CN108657273B - A kind of articulated vehicle rear car backing track control device - Google Patents
A kind of articulated vehicle rear car backing track control device Download PDFInfo
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- CN108657273B CN108657273B CN201810228687.2A CN201810228687A CN108657273B CN 108657273 B CN108657273 B CN 108657273B CN 201810228687 A CN201810228687 A CN 201810228687A CN 108657273 B CN108657273 B CN 108657273B
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- rear car
- way electromagnetic
- hydraulic cylinder
- electromagnetic reversing
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/005—Steering specially adapted for trailers operated from tractor steering system
Abstract
The present invention relates to a kind of articulated vehicle rear car backing track control devices, for being adjusted when articulated vehicle is moved backward to the driving trace of rear car, and make the track traveling of rear car desirably.Articulated vehicle rear car backing track control device is mounted between the vehicle of articulated vehicle front and back, by controlling the operating position of solenoid directional control valve and the work of oil pump, to push the movement of piston in hydraulic cylinder, and then drive the movement of connection leverage, change the angle folding of front and back vehicle, and realizes the adjustment to rear car driving trace.The present invention can realize the control to front and back vehicle angle folding when articulated vehicle is moved backward, and then adjustment of the realization to rear car driving trace, solve the problems, such as that rear car is arbitrarily swung when articulated vehicle reversing, front and back vehicle angle folding and driving trace are difficult to control, the manipulation convenient for driver to articulated vehicle.
Description
Technical field
The invention belongs to the manipulation and control fields of motor vehicles, and in particular to a kind of articulated vehicle rear car backing track control
Device processed.
Background technique
As the improvement of people's living standards, tourism is gradually at important component part in for people's lives, it is more and more
People start select caravan go out to travel, caravan trailer since its reasonable price, space are larger, it is easy to use the advantages that deeply by
Consumer likes.In addition in highway transportation, semitrailer transport is always the very high means of transportation of business efficiency, compared to other friendships
30-50% can be improved in logical means of transportation, semitrailer conevying efficiency, and cost reduces 30-40%, and oil consumption declines 20-30%.
The problem of due to articulated vehicle self structure, reversing when will appear rear car arbitrarily swing, front and back vehicle angle folding
The problem being difficult to control with driving trace, is unfavorable for control of the driver to articulated vehicle, and not can guarantee rear car according to driving
The ideal trajectory for the person of sailing travels, or even needing driver repeatedly to adjust can just make rear car reach ideal position.
Control method when existing some articulated vehicles are moved backward mainly passes through pin shaft limitation rotation etc..
Application No. is 200610129068.8 " full trailors with straight line car-backing function ", are indulged bogie using pin shaft
Beam, longitudinal beam are fixed, so that front axle center line and rear shaft center's line are always in same straight line.The program can only realize that straight line falls
To the control of articulated vehicle when vehicle, turn to the control that cannot achieve when reversing to rear car, in addition, under this scheme needs
Vehicle manual operation, it is inconvenient for operation.
So articulated vehicle in reversing, needs a kind of driver that can facilitate operation and can automatically adjust rear car
The device of driving trace.
Summary of the invention
The purpose of the present invention is providing a kind of articulated vehicle rear car backing track control device regarding to the issue above, in order to
It realizes the control to articulated vehicle rear car backing track, in articulated vehicle reversing, electromagnetism is controlled according to sensor information
The operating position of reversal valve and the work of oil pump to push the movement of piston in hydraulic cylinder, and then drive the movement of connection leverage,
Change the angle folding of front and back vehicle, and realizes the adjustment to rear car driving trace.The present invention can be real when articulated vehicle is moved backward
It now to the control of front and back vehicle angle folding, and then realizes the adjustment to rear car driving trace, solves rear car when articulated vehicle reversing
It arbitrarily swings, the problem that front and back vehicle angle folding and driving trace are uncontrollable, the manipulation convenient for driver to articulated vehicle.
The technical scheme is that a kind of articulated vehicle rear car backing track control device, including coupling part, hold
Row part, detection part and control section；
The coupling part includes front truck connecting rod, rear car connecting rod and intermediate connecting rod；One end of intermediate connecting rod and front truck connecting rod
The connection of one end revolute pair, the other end connect with one end revolute pair of rear car connecting rod；
The execution part includes that hydraulic cylinder, the first two four-way electromagnetic reversing valves, the two the first two four-way electromagnetics change
To valve, oil pump and fluid reservoir；One end of the hydraulic cylinder is hinged with front truck, and the other end is hinged with intermediate connecting rod, hydraulic cylinder epicoele
With fluid reservoir by the first piping connection, cavity of resorption and fluid reservoir are by the second piping connection, the first two four-way electromagnetic reversing valves
And the second two four-way electromagnetic reversing valves are installed on the first pipeline and the second pipeline between hydraulic cylinder and fluid reservoir；It is described
Oil pump is mounted on the second two the second pipelines between four-way electromagnetic reversing valve and fluid reservoir；
The detection part detects current steering wheel angle signal, vehicle at a distance from ambient enviroment and front truck profile is believed
Number, current vehicle speed signal, and pass the signal to control section；
The control section controls first liang according to the signal that the control instruction and detection part of straight line or steering detect
Position four-way electromagnetic reversing valve and the two the first two operating positions of four-way electromagnetic reversing valve and the work of oil pump, are realized to rear
The adjustment of vehicle driving trace.
In above scheme, there is the first connector on the front truck, has the second connector on the intermediate connecting rod, and first connects
Connector and the second connector are in the same horizontal position；
The hydraulic cylinder is mounted between the first connector and the second connector, and one end of hydraulic cylinder passes through spherical hinge and the
The connection of one connector, the other end are connect by spherical hinge with the second connector, and hydraulic cylinder both ends can be around corresponding spherical hinge rotation.
In above scheme, described intermediate connecting rod one end is connect by preceding connection swivel head with front truck connecting rod, and the other end passes through
Connection swivel head is connect with rear car connecting rod afterwards.
In above scheme, the first two four-way electromagnetic reversing valves include two operating positions a, b, and at a, b two
Operating position switching, controls movement or the locking of piston in hydraulic cylinder；
The second two four-way electromagnetic reversing valves include two operating positions c, d, and are cut in two operating positions c, d
It changes, controls the fuel feeding direction of hydraulic cylinder.
In above scheme, the first two operating positions four-way electromagnetic reversing valve a are located at hydraulic cylinder cavity of resorption and fluid reservoir
Between the second pipeline on；The first two operating positions four-way electromagnetic reversing valve b are between hydraulic cylinder epicoele and fluid reservoir
On first pipeline.
In above scheme, the second two operating positions four-way electromagnetic reversing valve c are located at hydraulic cylinder cavity of resorption and fluid reservoir
Between the second pipeline on；The second two operating positions four-way electromagnetic reversing valve d are between hydraulic cylinder epicoele and fluid reservoir
On first pipeline.
In above scheme, the execution part further includes relief valve；One end of the relief valve is connect with fuel pump outlet, separately
One end is connect with fluid reservoir.
In above scheme, the detection part includes steering wheel angle sensor, vehicle speed sensor, visual sensor；
The steering wheel angle sensor is for detecting current steering wheel angle；
The visual sensor is for detecting vehicle at a distance from ambient enviroment such as road edge and wall, and before capable of scanning
Wheel is wide；
The vehicle speed sensor is used for real-time detection current vehicle speed.
In above scheme, the control section includes driver's control button, input module, computing module, solenoid valve drive
Dynamic model block, oil pump drive module and output module；
Driver's control button includes that " straight line " and " steering " controls option；
The input module is connect with detection part and driver's control button respectively, receiving direction disk angular signal, vehicle
Fast signal, visual sensor signal and button signal；
The computing module can carry out analytical calculation according to the signal received, and issue instructions to solenoid-driven mould
Block and oil pump drive module；
The solenoid valve driving module and oil pump drive module can be converted to the instruction of computing module to execution part
Driving signal and be transmitted to output module；
The driving signal of solenoid valve driving module can be transferred to the first two four-way electromagnetic commutations by the output module
Valve and the two the first two four-way electromagnetic reversing valves；The driving signal of oil pump drive module is transferred to oil pump by output module.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention is in order to realize the control to articulated vehicle rear car backing track, in articulated vehicle reversing, root
According to the operating position of sensor information control solenoid directional control valve and the work of oil pump, to push the movement of piston in hydraulic cylinder, into
And the movement of connection leverage is driven, change the angle folding of front and back vehicle, and realize the adjustment to rear car driving trace.The present invention can
The control to front and back vehicle angle folding is realized in articulated vehicle reversing, and then realizes the adjustment to rear car driving trace, is solved
The problem that rear car is arbitrarily swung when articulated vehicle is moved backward, front and back vehicle angle folding and driving trace are uncontrollable is convenient for driver
Manipulation to articulated vehicle.
2, when straight line is moved backward, it is able to maintain the front and back vehicle direction of motion always on the same line.
3, when Vehicular turn of the present invention is moved backward, can be realized angle folding automatic fine tuning, reduce turning radius, avoid rear car with
Meaning is swung.
4, apparatus of the present invention structure is simple, both of which easy switching, easily operated.
5, apparatus of the present invention again may be by proposing the adjustment of front and back vehicle angle folding when articulated vehicle moves forward
It is high Vehicle handling.
6, oil pressure is excessive in pipeline when piston motion is to extreme position in order to prevent for relief valve of the present invention.When oil circuit reaches pre-
When constant-pressure, relief valve works, and allows extra oil liquid to flow back to fluid reservoir, pressure is avoided to increase always.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is control system schematic diagram of the invention.
Fig. 3 A is the side view of coupling part of the present invention, and Fig. 3 B is the top view of coupling part of the present invention.
Fig. 4 A is straight line control effect schematic diagram of the invention；Fig. 4 B is traveling relatively straight position for rear car and is deviated to the left control
Effect diagram processed；Fig. 4 C is traveling relatively straight position for rear car and is deviated to the right control effect schematic diagram.
Fig. 5 is course changing control effect diagram of the invention.
1. steering wheel angle sensor；2. front truck connecting rod；3. swivel head is connected before；4. intermediate connecting rod；5. rotation is connected after
Head；6. rear car connecting rod；7. hydraulic cylinder；8. visual sensor；9. vehicle speed sensor；10.ECU；11. button；12. the first two four
Electric change valve；13. the second two four-way electromagnetic reversing valves；14. relief valve；15. oil pump；16. fluid reservoir；17. first connects
Connector；18. the second connection；19. the first pipeline；20. the second pipeline.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description, but protection scope of the present invention
It is not limited to this.
Fig. 1 show a kind of embodiment of articulated vehicle rear car backing track control device of the present invention, described
Articulated vehicle rear car backing track control device includes coupling part, execution part, detection part and control section.
The coupling part specifically include front truck connecting rod 2, rear car connecting rod 6, intermediate connecting rod 4, preceding connection swivel head 3 and after connect
Connect swivel head 5.Front truck connecting rod 2 is fixedly mounted on front truck tail portion, and rear car connecting rod 6 is fixedly mounted on rear car front.Intermediate connecting rod 4 one
End is connect by preceding connection swivel head 3 with front truck connecting rod 2, and connection swivel head 5 is connect with rear car connecting rod 6 after the other end passes through.
The execution part includes hydraulic cylinder 7, the first two four-way electromagnetic reversing valves 12, the second two four-way electromagnetic commutations
Valve 13, relief valve 14, oil pump 15 and fluid reservoir 16.There is the first connector 17 on front truck, has the second connector on intermediate connecting rod 2
18, and two connectors are in the same horizontal position.The hydraulic cylinder 7 is mounted on first connector 17 and second connector
It between 18, and is connect by spherical hinge with the first connector 17 and the second connector 18,7 both ends of hydraulic cylinder can be around corresponding hinged place
Rotation.7 epicoele of hydraulic cylinder is connect with fluid reservoir 16 by the first pipeline 19, and cavity of resorption and fluid reservoir 16 pass through the second pipeline 20
Connection, the first two four-way electromagnetic reversing valves 12 and the second two four-way electromagnetic reversing valves 13 are installed in hydraulic cylinder 7 and liquid storage
On the first pipeline 19 and the second pipeline 20 between tank 16；The oil pump 15 be mounted on the second two four-way electromagnetic reversing valves 13 with
On the second pipeline 20 between fluid reservoir 16.
The first two four-way electromagnetic reversing valves 12 switch in two operating positions a, b, and the operating position a can be realized hydraulic
The movement of 7 inner piston of cylinder, the operating position b can realize the locking of 7 inner piston position of hydraulic cylinder.
The second two four-way electromagnetic reversing valves 12 switch in two operating positions c, d, and it is different to can be realized hydraulic cylinder 7
The fuel feeding in direction moves piston to different directions.
Described 14 one end of relief valve is connect with the outlet of oil pump 15, and the other end is connect with fluid reservoir 16.Relief valve 14 in order to
Oil pressure is excessive in pipeline when preventing piston motion to extreme position.When oil circuit reaches predetermined pressure, relief valve 14 works, and makes
Much excess oil liquid can flow back to fluid reservoir 16, and pressure is avoided to increase always.
The oil pump 15 generates high-voltage oil liquid, and 7 inner piston of driving hydraulic cylinder moves.
The detection part includes steering wheel angle sensor 1, visual sensor 8 and vehicle speed sensor 9.The steering wheel
Rotary angle transmitter 1 is for detecting current steering wheel angle.The visual sensor 8 is for detecting vehicle and ambient enviroment such as road
The distance at edge and wall, and front truck profile can be scanned.The vehicle speed sensor 9 is used for real-time detection current vehicle speed.
As shown in Fig. 2, the control section be ECU10, including driver's control button 11, input module, computing module,
Solenoid valve driving module, oil pump drive module and output module.Driver's control button 11 includes " straight line " and " steering "
Function is mounted on the position that driver in driver's cabin facilitates operation.The input module being capable of receiving direction disk angular signal, vehicle
Fast signal, visual sensor signal and button signal.The computing module can carry out analytical calculation according to the signal received,
And issue instructions to each drive module.The drive module can be converted to the instruction of computing module to each execution unit
Driving signal.Driving signal can be transferred to corresponding execution unit by the output module.
15 oil inlet of oil pump of the execution part is connected with fluid reservoir 16, and oil pump 15 generates high-voltage oil liquid when working, out
Hydraulic fluid port is connected on the second two four-way electromagnetic reversing valves 13 by pipe fitting, and high-voltage oil liquid is by the first two four-way electromagnetic commutations
Valve 12 pushes piston motion into the oil pocket of hydraulic cylinder 7, and last oil liquid passes through the first two four-way electromagnetic reversing valves 12 again
Fluid reservoir 16 is flowed back to the oil back chamber of the second two four-way electromagnetic reversing valves 13.The first two four-way electromagnetic reversing valves 12 and second
Two four-way electromagnetic reversing valves 13 carry out operating position switching, change high pressure oil flows through direction, to change under control instruction
Become the movement of hydraulic cylinder 7.When the first two four-way electromagnetic reversing valves 12 are switched to the position a, high-voltage oil liquid can be made to be flowed into liquid
Cylinder pressure 7；When being switched to the position b, high-voltage oil liquid cannot be introduced into hydraulic cylinder 7, directly flow back to fluid reservoir 16.The second two four-way electromagnetics
, it can be achieved that high-voltage oil liquid flows into 7 cavity of resorption of hydraulic cylinder when reversal valve 13 is switched to the position c；, it can be achieved that high pressure when being switched to the position d
Oil liquid flows into 7 epicoele of hydraulic cylinder.
As shown in figure 3, coupling part structural schematic diagram of the invention, the hydraulic cylinder 7 is mounted on the first company on front truck
Between the second connector 18 on connector 17 and intermediate connecting rod, movement interference will not be generated with leverage during exercise.
If Fig. 4 A is straight line control effect schematic diagram of the invention.When articulated vehicle reversing, driver wants to keep
Front and back vehicle is always in same rectilinear direction, and driver can be used the indoor button 11 of driving and control at this time.Driver presses
Under " straight line " button, the information that control section is detected according to driver's control button information and detection part controls electromagnetic switch
The adjustment to rear car driving trace is realized in the operating position of valve and the work of oil pump.
The angle folding for being as shown in Figure 4 A front and back vehicle is 0 °, is straight travel state, then can keep current state.This
When, piston holding position in hydraulic cylinder 7, when the first two four-way electromagnetic reversing valves 12 switch the operating position b, the work of hydraulic cylinder 7
The oil circuit for filling in both ends is cut off respectively to be blocked, and due to the Incoercibility of oil liquid, piston cannot slide again, and 7 position of hydraulic cylinder is fixed
Extremely, the angle between front truck connecting rod 2 and intermediate connecting rod 4 cannot change again, front truck connecting rod 2, intermediate connecting rod 4 and the formation of hydraulic cylinder 7
Stable triangular structure.
Position is traveling relatively straight as shown in Figure 4 B for rear car to be deviated to the left, if front truck continues to keep straight line car-backing, after
Vehicle will continue to be deviated to the left, and control device control rear car rotates a certain angle counterclockwise at this time, to keep with front truck with always
Line state of rolling backward.Computing module is according to reception from steering wheel angle sensor 1, vehicle speed sensor 9, the biography of visual sensor 8
Sense signal calculates front and back vehicle angle folding a at this time, issues control instruction to oil pump 15, the first two four-way electromagnetic reversing valves 12
With the second two four-way electromagnetic reversing valves 13.The first two four-way electromagnetic reversing valves 12 are switched to the operating position a, and the second two four
Electric change valve 13 is switched to the operating position d, while oil pump 15 carries out fuel feeding.At this point, 7 epicoele oil inlet of hydraulic cylinder, piston exist
It is moved under the promotion of oil pressure, drives front truck connecting rod 2 and intermediate connecting rod 4 the connection swivel head 3 before to rotate, intermediate connecting rod 4 is opposite
Preceding connection swivel head 3 rotates counterclockwise, and intermediate connecting rod 4 drives the relatively rear rotary connecting joint 5 of rear car to rotate clockwise during exercise,
Until the angle folding a of front and back vehicle is eliminated.After angle folding a is eliminated, control module controls the first two four-way electromagnetic reversing valves 12 and cuts
The position b is changed to, 7 position of hydraulic cylinder is fixed, so that front and back vehicle can no longer relatively rotate, so that front and back vehicle is maintained at same
The state of straight line.
Position is traveling relatively straight as shown in FIG. 4 C for rear car to be deviated to the right, if front truck continues to keep straight line car-backing, after
Vehicle will continue to be deviated to the right, and control device control rear car rotates to the left certain angle a at this time, to keep and the same straight line of front truck
State of rolling backward.Computing module is according to reception from steering wheel angle sensor 1, vehicle speed sensor 9, the sensing of visual sensor 8
Signal calculates front and back vehicle angle folding a at this time, issues control instruction to oil pump 15, the first two 12 and of four-way electromagnetic reversing valve
The second two four-way electromagnetic reversing valves 13.The first two four-way electromagnetic reversing valves 12 are switched to the operating position a, the second two four-ways
Solenoid directional control valve 13 is switched to the operating position c, while oil pump 15 carries out fuel feeding.At this point, 7 cavity of resorption oil inlet of hydraulic cylinder, piston is in oil
Moved under the promotion of pressure, front truck connecting rod 2 and intermediate connecting rod 4 the connection swivel head 3 before driven to rotate, intermediate connecting rod 4 relatively before
Connection swivel head 3 rotates clockwise, and intermediate connecting rod 4 drives the relatively rear rotary connecting joint 5 of rear car to rotate counterclockwise during exercise, directly
Angle folding a to front and back vehicle is eliminated.After angle folding a is eliminated, control module controls the first two four-way electromagnetic reversing valves 12 and switches
To the position b, 7 position of hydraulic cylinder is fixed, so that front and back vehicle can no longer relatively rotate, so that front and back vehicle is maintained at always
The state of line.
It is illustrated in figure 5 course changing control effect diagram of the invention, driver presses " steering " button, and device is controllable
Rear car rotates clockwise or counter-clockwise, and changes rear vehicle body posture, makes the turning center of rear car and the steering of front truck as far as possible
Center is overlapped.
Articulated vehicle, by being overlapped the turning center of rear car with the turning center of front truck, is improved when moving backward steering
Driver is handling to rear car.Driver presses " steering " button, and control section is according to driver's control button information and detection
The operating position for the information control solenoid directional control valve that part detects and the work of oil pump 15, realize the tune to rear car driving trace
It is whole.
As shown in figure 5, for turning left.When front truck deflecting roller turns over certain angle to the left, rear car is needed with respect to front truck
It is deviated to the right certain angle just and can guarantee that the turning center of front and back vehicle is overlapped.At this point, computing module is calculated and to be realized
Angle folding issues control instruction to oil pump 15, the first two four-way electromagnetic reversing valves 12 and the second two four-way electromagnetic reversing valves
13.The first two four-way electromagnetic reversing valves 12 are switched to the operating position a, and the second two four-way electromagnetic reversing valves 13 are switched to d work
Make position, while oil pump 15 carries out fuel feeding.7 epicoele oil inlet of hydraulic cylinder, piston move under the promotion of oil pressure, drive front truck connecting rod
2 and intermediate connecting rod 4 rotate, intermediate connecting rod 4 relatively before connection swivel head 3 rotate counterclockwise, after intermediate connecting rod 4 drives during exercise
The rotary connecting joint 5 after of vehicle connecting rod 6 rotates.Rear car is under the dragging of the active force and front truck of bar, in the process of moving to the right
It rotates a certain angle.After angle folding reaches predetermined value, control section issues control instruction, and control module controls the first two
Four-way electromagnetic reversing valve 12 is switched to the position b, so that hydraulic cylinder holding position is constant, to keep the turning center weight of front and back vehicle
It closes.With the angle change of steering wheel, control module issues the first two four-way electromagnetic reversing valves 12 of instruction control and the in real time
The position switching of 2 two four-way electromagnetic reversing valves 13, changes rear vehicle body posture, improves turning track.
The series of detailed descriptions listed above are illustrated only for possible embodiments of the invention,
The protection scope that they are not intended to limit the invention, it is all without departing from equivalent embodiment made by technical spirit of the present invention or change
It should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of articulated vehicle rear car backing track control device, which is characterized in that including coupling part, execution part, inspection
Survey part and control section；
The coupling part includes front truck connecting rod (2), rear car connecting rod (6) and intermediate connecting rod (4)；One end of intermediate connecting rod (4) with
One end revolute pair of front truck connecting rod (2) connects, and the other end is connect with one end revolute pair of rear car connecting rod (6)；
The execution part includes hydraulic cylinder (7), the first two four-way electromagnetic reversing valves (12), the second two four-way electromagnetic commutations
Valve (13), oil pump (15) and fluid reservoir (16)；One end of the hydraulic cylinder (7) and front truck are hinged, the other end and intermediate connecting rod (4)
Hingedly, hydraulic cylinder (7) epicoele is connect with fluid reservoir (16) by the first pipeline (19), and cavity of resorption and fluid reservoir (16) pass through the second pipe
Road (20) connection, the first two four-way electromagnetic reversing valves (12) and the second two four-way electromagnetic reversing valves (13) are installed in hydraulic
On the first pipeline (19) and the second pipeline (20) between cylinder (7) and fluid reservoir (16)；The oil pump (15) is mounted on second liang
On the second pipeline (20) between position four-way electromagnetic reversing valve (13) and fluid reservoir (16)；
The detection part detect current steering wheel angle signal, vehicle at a distance from ambient enviroment and front truck contour signal,
Current vehicle speed signal, and pass the signal to control section；
The control section includes driver's control button (11), input module, computing module, solenoid valve driving module, oil pump
Drive module and output module；
Driver's control button (11) includes that " straight line " and " steering " controls option；
The input module is connect with detection part and driver's control button (11) respectively, receiving direction disk angular signal, vehicle
Fast signal, visual sensor signal and button signal；
The computing module can carry out analytical calculation according to the signal that receives, and issue instructions to solenoid valve driving module and
Oil pump drive module；
The instruction of computing module can be converted to the drive to execution part by the solenoid valve driving module and oil pump drive module
Dynamic signal is simultaneously transmitted to output module；
The driving signal of solenoid valve driving module can be transferred to the first two four-way electromagnetic reversing valves by the output module
(12) and the second two four-way electromagnetic reversing valves (13)；The driving signal of oil pump drive module is transferred to oil pump by output module
(15)；
The control section controls the first two four according to the signal that the control instruction and detection part of straight line or steering detect
Electric change valve (12) and the second two operating positions of four-way electromagnetic reversing valve (13) and the work of oil pump (15), are realized
Adjustment to rear car driving trace.
2. articulated vehicle rear car backing track control device according to claim 1, which is characterized in that on the front truck
Have the first connector (17), have the second connector (18) on the intermediate connecting rod (2), and the first connector (17) and the second connection
Head (18) is in the same horizontal position；
The hydraulic cylinder (7) is mounted between the first connector (17) and the second connector (18), and one end of hydraulic cylinder (7) passes through
Spherical hinge is connect with the first connector (17), and the other end is connect by spherical hinge with the second connector (18), hydraulic cylinder (7) both ends
It can be around corresponding spherical hinge rotation.
3. articulated vehicle rear car backing track control device according to claim 1, which is characterized in that the centre connects
Bar (4) one end is connect by preceding connection swivel head (3) with front truck connecting rod (2), and the other end connects swivel head (5) and rear car after passing through
Connecting rod (6) connection.
4. articulated vehicle rear car backing track control device according to claim 1, which is characterized in that described first liang
Position four-way electromagnetic reversing valve (12) includes two operating positions a, b, and is switched in two operating positions a, b, is controlled hydraulic cylinder (7)
The movement of inner piston or locking；
The second two four-way electromagnetic reversing valves (13) include two operating positions c, d, and are cut in two operating positions c, d
It changes, controls the fuel feeding direction of hydraulic cylinder (7).
5. articulated vehicle rear car backing track control device according to claim 4, which is characterized in that described first liang
Position four-way electromagnetic reversing valve (12) operating position a is located at the second pipeline (20) between hydraulic cylinder (7) cavity of resorption and fluid reservoir (16)
On；The first two four-way electromagnetic reversing valve (12) operating positions b are located at first between hydraulic cylinder (7) epicoele and fluid reservoir (16)
On pipeline (19).
6. articulated vehicle rear car backing track control device according to claim 4, which is characterized in that described second liang
Position four-way electromagnetic reversing valve (12) operating position c is located at the second pipeline (20) between hydraulic cylinder (7) cavity of resorption and fluid reservoir (16)
On；The first two four-way electromagnetic reversing valve (12) operating positions d are located at first between hydraulic cylinder (7) epicoele and fluid reservoir (16)
On pipeline (19).
7. articulated vehicle rear car backing track control device according to claim 1, which is characterized in that the enforcement division
Dividing further includes relief valve (14)；Described relief valve (14) one end is connect with the outlet of oil pump (15), the other end and fluid reservoir (16)
Connection.
8. articulated vehicle rear car backing track control device according to claim 1, which is characterized in that the test section
Divide includes steering wheel angle sensor (1), vehicle speed sensor (9), visual sensor (8)；
The steering wheel angle sensor (1) is for detecting current steering wheel angle；
The visual sensor (8) is for detecting vehicle at a distance from ambient enviroment such as road edge and wall, and before capable of scanning
Wheel is wide；
The vehicle speed sensor (9) is used for real-time detection current vehicle speed.
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| CN201810228687.2A CN108657273B (en) | 2018-03-20 | 2018-03-20 | A kind of articulated vehicle rear car backing track control device |
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| CN201810228687.2A CN108657273B (en) | 2018-03-20 | 2018-03-20 | A kind of articulated vehicle rear car backing track control device |
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| CN108657273B true CN108657273B (en) | 2019-11-05 |
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| CN116923542B (en) * | 2023-09-19 | 2023-12-08 | 上海郦天智能科技有限公司 | Trailer reversing control method and trailer reversing control system |
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| US20150203155A1 (en) * | 2009-10-08 | 2015-07-23 | Gary E Olsen | Trailer Hitching and Tracking Steering |
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| CN2140330Y (en) * | 1992-12-21 | 1993-08-18 | 中国农业机械化科学研究院 | Device for controlling turn of trailing frame of trailer |
| CN201587450U (en) * | 2010-02-08 | 2010-09-22 | 中集车辆（集团）有限公司 | Full trailer backing locking mechanism and its full trailer |
| CN201834086U (en) * | 2010-10-15 | 2011-05-18 | 甘肃中集华骏车辆有限公司 | Full trailer reversing device |
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