CN108146497B - Full-hydraulic steering synchronous control system for forklift - Google Patents
Full-hydraulic steering synchronous control system for forklift Download PDFInfo
- Publication number
- CN108146497B CN108146497B CN201711223583.4A CN201711223583A CN108146497B CN 108146497 B CN108146497 B CN 108146497B CN 201711223583 A CN201711223583 A CN 201711223583A CN 108146497 B CN108146497 B CN 108146497B
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- steering
- valve
- electromagnetic valve
- full
- throttle valve
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 8
- 230000001105 regulatory effect Effects 0.000 claims abstract description 8
- 239000003921 oil Substances 0.000 claims description 47
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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
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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
- B62D5/08—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 steering valve used
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
Abstract
The invention relates to a full-hydraulic steering synchronous control system for a forklift. The steering system comprises an oil tank, an oil pump, a steady flow valve, a steering system overflow valve, a full-hydraulic steering gear, a one-way valve, a steering oil cylinder, a wheel corner potentiometer and a steering wheel corner potentiometer; the device also comprises a first compensation mechanism and a second compensation mechanism; the first compensation mechanism comprises a first electromagnetic valve and a first throttle valve; the second compensation mechanism comprises a second electromagnetic valve and a second throttle valve. When the device works, the flow entering the left cavity of the steering cylinder from the first electromagnetic valve is regulated through the first throttle valve; the flow entering the right cavity of the steering cylinder from the second electromagnetic valve is regulated through the second throttle valve; and determining the power-on work or power-off stop work of the first electromagnetic valve and the second electromagnetic valve according to the difference value of the rotation angles of the wheel rotation angle potentiometer and the steering wheel rotation angle potentiometer. The invention realizes the automatic correction of the direction of the forklift steering system, ensures the consistency of the steering wheel and the steering wheel angle and increases the running safety of the forklift.
Description
Technical Field
The invention belongs to a forklift steering system, and particularly relates to a full-hydraulic steering control system.
Background
The full hydraulic steering system has the problem that the steering wheel angle and the steering wheel angle are inconsistent when the forklift is in steering operation due to hydraulic leakage of the steering gear. For example, a conventional hydraulic steering system is such that when the steering angle of the steered wheel has been maximized, the steering wheel can still slip to the steering side by a certain distance due to leakage, and when the vehicle returns to straight running, the steering angle of the steering wheel is deflected to some extent with respect to the previous straight running. Therefore, when a driver operates the forklift to travel, the driver can travel in a given direction only by frequently operating the steering wheel, the labor intensity of the driver is high, the driver is easy to fatigue, and the safety of the forklift in the travel process is greatly reduced.
Disclosure of Invention
In order to solve the problem that the rear wheel steering angle and the steering wheel steering angle of a forklift are inconsistent, the invention provides a full-hydraulic steering synchronous control system for the forklift. The hydraulic flow compensation is utilized to compensate the corner difference value of the wheels, so that the steering wheel corner and the wheel corner form a corresponding relation, and the steering deviation problem is solved.
The full-hydraulic steering synchronous control system for the forklift comprises an oil tank 1, an oil pump 2, a steady flow valve 3, a steering system overflow valve 4, a full-hydraulic steering device 5, a one-way valve 6 and a steering oil cylinder 9; the overhanging end of a right piston rod in the right working cavity of the steering cylinder 9 is provided with a wheel corner potentiometer 10; the full hydraulic steering gear 5 is connected with a steering wheel 14 through a steering column, a steering wheel corner potentiometer 13 is arranged between the full hydraulic steering gear 5 and the steering wheel 14, and the steering wheel corner potentiometer 13 rotates along with the steering wheel 14;
the device also comprises a first compensation mechanism and a second compensation mechanism;
the first compensation mechanism comprises a first electromagnetic valve 7 and a first throttle valve 8;
the second compensation mechanism comprises a second electromagnetic valve 12 and a second throttle valve 11;
the port a of the first electromagnetic valve 7 and the port a1 of the second electromagnetic valve 12 are connected in parallel and communicated with a P oil inlet of the full hydraulic steering gear 5 through a one-way valve 6;
the first throttle valve 8 is connected in series with the port b of the first electromagnetic valve 7, and the outlet of the first throttle valve 8 is respectively communicated with the left working cavity of the steering cylinder 9 and one working oil port of the full-hydraulic steering device 5;
the second throttle valve 11 is connected in series with the b1 port of the second electromagnetic valve 12, and the outlet of the second throttle valve 11 is respectively communicated with the right working cavity of the steering cylinder 9 and one working oil port of the full-hydraulic steering device 5;
when the device works, the flow rate of the steering oil cylinder 9 entering from the first electromagnetic valve 7 is regulated through the first throttle valve 8; the flow rate of the steering oil cylinder 9 entering from the second electromagnetic valve 12 is regulated through the second throttle valve 11; according to the difference value of the rotation angles of the wheel rotation angle potentiometer 10 and the steering wheel rotation angle potentiometer 13, the power-on operation or the power-off stop operation of the first electromagnetic valve 7 and the second electromagnetic valve 12 is determined.
The further defined technical scheme is as follows:
the first electromagnetic valve 7 and the second electromagnetic valve 12 are two-position two-way electromagnetic valves.
The outlet of the first throttle valve 8 is respectively communicated with the left working cavity of the steering cylinder 9 and the L working oil port of the full hydraulic steering device 5 through a left three-way pipe 18.
The outlet of the second throttle valve 11 is respectively communicated with a right working cavity of the steering cylinder 9 and an R working oil port of the full hydraulic steering device 5 through a right three-way pipe 19.
The beneficial technical effects of the invention are as follows:
1. according to the invention, the steering deviation of the forklift is solved by adopting the control of the electromagnetic valve, the automatic correction of the direction of the steering system of the forklift is realized, the consistency of the steering wheel and the steering angle of the steering wheel is ensured, the steering feel of a driver during steering is improved, and the safety of the forklift in the driving process is increased.
2. The electromagnetic valve is utilized to realize automatic control, the operation is comfortable, and the working efficiency is improved.
3. The external electromagnetic valve and the throttle valve are adopted, so that the structure is simple, the installation and maintenance are convenient, the appearance is compact, the manufacturability is good, and the cost is low.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Number in the upper diagram: the hydraulic steering system comprises an oil tank 1, an oil pump 2, a steady flow valve 3, a steering system overflow valve 4, a full hydraulic steering gear 5, a one-way valve 6, a first electromagnetic valve 7, a first throttle valve 8, a steering oil cylinder 9, a wheel angle potentiometer 10, a second throttle valve 11, a second electromagnetic valve 12, a steering wheel angle potentiometer 13, a steering wheel 14, a three-way pipe 15, a three-way pipe 16, a three-way pipe 17, a left three-way pipe 18 and a right three-way pipe 19.
Detailed Description
The invention is further described by way of examples with reference to the accompanying drawings.
Examples
Referring to fig. 1, a full hydraulic steering synchronous control system for a forklift includes an oil tank 1, an oil pump 2, a steady flow valve 3, a steering system relief valve 4, a full hydraulic steering 5, a check valve 6, and a steering cylinder 9. The overhanging end of the right piston rod in the right working cavity of the steering cylinder 9 is provided with a wheel corner potentiometer 10 (the wheel corner potentiometer 10 can also be arranged on the overhanging end of the left piston rod in the left working cavity of the steering cylinder 9). The steering wheel 14 is connected with the full-hydraulic steering gear 5 through a steering column, a steering wheel corner potentiometer 13 is arranged between the full-hydraulic steering gear 5 and the steering wheel 14, and the steering wheel corner potentiometer 13 rotates along with the steering wheel 14.
The device also comprises a first compensation mechanism and a second compensation mechanism; the first compensation mechanism comprises a first electromagnetic valve 7 and a first throttle valve 8; the second compensation mechanism comprises a second electromagnetic valve 12 and a second throttle valve 11; the first electromagnetic valve 7 and the second electromagnetic valve 12 are two-position two-way electromagnetic valves.
The port a of the first electromagnetic valve 7 and the port a1 of the second electromagnetic valve 12 are connected in parallel and communicated with the P oil inlet of the full hydraulic steering gear 5 through the one-way valve 6.
The first throttle valve 8 is connected in series with the port b of the first electromagnetic valve 7, and the outlet of the first throttle valve 8 is respectively communicated with the left working cavity of the steering cylinder 9 and the L working oil port of the full-hydraulic steering device 5 through a left three-way pipe 18.
The second throttle valve 11 is connected in series with the b1 port of the second electromagnetic valve 12, and the outlet of the second throttle valve 11 is respectively communicated with the right working cavity of the steering cylinder 9 and the R working oil port of the full-hydraulic steering device 5 through a right three-way pipe 19.
When starting the starting operation, it is necessary to set the angular ratio relationship between the wheel angle potentiometer 10 and the steering wheel angle potentiometer 13 in the electric control device of the whole vehicle. The rotation angle proportion relation is the basis of whether the first electromagnetic valve 7 and the second electromagnetic valve 12 are connected to work.
The working principle of the invention is described as follows: when the forklift turns, the steering wheel 14 drives the full-hydraulic steering gear 5 to be in a working position, and the pressure oil output by the oil pump 2 passes through the flow stabilizing valve 3, one part of the pressure oil is supplied to the full-hydraulic steering gear 5 at a stable flow rate, and the other part of the pressure oil is supplied to other working oil ways of a hydraulic system of the forklift. The full hydraulic steering gear 5 outputs pressure oil to the steering cylinder 9 through the working oil port to act. The rotation angle difference between the wheel rotation angle potentiometer 10 and the steering wheel rotation angle potentiometer 13 determines the power-on or power-off stop of the first electromagnetic valve 7 and the second electromagnetic valve 12, determines whether to start a difference compensation flow, and compensates the hydraulic oil quantity of the two cavities of the steering oil cylinder 9. If the relative proportion of the turning angles of the wheel turning angle potentiometer 10 and the steering wheel turning angle potentiometer 13 meets the requirement, the first electromagnetic valve 7 and the second electromagnetic valve 12 are powered off and do not work, and the compensation flow is in a disconnected state; if deviation occurs due to insufficient oil quantity at the left side of the steering cylinder 9, the first electromagnetic valve 7 is electrically commutated, and the pressure oil output by the oil pump 2 is supplied to the steering cylinder through the full hydraulic steering gear 5, and part of the pressure oil is supplied to the steering cylinder 9 through the first electromagnetic valve 7 through the first throttle valve 8, and the oil quantity is regulated by the first throttle valve 8. Similarly, if the deviation is generated due to insufficient oil quantity on the right side of the steering cylinder 9, the second electromagnetic valve 12 is electrically commutated, the pressure oil output by the oil pump 2 is supplied to the steering cylinder through the full hydraulic steering gear 5, and part of the pressure oil is supplied to the steering cylinder 9 through the second electromagnetic valve 12 and the second throttle valve 11, the oil quantity is regulated by the second throttle valve 11, the steering angle of the wheels is corrected, and the compensation electromagnetic valve is closed until the rotation angle ratio of the wheel rotation angle potentiometer 10 to the steering wheel rotation angle potentiometer 13 returns to the set proportion requirement.
Claims (2)
1. The full-hydraulic steering synchronous control system for the forklift comprises an oil tank (1), an oil pump (2), a steady flow valve (3), a steering system overflow valve (4), a full-hydraulic steering device (5), a one-way valve (6) and a steering oil cylinder (9); a wheel corner potentiometer (10) is arranged at the overhanging end of a right piston rod in a right working cavity of the steering cylinder (9); steering wheel (14) are connected through steering column of full hydraulic steering ware (5), be equipped with steering wheel corner potentiometer (13) between full hydraulic steering ware (5) and steering wheel (14), steering wheel corner potentiometer (13) are rotatory along with steering wheel (14), its characterized in that:
the device also comprises a first compensation mechanism and a second compensation mechanism;
the first compensation mechanism comprises a first electromagnetic valve (7) and a first throttle valve (8);
the second compensation mechanism comprises a second electromagnetic valve (12) and a second throttle valve (11);
the port a of the first electromagnetic valve (7) and the port a1 of the second electromagnetic valve (12) are connected in parallel and communicated with a P oil inlet of the full-hydraulic steering gear (5) through a one-way valve (6);
the first throttle valve (8) is connected in series with the port b of the first electromagnetic valve (7), and the outlet of the first throttle valve (8) is respectively communicated with the left working cavity of the steering cylinder (9) and one working oil port of the full-hydraulic steering device (5);
the outlet of the first throttle valve (8) is respectively communicated with a left working cavity of the steering oil cylinder (9) and an L working oil port of the full-hydraulic steering device (5) through a left three-way pipe (18);
the second throttle valve (11) is connected in series with the b1 port of the second electromagnetic valve (12), and the outlet of the second throttle valve (11) is respectively communicated with the right working cavity of the steering cylinder (9) and one working oil port of the full-hydraulic steering device (5);
the outlet of the second throttle valve (11) is respectively communicated with a right working cavity of the steering oil cylinder (9) and an R working oil port of the full-hydraulic steering device (5) through a right three-way pipe (19);
when the device works, the flow entering the steering cylinder (9) from the first electromagnetic valve (7) is regulated through the first throttle valve (8); the flow entering the steering cylinder (9) from the second electromagnetic valve (12) is regulated through the second throttle valve (11); determining the power-on work or power-off stop work of the first electromagnetic valve (7) and the second electromagnetic valve (12) according to the difference value of the rotation angles of the wheel rotation angle potentiometer (10) and the steering wheel rotation angle potentiometer (13); and determining whether to start a difference compensation flow, and compensating the hydraulic oil quantity of the two cavities of the steering oil cylinder (9).
2. A full hydraulic steering synchronous control system for a forklift as claimed in claim 1, wherein: the first electromagnetic valve (7) and the second electromagnetic valve (12) are two-position two-way electromagnetic valves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711223583.4A CN108146497B (en) | 2017-11-29 | 2017-11-29 | Full-hydraulic steering synchronous control system for forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711223583.4A CN108146497B (en) | 2017-11-29 | 2017-11-29 | Full-hydraulic steering synchronous control system for forklift |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108146497A CN108146497A (en) | 2018-06-12 |
| CN108146497B true CN108146497B (en) | 2024-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711223583.4A Active CN108146497B (en) | 2017-11-29 | 2017-11-29 | Full-hydraulic steering synchronous control system for forklift |
Country Status (1)
| Country | Link |
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| CN (1) | CN108146497B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294014B (en) * | 2019-07-25 | 2020-10-16 | 农业农村部南京农业机械化研究所 | Self-correcting hydraulic steering system and working method thereof |
| CN110843905A (en) * | 2019-12-17 | 2020-02-28 | 重庆达航工业有限公司 | Automatic aligning steering system |
| CN111943091B (en) * | 2020-09-18 | 2023-12-22 | 安徽合力股份有限公司 | Control method for hydraulic steering of forklift and hydraulic steering system |
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| CN103863390A (en) * | 2014-03-05 | 2014-06-18 | 合肥工业大学 | Balance controlling system for four-wheel counter-balanced forklift truck |
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| CN204895559U (en) * | 2015-08-12 | 2015-12-23 | 北京安期生技术有限公司 | Take remote control steering hydraulic system of flow enlarging function |
| CN106314529A (en) * | 2015-06-25 | 2017-01-11 | 镇江液压股份有限公司 | Full-hydraulic rear wheel steering accurate positioning control system and method |
| CN207683594U (en) * | 2017-11-29 | 2018-08-03 | 安徽合力股份有限公司 | A kind of hydro-steering synchronous control system for fork truck |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6134263B2 (en) * | 2013-12-27 | 2017-05-24 | 株式会社Kcm | Hydraulic drive system |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2642618Y (en) * | 2003-08-05 | 2004-09-22 | 镇江液压件总厂 | Combined dynamic load sensing full hydraulic pressure steering system |
| CN201037224Y (en) * | 2007-03-13 | 2008-03-19 | 徐州工程机械科技股份有限公司 | Full hydraulic pressure double steel roller closed-loop steering valve-control system |
| CN201646845U (en) * | 2010-04-27 | 2010-11-24 | 宁波如意股份有限公司 | Hydraulic device for controlling engineering vehicle to steer |
| CN102351005A (en) * | 2011-08-08 | 2012-02-15 | 徐州重型机械有限公司 | Multi-mode steering hydraulic control system and wheeled crane using same |
| CN102806941A (en) * | 2012-08-02 | 2012-12-05 | 宁波海迈克动力科技有限公司 | High-precision forklift hydraulic steering system and control method thereof |
| CN202827716U (en) * | 2012-09-12 | 2013-03-27 | 上海宝冶集团有限公司 | Steering electro-hydraulic control system for remote-control loader |
| CN204055955U (en) * | 2013-11-21 | 2014-12-31 | 西华大学 | A kind of special-use vehicle steering swivel system |
| CN203623770U (en) * | 2013-12-10 | 2014-06-04 | 安徽合力股份有限公司 | Synchronous steering control system of electric forklift |
| CN103863390A (en) * | 2014-03-05 | 2014-06-18 | 合肥工业大学 | Balance controlling system for four-wheel counter-balanced forklift truck |
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| CN204895559U (en) * | 2015-08-12 | 2015-12-23 | 北京安期生技术有限公司 | Take remote control steering hydraulic system of flow enlarging function |
| CN207683594U (en) * | 2017-11-29 | 2018-08-03 | 安徽合力股份有限公司 | A kind of hydro-steering synchronous control system for fork truck |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108146497A (en) | 2018-06-12 |
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