CN107972727A - Lift truck steering - Google Patents
Lift truck steering Download PDFInfo
- Publication number
- CN107972727A CN107972727A CN201610920800.4A CN201610920800A CN107972727A CN 107972727 A CN107972727 A CN 107972727A CN 201610920800 A CN201610920800 A CN 201610920800A CN 107972727 A CN107972727 A CN 107972727A
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- control system
- hydraulic
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
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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
- B62D5/065—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 specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a kind of lift truck steering, the steering of each wheel shaft is independently driven using electric transmission maneuverability pattern, steering is by driving mechanism, three parts of hydraulic system and electrohydraulic control system form, the high pressure oil of hydraulic pump output reaches the driving hydraulic cylinder of pivoting support driving mechanism through electrohydraulic servo valve, control system is calculated according to the steering order that steering wheel or steering pattern selecting switch input, to control the aperture of electrohydraulic servo valve and oil stream direction, the sensor being connected with pivoting support is installed on each wheel shaft position of vehicle frame, moment monitors the actual rotational angle of wheel, the signal of feedback participates in control and calculates, so as to form closed-loop control system.The present invention, which realizes, to be smoothly turned to.
Description
Technical field
The invention belongs to special-purpose vehicle field, more particularly to a kind of lift truck steering.
Background technology
Lift truck as carriage of special cargo equipment, have big transport tonnage, more frame turnovers, operating efficiency it is high, it is versatile,
The advantages of good economy performance, be widely used.The species abundance in Baosteel in Shanghai limited company latter stage nineties draws from German SCHEUERLE companies
Into MPIK type lift trucks, by supporting from different frames, the transport available for raw material, finished product, steel scrap.This vehicle is except tool
Outside the function of standby general load transportation vehicle, also there is balance rise/fall, cargo bed is tumbled/resetted, ASR is controlled, wheel trajectories
The functions such as alignment control.Lift truck is mainly used for the transportation by lighter of cargo, and operation process is：Vehicle is driven to carrying weight by driver
Frame below after, operate electronic equilibrium jacking system, by the cooperation of Hydraulic Elements, cargo is smoothly risen to safe height
Degree, rear vehicle traveling cargo is lightered；Conversely, driver operates electronic equilibrium jacking system, vehicle is steadily declined de-
From cargo.
The content of the invention
The defects of for the prior art, the present invention provides a kind of lift truck steering.
A kind of lift truck steering, independently drives the steering of each wheel shaft using electric transmission maneuverability pattern, steering by
Three driving mechanism, hydraulic system and electrohydraulic control system parts form, and the high pressure oil of hydraulic pump output is arrived through electrohydraulic servo valve
Up to the driving hydraulic cylinder of pivoting support driving mechanism, control system is according to steering wheel or the steering of steering pattern selecting switch input
Instruction is calculated, to control the aperture of electrohydraulic servo valve and oil stream direction, be provided with each wheel shaft position of vehicle frame with
The sensor that pivoting support is connected, moment monitor the actual rotational angle of wheel, and the signal of feedback participates in control and calculates, closed so as to form
Ring control system.
The beneficial effects of the invention are as follows：It can be achieved to smoothly turn to.
Brief description of the drawings
Fig. 1 is the structure diagram of system.
Embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail, make the above and other purpose of the present invention, feature and advantage will become apparent from.Complete
Identical reference numeral indicates identical part in portion's attached drawing.Not deliberately attached drawing drawn to scale, it is preferred that emphasis is show this hair
Bright purport.
As shown in Figure 1, independently drive the steering of each wheel shaft using electric transmission maneuverability pattern, can make wheel range of deflection and
Deflection angular accuracy brings up to very high level.Steering is by three driving mechanism, hydraulic system and electrohydraulic control system parts
Composition, the high pressure oil of hydraulic pump output reach the driving hydraulic cylinder of pivoting support driving mechanism, control system through electrohydraulic servo valve
Calculated according to the steering order that steering wheel or steering pattern selecting switch input, to control the aperture of electrohydraulic servo valve and oil
Direction is flowed, also just controls the flexible and piston movement speed of driving hydraulic cylinder.It is provided with each wheel shaft position of vehicle frame
The sensor (rotational potentiometer) being connected with pivoting support, moment monitor the actual rotational angle of wheel, and the signal of feedback participates in control
Calculate, so as to form closed-loop control system.If steering appearance action is overproof, corresponding caution signal can be sent even certainly
It is dynamic to take pressure safety measure.The system is additionally provided with emergency processing unit, cannot correctly deflect or dispatch when there is certain to organize wheel shaft
Related operation is carried out during maintenance.Steering operation is carried out during traveling, normal direction of rotation and Vehicular turn are needed to 4 revolution drivings
Hydraulic pressure oil supply cylinder；And cross running is needed to 6 revolution driving hydraulic pressure oil supply cylinders；Because all left and right wheel shaft revolution driving hydraulic pressure
Cylinder is relative to origin symmetry installation, so, the hydraulic cylinder of normal direction of rotation is two-by-two respectively to big chamber and small chamber fuel feeding, movement
Speed or so is than more uniform, so as to draw:1. hydraulic cylinder piston movement velocity occurs most during Vehicular turn pattern traveling
Big situation (while to the small chamber fuel feeding of 4 hydraulic cylinders).2. hydraulic cylinder piston movement velocity occurs in cross running pattern most
Small situation.
Wheel returns positive process, pivot stud and cross running pattern, steering wheel and is failure to actuate, and CPU is through relay output module
OC221 exports the action of signal control direction pan brake；Alarm signal and overproof processing signal are also exported by OC221 modules.
It is fixed on vehicle frame, the travelling arm for the rotational potentiometer being located at turn around at supporting center is rotated with pivoting support, so that the company of output
The d. c. voltage signal of continuous change, the signal become digital quantity through D/A converter module AD001 and are used for CPU.According to steering wheel
The umber of pulse of output, the relation that should be kept between left and right sides wheel between each axis wheel during by Vehicular turn calculate the reason of each wheel shaft
By corner, wheel actual rotational angle is calculated from the signal of rotational potentiometer feedback, is calculated and watched by the difference of theoretical corner and actual rotational angle
Take valve control.
Many details are elaborated in the above description in order to fully understand the present invention.But above description is only
Presently preferred embodiments of the present invention, the invention can be embodied in many other ways as described herein, therefore this
Invention from specific implementation disclosed above limitation.Any those skilled in the art are not departing from the technology of the present invention at the same time
In the case of aspects, all technical solution of the present invention is made using the methods and technical content of the disclosure above many possible
Changes and modifications, or it is revised as the equivalent embodiment of equivalent variations.Every content without departing from technical solution of the present invention, according to this
The technical spirit of invention still falls within skill of the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of the protection of art scheme.
Claims (1)
1. a kind of lift truck steering, it is characterised in that the steering of each wheel shaft is independently driven using electric transmission maneuverability pattern, is turned
It is made of to system three driving mechanism, hydraulic system and electrohydraulic control system parts, the high pressure oil of hydraulic pump output is through electro-hydraulic
Servo valve reaches the driving hydraulic cylinder of pivoting support driving mechanism, and control system is defeated according to steering wheel or steering pattern selecting switch
The steering order entered is calculated, to control the aperture of electrohydraulic servo valve and oil stream direction, on each wheel shaft position of vehicle frame
The sensor being connected with pivoting support is installed, the moment monitors the actual rotational angle of wheel, and the signal of feedback participates in control and calculates, from
And form closed-loop control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610920800.4A CN107972727A (en) | 2016-10-21 | 2016-10-21 | Lift truck steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610920800.4A CN107972727A (en) | 2016-10-21 | 2016-10-21 | Lift truck steering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972727A true CN107972727A (en) | 2018-05-01 |
Family
ID=62004524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610920800.4A Pending CN107972727A (en) | 2016-10-21 | 2016-10-21 | Lift truck steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972727A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109257980A (en) * | 2018-07-13 | 2019-01-25 | 湖南科洋农机制造有限公司 | A kind of hanging transfer for agricultural machinery |
| CN110497962A (en) * | 2019-07-18 | 2019-11-26 | 上海振华重工(集团)股份有限公司 | A kind of servo integrated electric hydraulic steering system of straddle carrier volume and its control method |
-
2016
- 2016-10-21 CN CN201610920800.4A patent/CN107972727A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109257980A (en) * | 2018-07-13 | 2019-01-25 | 湖南科洋农机制造有限公司 | A kind of hanging transfer for agricultural machinery |
| CN109257980B (en) * | 2018-07-13 | 2022-08-23 | 湖南科洋农机制造有限公司 | A unsettled device that turns to for agricultural machine |
| CN110497962A (en) * | 2019-07-18 | 2019-11-26 | 上海振华重工(集团)股份有限公司 | A kind of servo integrated electric hydraulic steering system of straddle carrier volume and its control method |
| CN110497962B (en) * | 2019-07-18 | 2023-11-24 | 上海振华重工(集团)股份有限公司 | Volume servo integrated electro-hydraulic steering system of straddle carrier and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180501 |
|
| WD01 | Invention patent application deemed withdrawn after publication |