direction
Power exacerbates the damage of universal joint bearing and semiaxis.The steering and driving axle load of domestic production is mostly small tonnage, is used for agriculture
With mechanical, small-sized wheel digging, cross-country dolly etc., the steering and driving axle of large-tonnage is substantially blank at home, and external steering drives
Bridge price is high, is several times of domestic prices, and the price of large-tonnage is even more surprising, price hundreds of thousands, the quite country up to a million
The price of complete machine.
The content of the invention
Reliably walked steer-drive it is an object of the present invention to provide a kind of Stability Analysis of Structures.
It is another object of the present invention to provide a kind of control method of reliable walking steer-drive.
To achieve the above object, technical solution of the invention is：
The present invention is a kind of walking steer-drive, including prime mover, load-sensitive type hydraulic pump, fuel tank, reversal valve, shuttle
Valve, steering cylinder, deflection fixed mount, right avertence pivoted frame, right reductor, right hydraulic motor, tire, left avertence pivoted frame, left reductor, a left side
Hydraulic motor；Described prime mover drives load-sensitive type hydraulic pump to rotate by shaft coupling, and the one of load-sensitive type hydraulic pump
Individual import is connected from fuel tank oil-feed, the outlet of load-sensitive type hydraulic pump by the intake channel of pipeline and reversal valve, reversal valve
Two exit passageways connected respectively by two imports of two pipelines and hydraulic motor, shuttle valve is located at reversal valve and hydraulic pressure horse
Between two connecting pipes reached, fuel tank is connected by the exit passageway of pipeline and reversal valve, and it is solid that steering cylinder is arranged on deflection
Determine on frame, right avertence pivoted frame and left avertence pivoted frame are separately mounted to deflect right, the left both ends of fixed mount, in right avertence pivoted frame and left avertence pivoted frame
On be separately installed with right reductor and left reductor, the right hydraulic motor and tire on right side are installed in the both ends of right reductor respectively,
The both ends of left reductor are installed by the left hydraulic motor and tire in left side respectively.
The present invention is a kind of control method for steer-drive of walking, the hydraulic motor in described left side and the liquid on right side
The hydraulic fluid flow rate of pressure motor is distributed by a three-way connection self-adjusted block；During steering, the tire rotational speed on the left side is than the right
Tire rotational speed it is low, accordingly in the fast ratio of left reductor and right reductor under the same conditions, it is necessary to the hydraulic motor ratio in left side
The hydraulic motor rotary speed on right side is low, and the fuel delivery of the hydraulic motor in left side is fewer than the fuel delivery of the hydraulic motor on right side, due to
During steering, the stress of two motors is different, and the resistance that the hydraulic motor on the right side of resistance ratios that the hydraulic motor in left side is received is received is big, liquid
Force feed is fewer than the hydraulic motor on right side to the hydraulic motor in left side with regard to the different flow of adaptive distribution；Under transport condition,
If the fuel delivery of hydraulic motor is more, more than actual tire speed demand, the hydraulic circuit pressure of diverter valve outlet to hydraulic motor
Power can raise, and load-sensitive type hydraulic pump detects that pressure rise is just automatic and reduces pumpage, makes load-sensitive type hydraulic pump
Discharge capacity only meets hydraulic motor actual demand all the time, conversely, similarly；When that can not be moved forward in the vehicle that meets obstructions, this
When load-sensitive type hydraulic pump detect pressure highest, hydraulic motor displacement is minimized automatically, only supply a small amount of oil come
Lasting pressure is maintained, ensures hydraulic motor with minimum power maximum output torque.
The present invention is a kind of walking steer-drive, including prime mover, hydraulic pump, fuel tank, load sensing multi-way valve,
PLC, steering cylinder, deflection fixed mount, right avertence pivoted frame, right reductor, right hydraulic motor, tire, left avertence pivoted frame, a left side subtract
Fast machine, left hydraulic motor and tire, speed probe；Described prime mover by shaft coupling drive hydraulic pump rotate, fuel tank and
The import connection of hydraulic pump, the outlet of hydraulic pump are connected by the intake channel of pipeline and load sensing multi-way valve, load
Two exit passageways of sensing multi-way valve are connected by two imports of two pipelines and hydraulic motor respectively, and PLC is led to
Cross feeder line to be connected with load sensing multi-way valve control terminal, speed probe is arranged on the input or gearbox of non-steering and driving axle
Output end on, the speed feedback that measures is to PLC, and PLC is by being calculated the size control of output current
Electric proportional load sensitive banked direction control valves, fuel tank are connected by the exit passageway of pipeline and load sensing multi-way valve, steering cylinder installation
On deflection fixed mount, right avertence pivoted frame and left avertence pivoted frame are separately mounted to deflect right, the left both ends of fixed mount, in right avertence pivoted frame and
Be separately installed with right reductor and left reductor on left avertence pivoted frame, the both ends of right reductor install respectively right side hydraulic motor and
The hydraulic motor and tire in left side are installed in tire, the both ends of left reductor respectively.
Described hydraulic pump is load-sensitive type hydraulic pump.
The present invention is a kind of control method of the walking steer-drive according to claim, described left side
The hydraulic oil distribution of hydraulic motor and the hydraulic motor on right side is by a three-way connection self-adjusted block；In non-steering and driving axle
The output end of input or gearbox connects speed probe, and the speed feedback measured is passed through to PLC, PLC
The size that output current is calculated controls electric proportional load sensitive banked direction control valves, controls the valve element of electric proportional load sensitive banked direction control valves
Openings of sizes, so as to control hydraulic fluid flow rate size；When speed highest, the road standard-sized sheet of load sensing multi-way valve four, liquid is all flowed to
Pressure motor, hydraulic motor rotary speed highest, the tire of fluid motor-driven also rotating speed highest；When speed is minimum, rotating speed turns sensor
It is minimum to measure rotating speed, after PLC reception signal, controls three tunnels in load sensing multi-way valve to power off, the valve element of three tunnels power-off
In middle position, unnecessary oil mass flows back to fuel tank by valve element middle position through choke valve, and it is remaining all the way, PLC is by meter
Output minimum current is calculated to the load sensing multi-way valve of that remaining road electric proportional control, makes valve core opening minimum, hydraulic pressure horse
Up to only obtaining minimum discharge to maintain the output of maximum pressure；When in a certain vehicle speed range, rotating speed turns sensor and measures rotating speed, PLC
After controller reception signal, calculating will allow a few road valves to be powered, remaining power-off, and power wherein all the way, by output current
Control, only opens appropriate valve element so that output flow by hydraulic motor with appropriate rotational speed, so as to control tire rotational speed,
Make two bridge speed the same.
After such scheme, because the present invention does not have semiaxis and universal joint, in the absence of the positions such as semiaxis and universal joint zero
The damage of part, the steering of vehicle drives deflection tire to turn to by oil cylinder by stub, and hydraulic motor is leaned in the rotation driving of tire
Realized with reductor, the tire of some hydraulic pressure sliding machinery does not deflect, and steering relies on the right and left fluid motor-driven tire
Speed difference realize that tire does not deflect the abrasion that will result in tire, but this patent method avoids the tire cornering wear of tire.
Secondly, present invention brake built-in in reductor, the braking of car amount can be made, slowed down, and exempted from as many wet braking bridges
In maintenance, in the absence of brake overheating, it is long when brake fade situation, there is the advantages of Stability Analysis of Structures is reliable.Again, in high-volume
Whole system is more lower slightly or fair than the domestic steeraxle cost of small tonnage in the case of production, and comparing in the case of equal large-tonnage will
It is the part of foreign sales price come the low 20%-30% of steering and driving axle cost of domestic large-tonnage produced, while this
Invention does not have person's higher reliability in theory yet, avoids traditional disadvantage of steering and driving axle.In addition, the driving of tire of the present invention
Realized by hydraulic motor rotation, simple in construction, arrangement is convenient, by it is of the invention can the 4 wheel driven of simple realization traveling vehicle and more
Drive, improve vehicle and improve performance by performance, tool in complex road surface and save and reduce again cost.
The present invention is further illustrated with specific embodiment below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the structural representation of first embodiment of the invention；
Fig. 2 is the structural representation of second embodiment of the invention；
Fig. 3 is the structural representation of third embodiment of the invention.
Embodiment
As shown in figure 1, be the present invention it is a kind of walk steer-drive one embodiment, including prime mover 1, load
Responsive type hydraulic pump 2, fuel tank 3, reversal valve 4, shuttle valve 5, steering cylinder 6, deflection fixed mount 7, right avertence pivoted frame 8, right reductor 9,
Tire 10, two hydraulic motors 11 in left and right, left avertence pivoted frame 12, left reductor 13.
Described prime mover 1 drives load-sensitive type hydraulic pump 2 to rotate by shaft coupling, load-sensitive type hydraulic pump 2
One import is connected with the intake channel of reversal valve 4 by pipeline, changed from the oil-feed of fuel tank 3, the outlet of load-sensitive type hydraulic pump 2
It is connected respectively by two pipelines with two imports of hydraulic motor 11 to two exit passageways of valve 4, shuttle valve 5 is located at reversal valve
Between 4 and two connecting pipes of hydraulic motor 11, fuel tank 3 is connected by pipeline with the exit passageway of reversal valve 4, steering cylinder
6 are arranged on deflection fixed mount 7, and right avertence pivoted frame 8 and left avertence pivoted frame 12 are separately mounted to deflect right, the left both ends of fixed mount,
Right reductor 9 and left reductor 13 are separately installed with right avertence pivoted frame and left avertence pivoted frame 12, the both ends of right reductor 9 are installed respectively
The hydraulic motor 11 and tire 10 in left side are installed in the hydraulic motor 11 and tire 10 on right side, the both ends of left reductor 13 respectively.
The control method of the present embodiment：
The hydraulic fluid flow rate of the hydraulic motor 11 in described left side and the hydraulic motor 11 on right side is distributed by a three-way connection certainly
Distribution is adapted to, such as when turning to, the rotating speed of tire 10 on the left side is lower than the rotating speed of tire 10 on the right, accordingly in left reductor 13
With the speed of right reductor 9 than under the same conditions, it is necessary to the hydraulic motor 11 in left side is lower than the rotating speed of hydraulic motor 11 on right side, left side
Hydraulic motor 11 fuel delivery it is fewer than the fuel delivery of the hydraulic motor 11 on right side, due to turn to when, the stress of two motors is not
Equally, the resistance that the hydraulic motor 11 on the right side of resistance ratios that the hydraulic motor 11 in left side is received is received is big, and hydraulic oil is with regard to adaptive point
It is fewer than the hydraulic motor 11 on right side to the hydraulic motor 11 in left side with different flows, the big few distribution of resistance, small more of resistance
Distribution, just give wheel cincture tire 10 to the same self-adjusted block rotating speed of differential mechanism of drive axle.Under transport condition, if hydraulic pressure horse
Fuel delivery up to 11 is more, and more than the speed demand of actual tire 10, at this moment reversal valve 4 exports to the hydraulic circuit pressure of hydraulic motor 11
Power can raise, and at this moment load-sensitive type hydraulic pump 2 detects pressure rise just automatic reduction pumpage, makes load-sensitive type hydraulic pressure
The discharge capacity of pump 2 only meets the actual demand of hydraulic motor 11 all the time, conversely, similarly.When can not be to reach in the vehicle that meets obstructions
When dynamic, at this moment load-sensitive type hydraulic pump 2 detects pressure highest, and discharge capacity is minimized by pump automatically, only supplies a small amount of oil
To maintain lasting pressure, ensure hydraulic motor 11 with minimum power maximum output torque.This ensures that tandem axle or
It under the conditions of more drive axles, while can have an effect, be not in be walked to waste the situation of power in tow.The power control of reversal valve 4 and
Reversing handle links, and can realize the functions such as vehicle advances, retreated, bridge driving disengages.
As shown in Fig. 2 be a kind of second embodiment of steer-drive of walking of the present invention, including prime mover 1 ', liquid
Press pump 2 ', fuel tank 3 ', load sensing multi-way valve 4 ', PLC 5 ', steering cylinder 6 ', deflection fixed mount 7 ', right avertence pivoted frame
8 ', right reductor 9 ', tire 10 ', hydraulic motor 11 ', left avertence pivoted frame 12 ', left reductor 13 ', speed probe 14 '.
Described prime mover 1 ' drives hydraulic pump 2 ' to rotate by shaft coupling, and an import of fuel tank 3 ' and hydraulic pump 2 ' connects
Connect, the outlet of hydraulic pump 2 ' is connected by pipeline with the intake channel of load sensing multi-way valve 4 ', load sensing multi-way valve 4 '
Two exit passageways are connected by two pipelines with two imports of hydraulic motor 11 ' respectively, PLC 5 ' by feeder line with
The control terminal of load sensing multi-way valve 4 ' connects, and speed probe 14 ' is arranged on the input or gearbox of non-steering and driving axle
In output end, the speed feedback measured passes through the size control that output current is calculated to PLC 5 ', PLC 5 '
Electric proportional load sensitive banked direction control valves 4 ' is made, fuel tank 3 ' is connected by pipeline with the exit passageway of load sensing multi-way valve 4 ', is turned to
Oil cylinder 6 ' is arranged on deflection fixed mount 7 ', right avertence pivoted frame 8 ' and left avertence pivoted frame 12 ' be separately mounted to deflect the right side of fixed mount 7 ',
Left both ends, right reductor 9 ' and left reductor 13 ', right reductor are separately installed with right avertence pivoted frame 8 ' and left avertence pivoted frame 12 '
The hydraulic motor 11 ' and tire 10 ' on right side are installed in 9 ' both ends respectively, and the left hydraulic pressure in left side is installed at the both ends of left reductor respectively
Motor 11 ' and tire 10 '.
The control method of the present embodiment：
The hydraulic oil distribution of the hydraulic motor 11 ' in described left side and the hydraulic motor 11 ' on right side is adaptive by a three-way connection
It should distribute.Speed probe 14 ' is connected in the input of non-steering and driving axle or the output end of gearbox, the speed feedback measured
To PLC 5 ', PLC 5 ' controls electric proportional load sensitive banked direction control valves by the size of output current is calculated
4 ', the valve core opening size of electric proportional load sensitive banked direction control valves 4 ' is controlled, so as to control hydraulic fluid flow rate size, than if any four tunnels
Valve, when speed highest, the road standard-sized sheet of load sensing multi-way valve 4 ' four, hydraulic motor 11 ' is all flowed to, the rotating speed of hydraulic motor 11 ' is most
Height, so the tire also rotating speed highest that hydraulic motor 11 ' drives.When speed is minimum, rotating speed turns sensor 14 ' and measures rotating speed most
It is small, after the reception signal of PLC 5 ', control three tunnels in load sensing multi-way valve 4 ' to power off, during the valve element that three tunnels power off is in
Position, unnecessary oil mass flow back to fuel tank by valve element middle position through choke valve, and it is remaining all the way, PLC 5 ' is defeated by calculating
Go out minimum current to the load sensing multi-way valve 4 ' of that remaining road electric proportional control, make valve core opening minimum, hydraulic motor
11 ' only obtain minimum discharge to maintain the output of maximum pressure.When in a certain vehicle speed range, rotating speed turns sensor 14 ' and measures rotating speed,
After the reception signal of PLC 5 ', calculating will allow a few road valves to be powered, remaining power-off, and power wherein all the way, exported
Current control, only open appropriate valve element so that output flow by hydraulic motor 11 ' with appropriate rotational speed, so as to control wheel
Tire rotating speed, make two bridge speed the same.This ensures that under the conditions of tandem axle or more drive axles, while can have an effect, will not
There is a situation where to be walked to waste power in tow.Due to using electric proportional control load sensing multi-way valve 4 ', no matter per road valve
Corresponding load, the pressure size of output, it can press valve core opening size, the output flow of equal proportion, and output end
Load unrelated.
As shown in figure 3, be a kind of 3rd embodiment of steer-drive of walking of the present invention, including prime mover 1 ', liquid
Press pump 2 ', fuel tank 3 ', load sensing multi-way valve 4 ', PLC 5 ', steering cylinder 6 ', deflection fixed mount 7 ', right avertence pivoted frame
8 ', right reductor 9 ', tire 10 ', hydraulic motor 11 ', left avertence pivoted frame 12 ', left reductor 13 ', speed probe 14 '.It is tied
Structure is substantially the same manner as Example 2, except that, described hydraulic pump 2 ' is load-sensitive type hydraulic pump.Its control mode with
Embodiment is identical, but because hydraulic pump 2 ' employs load-sensitive type hydraulic pump, can according to loading demand output flow, so
Control mode most precisely, most saves, is most efficient.
It is described above, only present pre-ferred embodiments, therefore the scope that the present invention is implemented can not be limited with this, i.e., according to
The equivalent changes and modifications that scope of the present invention patent and description are made, it all should still belong to the model that patent of the present invention covers
In enclosing.
Claims (5)
1. one kind walking steer-drive, it is characterised in that：Including prime mover, load-sensitive type hydraulic pump, fuel tank, commutation
Valve, shuttle valve, steering cylinder, deflection fixed mount, right avertence pivoted frame, right reductor, right hydraulic motor, tire, left avertence pivoted frame, left deceleration
Machine, left hydraulic motor；Described prime mover drives load-sensitive type hydraulic pump to rotate by shaft coupling, load-sensitive type hydraulic pump
An import from fuel tank oil-feed, the outlet of load-sensitive type hydraulic pump is connected by the intake channel of pipeline and reversal valve, is changed
Connected respectively by two imports of two pipelines and hydraulic motor to two exit passageways of valve, shuttle valve is located at reversal valve and liquid
Between two connecting pipes of pressure motor, fuel tank is connected by the exit passageway of pipeline and reversal valve, and steering cylinder is arranged on inclined
Turn on fixed mount, right avertence pivoted frame and left avertence pivoted frame are separately mounted to deflect right, the left both ends of fixed mount, in right avertence pivoted frame and left avertence
Right reductor and left reductor are separately installed with pivoted frame, the right hydraulic motor and wheel on right side are installed in the both ends of right reductor respectively
The left hydraulic motor and tire in left side are installed in tire, the both ends of left reductor respectively.
A kind of 2. control method of walking steer-drive according to claim 1, it is characterised in that：Described left side
Hydraulic motor and right side hydraulic motor hydraulic fluid flow rate distribute by a three-way connection self-adjusted block；It is left during steering
The tire rotational speed on side is lower than the tire rotational speed on the right, in left reductor and the fast ratio of right reductor under the same conditions accordingly,
Need the hydraulic motor in left side lower than the hydraulic motor rotary speed on right side, the hydraulic pressure of the fuel delivery of the hydraulic motor in left side than right side
The fuel delivery of motor is few, and during due to turning to, the stress of two motors is different, the liquid on the right side of resistance ratios that the hydraulic motor in left side is received
The resistance that pressure motor is received is big, hydraulic oil with regard to the different flow of adaptive distribution to left side hydraulic motor than right side hydraulic pressure horse
Up to less；Under transport condition, if the fuel delivery of hydraulic motor is more, more than actual tire speed demand, diverter valve outlet to liquid
The hydraulic circuit pressure of pressure motor can raise, and load-sensitive type hydraulic pump detects that pressure rise is just automatic and reduces pumpage, makes
The discharge capacity of load-sensitive type hydraulic pump only meets hydraulic motor actual demand all the time, conversely, similarly；When in the vehicle that meets obstructions
When can not move forward, at this moment load-sensitive type hydraulic pump detects pressure highest, is automatically minimized hydraulic motor displacement,
A small amount of oil is only supplied to maintain lasting pressure, ensures hydraulic motor with minimum power maximum output torque.
3. one kind walking steer-drive, it is characterised in that：Including prime mover, hydraulic pump, fuel tank, load sensing multi-way valve,
PLC, steering cylinder, deflection fixed mount, right avertence pivoted frame, right reductor, right hydraulic motor, tire, left avertence pivoted frame, a left side subtract
Fast machine, left hydraulic motor and tire, speed probe；Described prime mover by shaft coupling drive hydraulic pump rotate, fuel tank and
The import connection of hydraulic pump, the outlet of hydraulic pump are connected by the intake channel of pipeline and load sensing multi-way valve, load
Two exit passageways of sensing multi-way valve are connected by two imports of two pipelines and hydraulic motor respectively, and PLC is led to
Cross feeder line to be connected with load sensing multi-way valve control terminal, speed probe is arranged on the input or gearbox of non-steering and driving axle
Output end on, the speed feedback that measures is to PLC, and PLC is by being calculated the size control of output current
Electric proportional load sensitive banked direction control valves, fuel tank are connected by the exit passageway of pipeline and load sensing multi-way valve, steering cylinder installation
On deflection fixed mount, right avertence pivoted frame and left avertence pivoted frame are separately mounted to deflect right, the left both ends of fixed mount, in right avertence pivoted frame and
Be separately installed with right reductor and left reductor on left avertence pivoted frame, the both ends of right reductor install respectively right side hydraulic motor and
The hydraulic motor and tire in left side are installed in tire, the both ends of left reductor respectively.
4. walking steer-drive according to claim 3, it is characterised in that：Described hydraulic pump is load-sensitive type
Hydraulic pump.
A kind of 5. control method of walking steer-drive according to claim 3, it is characterised in that：Described left side
Hydraulic motor and right side hydraulic motor hydraulic oil distribution by a three-way connection self-adjusted block；In non-steering and driving axle
Input or the output end of gearbox connect speed probe, the speed feedback measured is to PLC, PLC warp
The electric proportional load sensitive banked direction control valves of size control that output current is calculated is crossed, controls the valve of electric proportional load sensitive banked direction control valves
Core openings of sizes, so as to control hydraulic fluid flow rate size；When speed highest, the road standard-sized sheet of load sensing multi-way valve four, all flow to
Hydraulic motor, hydraulic motor rotary speed highest, the tire of fluid motor-driven also rotating speed highest；When speed is minimum, rotating speed turns sense
Device measures rotating speed minimum, after PLC reception signal, controls three tunnels in load sensing multi-way valve to power off, the valve of three tunnels power-off
Core is in middle position, and unnecessary oil mass flows back to fuel tank by valve element middle position through choke valve, and it is remaining all the way, PLC is passed through
Output minimum current is calculated to the load sensing multi-way valve of that remaining road electric proportional control, makes valve core opening minimum, hydraulic pressure
Motor only obtains minimum discharge to maintain the output of maximum pressure；When in a certain vehicle speed range, rotating speed turns sensor and measures rotating speed,
After PLC reception signal, calculating will allow a few road valves to be powered, remaining power-off, and power wherein all the way, by output electricity
Flow control, only open appropriate valve element so that output flow by hydraulic motor with appropriate rotational speed, so as to control tyre revolution
Speed, make two bridge speed the same.
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| CN201710595916.XA CN107458459A (en) | 2017-07-20 | 2017-07-20 | Walking steer-drive and its control method |
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| CN203472987U (en) * | 2013-05-29 | 2014-03-12 | 深圳市达航工业有限公司 | Self-control front axle device of platform car |
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| CN207106619U (en) * | 2017-07-20 | 2018-03-16 | 郭向阳 | Walking steer-drive |
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