CN107878556B - Electrohydraulic steering control system of fan blade transport vehicle and control method thereof - Google Patents
Electrohydraulic steering control system of fan blade transport vehicle and control method thereof Download PDFInfo
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- CN107878556B CN107878556B CN201711338260.XA CN201711338260A CN107878556B CN 107878556 B CN107878556 B CN 107878556B CN 201711338260 A CN201711338260 A CN 201711338260A CN 107878556 B CN107878556 B CN 107878556B
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- steering
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- pipeline
- valve
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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
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
-
- 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
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
- B62D5/32—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means for telemotor systems
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The electrohydraulic steering control system of the fan blade transport vehicle comprises a left following oil cylinder, a right following oil cylinder, a left steering oil cylinder, a right steering oil cylinder and an operating valve, wherein the operating valve is provided with a hydraulic control port I, a hydraulic control port II and a pressure oil inlet connected with a hydraulic oil source, the hydraulic control port I is connected with a rodless cavity of the left steering oil cylinder through a hydraulic pipeline I, and the hydraulic control port II is connected with a rodless cavity of the right steering oil cylinder through a hydraulic pipeline II. The invention realizes the steering control function of the ultra-long fan blade transport vehicle, and the system has flexible operation and use, simple maintenance and stable steering movement process; the vehicle steering control system has two steering control modes, namely a steering-along working mode and a forced steering working mode, is more beneficial to realizing smaller turning radius of the vehicle, improves the curve passing capability, and meets the use requirement of the ultra-long fan blade transport vehicle.
Description
Technical Field
The invention relates to a steering control system, in particular to an electrohydraulic steering control system of a fan blade transport vehicle.
Background
Along with the export of national new energy policies, wind power generation construction is rapidly promoted, and the transportation problem of wind blades for wind power generation needs to be solved. The fan blade transport vehicle is specially designed for fan blade transport, and is designed to meet the requirement of large-scale fan blade transport, the length of the vehicle is up to 50 meters, and 16 tires with 4 axes are adopted. Such an unconventional transport vehicle, if relying solely on the tractor itself, cannot meet the minimum turning radius requirements of existing roads.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the electrohydraulic steering control system of the fan blade transport vehicle, which has flexible operation and use, simple maintenance and stable steering movement process, is favorable for realizing smaller turning radius of the vehicle, improves the curve passing capability and can meet the use requirement of the ultra-long fan blade transport vehicle.
The invention aims to solve the technical problems by adopting the following technical scheme, and the electrohydraulic steering control system of the fan blade transport vehicle is characterized in that: the hydraulic control device comprises a left following oil cylinder, a right following oil cylinder, a left steering oil cylinder, a right steering oil cylinder and an operating valve, wherein the left following oil cylinder and the right following oil cylinder are arranged at the front end of a fan blade transport vehicle and rotate along with a traction rotary seat in a follow-up mode, the left steering oil cylinder and the right steering oil cylinder respectively correspond to and control the left rear wheel and the right rear wheel of the fan blade transport vehicle to steer, the operating valve is provided with a hydraulic control port I, a hydraulic control port II and a pressure oil inlet connected with a hydraulic oil source, the hydraulic control port I is connected with a rodless cavity of the left steering oil cylinder through a hydraulic pipeline I, a ball valve I is arranged on the hydraulic pipeline I, the hydraulic control port II is connected with the rodless cavity of the right steering oil cylinder through a hydraulic pipeline II, a ball valve III for communicating the rodless cavity of the left steering oil cylinder and the right steering oil cylinder is arranged between the hydraulic pipeline I and the hydraulic pipeline II; the rodless cavity of the left following cylinder is connected with the rod cavity of the left steering cylinder through a hydraulic pipeline III, the rodless cavity of the right following cylinder is connected with the rod cavity of the right steering cylinder through a hydraulic pipeline IV, a ball valve IV communicated with the rodless cavity of the left and right following cylinders is arranged between the hydraulic pipeline III and the hydraulic pipeline IV, a hydraulic branch communicated with the hydraulic pipeline III is arranged on the hydraulic pipeline II, and a ball valve V is arranged on the hydraulic branch; the control method comprises the following steps: in a turning-along working mode, closing ball valves IV and V, and opening ball valves I, II and III, wherein at the moment, a rodless cavity of a left following oil cylinder, a rod-containing cavity of a left steering oil cylinder, a rodless cavity of a right following oil cylinder and a rod-containing cavity of a right steering oil cylinder respectively form a sealing cavity; in the forced steering working mode, the ball valves III and V are closed, the ball valves I, II and IV are opened, and the hydraulic pipeline III is communicated with the hydraulic pipeline IV because the ball valve IV is opened, so that rodless cavities of the left and right following cylinders are communicated with rod cavities of the left and right steering cylinders, feedback pressure cannot be formed between the following cylinders and the steering cylinders, steering action of the tractor and steering transfer relation of the wind blade carrier are disconnected, and an operator can control telescopic movement of the left and right steering cylinders through an operation valve at the moment, thereby driving the wind blade carrier to steer along an axle line and realizing forced steering of the wind blade carrier.
The technical problem to be solved by the invention can be further solved by the following technical scheme that a hydraulic pump is arranged on a connecting pipeline of the pressure oil inlet of the operating valve and the hydraulic oil source.
The technical problem to be solved by the invention can be further solved by the following technical scheme that an overflow valve is arranged on a connecting pipeline between a hydraulic pump oil outlet and an operating valve pressure oil inlet.
The technical problem to be solved by the invention can be further solved by the following technical scheme that a safety valve is connected in series between rodless cavities of the left and right following cylinders and rod cavities of the left and right steering cylinders.
The technical problem to be solved by the invention can be further solved by the following technical scheme that a pressure gauge is arranged on the hydraulic branch.
The technical problem to be solved by the invention can be further solved by the following technical scheme that a signal receiver capable of receiving control signals in a long distance is arranged on the operation valve.
The technical problem to be solved by the invention can be further solved by the following technical scheme, and the operating valve is also provided with an oil return pipeline.
Compared with the prior art, the steering control function of the ultra-long fan blade transport vehicle is realized, the system is flexible to operate and use, is simple to maintain, and has stable steering movement process; the vehicle steering control system has two steering control modes, namely a steering-along working mode and a forced steering working mode, is more beneficial to realizing smaller turning radius of the vehicle, improves the curve passing capability, and meets the use requirement of the ultra-long fan blade transport vehicle.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The electrohydraulic steering control system of the fan blade carrier comprises a left following cylinder 1, a right following cylinder 2, a left steering cylinder 8, a right steering cylinder 7 and an operating valve 14, wherein the left following cylinder 1 and the right following cylinder 2 are arranged at the front end of the fan blade carrier and rotate along with a traction rotary seat in a follow-up way, the left steering cylinder 8 and the right steering cylinder 7 respectively correspond to and control the left rear wheel and the right rear wheel of the fan blade carrier to steer, the operating valve 14 is provided with a hydraulic control port I, a hydraulic control port II and a pressure oil inlet connected with a hydraulic oil source, the hydraulic control port I is connected with a rodless cavity of the left steering cylinder 8 through a hydraulic pipeline I, a ball valve I9 is arranged on the hydraulic pipeline I, the hydraulic control port II is connected with the rodless cavity of the right steering cylinder 7 through a hydraulic pipeline II, a ball valve II 5 is arranged on the hydraulic pipeline II, and a ball valve III 6 communicated with the rodless cavity of the left steering cylinder and the right steering cylinder is arranged between the hydraulic pipeline I and the hydraulic pipeline II; the rodless cavity of the left following cylinder 1 is connected with the rod cavity of the left steering cylinder 8 through a hydraulic pipeline III, the rodless cavity of the right following cylinder 2 is connected with the rod cavity of the right steering cylinder 7 through a hydraulic pipeline IV, a ball valve IV 4 communicated with the rodless cavity of the left and right following cylinders is arranged between the hydraulic pipeline III and the hydraulic pipeline IV, a hydraulic branch communicated with the hydraulic pipeline III is arranged on the hydraulic pipeline II, and a ball valve V15 is arranged on the hydraulic branch; the control method comprises the following steps: in a turning-along working mode, closing ball valves IV and V, and opening ball valves I, II and III, wherein at the moment, a rodless cavity of a left following oil cylinder, a rod-containing cavity of a left steering oil cylinder, a rodless cavity of a right following oil cylinder and a rod-containing cavity of a right steering oil cylinder respectively form a sealing cavity; in the forced steering working mode, the ball valves III and V are closed, the ball valves I, II and IV are opened, and the hydraulic pipeline III is communicated with the hydraulic pipeline IV because the ball valve IV is opened, so that rodless cavities of the left and right following cylinders are communicated with rod cavities of the left and right steering cylinders, feedback pressure cannot be formed between the following cylinders and the steering cylinders, steering action of the tractor and steering transfer relation of the wind blade carrier are disconnected, and an operator can control telescopic movement of the left and right steering cylinders through an operation valve at the moment, thereby driving the wind blade carrier to steer along an axle line and realizing forced steering of the wind blade carrier. The hydraulic oil source is a hydraulic oil tank 13. The invention is arranged in the frame of the fan blade transport vehicle and controls the steering action of the fan blade transport vehicle. The invention can switch the steering function of the fan blade transport vehicle between two modes of follow-up steering and forced steering. The wind blade transport vehicle can be switched to a follow-up steering mode during normal running, namely, the wind blade transport vehicle automatically follows the tractor to realize a steering function; when the radius of a road curve is smaller and the follow-up steering passing performance is poorer, the forced steering mode can be switched, namely, a person operates the control valve to realize independent forced steering of the fan blade transport vehicle, so that the road passing capability of the whole vehicle is improved.
The operation valve adopts a manual control mode and an electric control mode, and can be used for filling the system and controlling the movement of the hydraulic cylinder through the operation valve; the following oil cylinder is arranged at the traction rotary seat of the fan blade carrier, and follows the traction rotary seat through the slewing bearing, so that a steering angle signal of the tractor can be transmitted to the steering oil cylinder of the fan blade carrier through the steering control system, and the follow-up steering function of the fan blade carrier during running is realized; the number of the ball valves is 5, and two working states of a follow-up steering mode and a manual forced steering mode of the electrohydraulic control system of the fan blade transport vehicle can be realized through switching of the on-off states of the 5 ball valves; the steering oil cylinder is arranged at the axis of the fan blade transport vehicle, receives signals from the electro-hydraulic steering control system, pushes the fan blade transport vehicle to steer along the axis, and can realize two steering functions of follow-up steering and forced steering under the control of the electro-hydraulic steering control system;
a hydraulic pump 11 is installed on a connection line where the pressure oil inlet of the operating valve is connected to a hydraulic oil source. The hydraulic pump 11 is a power source of an electrohydraulic steering control system and provides a power source for the system. An overflow valve 12 is installed on the connection line between the hydraulic pump outlet and the operating valve pressure oil inlet. The overflow valve 12 is arranged between the oil outlet of the hydraulic pump and the pressure oil inlet of the operating valve, and the rated working pressure of the system is set through the overflow valve, so that the overload of hydraulic elements is prevented, and the safety protection effect on the system is achieved. A safety valve 3 is connected in series between the rodless cavities of the left and right following cylinders and the rod cavities of the left and right steering cylinders. The safety valve 3 is connected in series between the following oil cylinder and the steering oil cylinder and is a safety protection device of the electro-hydraulic steering control system, so that the damage of components of the electro-hydraulic steering control system caused by the overhigh steering pressure when the steering friction resistance of the tires of the fan blade transport vehicle is overhigh can be prevented. A pressure gauge is arranged on the hydraulic branch. The pressure gauge displays the pressure of the steering system in real time, so that fault diagnosis and system maintenance of the electrohydraulic steering control system are facilitated. A signal receiver 10 for receiving a control signal from a remote distance is installed on the operation valve. The signal receiver 10 can receive the control signal sent by the handheld signal transmitter, transmit the received control signal to the operation valve, control the reversing of the valve core of the operation valve, and realize remote control operation. The operating valve is also provided with an oil return pipeline.
When the following steering mode of the tractor and the wind blade transport vehicle has the phenomenon of inconsistent steering function, the wind blade transport vehicle is pulled by the tractor to directly move to the steering wheel of the tractor to be aligned, then the ball valves III and V are closed, the ball valves I, II and IV are opened to switch to the forced steering mode, and the axial tire of the wind blade transport vehicle and the tire of the tractor are adjusted to be in the same straight line by using forced steering. At the moment, the ball valves IV and V are opened, the ball valves I, II and III are closed, the operation valve is controlled to be filled in the system until the reading of the pressure gauge is 20-50 bar, and finally, the ball valves V and IV are sequentially closed. After the operation is finished, the electrohydraulic steering control system can realize the switching between two working modes of follow-up steering and forced steering through the switching action of 5 ball valves according to the working requirement.
Claims (7)
1. An electrohydraulic steering control system of a fan blade transport vehicle is characterized in that: the hydraulic control device comprises a left following oil cylinder and a right following oil cylinder which are arranged at the front end of a fan blade transport vehicle and rotate along with a traction rotary seat, a left steering oil cylinder, a right steering oil cylinder and an operating valve, wherein the left steering oil cylinder and the right steering oil cylinder are respectively correspondingly used for controlling the left and right rear wheels of the fan blade transport vehicle to steer, the operating valve is provided with a hydraulic control port I, a hydraulic control port II and a pressure oil inlet connected with a hydraulic oil source, the hydraulic control port I is connected with a rodless cavity of the left steering oil cylinder through a hydraulic pipeline I, a ball valve I is arranged on the hydraulic pipeline I, the hydraulic control port II is connected with the rodless cavity of the right steering oil cylinder through a hydraulic pipeline II, a ball valve II is arranged on the hydraulic pipeline II, and a ball valve III for communicating the rodless cavity of the left steering oil cylinder and the right steering oil cylinder is arranged between the hydraulic pipeline I and the hydraulic pipeline II; the rodless cavity of the left following cylinder is connected with the rod cavity of the left steering cylinder through a hydraulic pipeline III, the rodless cavity of the right following cylinder is connected with the rod cavity of the right steering cylinder through a hydraulic pipeline IV, a ball valve IV communicated with the rodless cavity of the left and right following cylinders is arranged between the hydraulic pipeline III and the hydraulic pipeline IV, a hydraulic branch communicated with the hydraulic pipeline III is arranged on the hydraulic pipeline II, and a ball valve V is arranged on the hydraulic branch;
the control method comprises the following steps: in a turning-along working mode, closing ball valves IV and V, and opening ball valves I, II and III, wherein at the moment, a rodless cavity of a left following oil cylinder, a rod-containing cavity of a left steering oil cylinder, a rodless cavity of a right following oil cylinder and a rod-containing cavity of a right steering oil cylinder respectively form a sealing cavity; in the forced steering working mode, the ball valves III and V are closed, the ball valves I, II and IV are opened, and the hydraulic pipeline III is communicated with the hydraulic pipeline IV because the ball valve IV is opened, so that rodless cavities of the left and right following cylinders are communicated with rod cavities of the left and right steering cylinders, feedback pressure cannot be formed between the following cylinders and the steering cylinders, steering action of the tractor and steering transfer relation of the wind blade carrier are disconnected, and an operator can control telescopic movement of the left and right steering cylinders through an operation valve at the moment, thereby driving the wind blade carrier to steer along an axle line and realizing forced steering of the wind blade carrier.
2. The blade carrier vehicle electrohydraulic steering control system of claim 1 wherein: a hydraulic pump is arranged on a connecting pipeline of the pressure oil inlet of the operating valve and the hydraulic oil source.
3. The blade carrier vehicle electrohydraulic steering control system of claim 2 wherein: and an overflow valve is arranged on a connecting pipeline between the oil outlet of the hydraulic pump and the pressure oil inlet of the operating valve.
4. The blade carrier vehicle electrohydraulic steering control system of claim 1 wherein: a safety valve is connected in series between the rodless cavities of the left and right following cylinders and the rod cavities of the left and right steering cylinders.
5. The blade carrier vehicle electrohydraulic steering control system of claim 1 wherein: a pressure gauge is arranged on the hydraulic branch.
6. The blade carrier vehicle electrohydraulic steering control system of claim 1 wherein: a signal receiver capable of receiving a control signal at a long distance is mounted on the operation valve.
7. The blade carrier vehicle electrohydraulic steering control system of claim 1 wherein: the operating valve is also provided with an oil return pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338260.XA CN107878556B (en) | 2017-12-14 | 2017-12-14 | Electrohydraulic steering control system of fan blade transport vehicle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338260.XA CN107878556B (en) | 2017-12-14 | 2017-12-14 | Electrohydraulic steering control system of fan blade transport vehicle and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107878556A CN107878556A (en) | 2018-04-06 |
| CN107878556B true CN107878556B (en) | 2023-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711338260.XA Active CN107878556B (en) | 2017-12-14 | 2017-12-14 | Electrohydraulic steering control system of fan blade transport vehicle and control method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1120172A (en) * | 1965-09-13 | 1968-07-17 | Hans Still G M B H | Servo-assisted hydraulic steering system for a battery operated vehicle |
| DE19850902A1 (en) * | 1998-11-05 | 1999-06-24 | Manfred Scherger Baumaschinen | Rotary tower crane e.g. for building site |
| CN2412810Y (en) * | 2000-02-14 | 2001-01-03 | 李鹏海 | High-power tractor |
| CN101737365A (en) * | 2009-12-17 | 2010-06-16 | 长沙中联重工科技发展股份有限公司 | Mobile crane, steering mid positioning and locking device and mid cylinder thereof |
| CN105216865A (en) * | 2015-08-21 | 2016-01-06 | 王宁 | One connects steering hardware based on highway mine car |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2513614C (en) * | 2005-07-21 | 2008-10-14 | Macdon Industries Ltd. | Tractor with hydraulic speed and steering control for steering at maximum speed |
-
2017
- 2017-12-14 CN CN201711338260.XA patent/CN107878556B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1120172A (en) * | 1965-09-13 | 1968-07-17 | Hans Still G M B H | Servo-assisted hydraulic steering system for a battery operated vehicle |
| DE19850902A1 (en) * | 1998-11-05 | 1999-06-24 | Manfred Scherger Baumaschinen | Rotary tower crane e.g. for building site |
| CN2412810Y (en) * | 2000-02-14 | 2001-01-03 | 李鹏海 | High-power tractor |
| CN101737365A (en) * | 2009-12-17 | 2010-06-16 | 长沙中联重工科技发展股份有限公司 | Mobile crane, steering mid positioning and locking device and mid cylinder thereof |
| CN105216865A (en) * | 2015-08-21 | 2016-01-06 | 王宁 | One connects steering hardware based on highway mine car |
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| Publication number | Publication date |
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| CN107878556A (en) | 2018-04-06 |
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