CN109466625A - A kind of steering system of electrichydraulic control - Google Patents
A kind of steering system of electrichydraulic control Download PDFInfo
- Publication number
- CN109466625A CN109466625A CN201811156258.5A CN201811156258A CN109466625A CN 109466625 A CN109466625 A CN 109466625A CN 201811156258 A CN201811156258 A CN 201811156258A CN 109466625 A CN109466625 A CN 109466625A
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- 239000003921 oil Substances 0.000 claims abstract description 56
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 239000012530 fluid Substances 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000005611 electricity Effects 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000002828 fuel tank Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of steering systems of electrichydraulic control, comprising: fluid path control device, the fluid path control device include: for providing the hydraulic pump of hydraulic oil；For controlling the rear-axle steering oil cylinder and the preceding bridge steering cylinder turned to for controlling vehicle front-wheel that vehicle rear wheel is turned to；Electric proportional reversing valve flows to the rear-axle steering oil cylinder or the preceding bridge steering cylinder for controlling hydraulic oil；Switching valve；And angle measurement unit comprising for measuring the angular transducer of the steering angle of wheel, the angular transducer is fixedly connected on the rear axle and/or preceding bridge of vehicle；Wherein, the angle measurement unit measures the actual steering angle of the wheel by the angular transducer, the electricity proportional reversing valve is according to the relationship between the actual steering angle and target steering angle of the wheel, to control the flow direction of hydraulic oil, to control the movement of the rear-axle steering oil cylinder and the preceding bridge steering cylinder, to realize the automatic control of wheel steering.
Description
Technical field
The present invention relates to technical field of automobile control, more particularly to a kind of steering system of electrichydraulic control.
Background technique
In order to adapt to the development of intelligent Process, meet the needs of people are to "smart" products, the steering system of vehicle by
Gradually realize intelligent automation.
In conventional steering system, is mainly realized by hydraulic steering gear to the course changing control of vehicle, specifically led to
It crosses and artificially manually adjusts steering wheel to realize, and traditional steering system utilizes mechanical transmission component.Artificial control turns to,
Due to various artificial origins, such as fatigue driving, drunk driving, thus make one can have certain reaction time to the control of vehicle,
Therefore operation can have delay, inaccurate so as to cause course changing control.Meanwhile artificial control vehicle operation, facing some spies
When different situation, not in time, safety is low for reaction.
Therefore, in order to reduce traffic accident, accident risk is reduced, it is desirable to provide a kind of intelligent, unmanned, energy
Enough steering systems for realizing the automatic control turned to.
Summary of the invention
For at least some technical problems as described above, the present invention is directed to propose a kind of steering system of electrichydraulic control.
The control terminal of the steering system of the electrichydraulic control is inputted using electric signal, can be realized the control of switching remote manual or local program
Electrical autocontrol, to realize the intelligence of steering system.The steering system of the electrichydraulic control is closed using angular transducer
Ring control system realizes the accurate control of Vehicular turn.Meanwhile the control mode by manually and automatically combining, effectively keep away
The delay error for having exempted from manual operation improves the control precision of steering system, be effectively ensured Vehicular turn safety and
Reliability.
For this purpose, according to the present invention, providing a kind of steering system of electrichydraulic control, comprising: fluid path control device, the liquid
Road control device includes: for providing the hydraulic pump of hydraulic oil；The rear-axle steering oil cylinder turned to for controlling vehicle rear wheel
With the preceding bridge steering cylinder turned to for controlling vehicle front-wheel；Electric proportional reversing valve, for controlling described in hydraulic oil flow direction
Rear-axle steering oil cylinder or the preceding bridge steering cylinder；For the switching valve (3) of switching working mode, adjusting the switching valve can
Manually control vehicle；And angle measurement unit comprising for measuring the angular transducer of the steering angle of wheel, institute
Angular transducer is stated to be fixedly connected on the rear axle and/or preceding bridge of vehicle；Wherein, the angle measurement unit passes through the angle
The actual steering angle of wheel described in sensor measurement, the electricity proportional reversing valve is according to the actual steering angle and target of the wheel
Relationship between steering angle, to control the flow direction of hydraulic oil, to control the rear-axle steering oil cylinder and the preceding bridge steering cylinder
Movement, to realize the automatic control of wheel steering.
In a preferred embodiment, turn in the electric proportional reversing valve and the rear-axle steering oil cylinder and the preceding bridge
To the first solenoid directional control valve and the second solenoid directional control valve is respectively equipped between oil cylinder, it is respectively used to control the rear-axle steering oil
The flow direction of hydraulic oil in cylinder and the preceding bridge steering cylinder, to control the rear-axle steering oil cylinder and the preceding bridge steering cylinder
The direction of motion.
In a preferred embodiment, in the electric proportional reversing valve and first solenoid directional control valve and the second electromagnetism
Hydraulic lock is equipped between reversal valve, the hydraulic lock is only capable of that hydraulic oil is made to flow to first electromagnetism from the electric proportional reversing valve
Reversal valve or the second solenoid directional control valve.
In a preferred embodiment, in the electric proportional reversing valve and first solenoid directional control valve and the second electromagnetism
The overflow valve for overflow pressure stabilizing and the check valve for repairing are additionally provided between reversal valve.
In a preferred embodiment, the angle measurement unit further includes and the wheel and the angular transducer
The link mechanism of connection.
In a preferred embodiment, the link mechanism include the first connecting rod being connect with the angular transducer,
The second connecting rod that is fixedly connected with the wheel and the connecting rod for connecting the first connecting rod Yu the second connecting rod.
In a preferred embodiment, the first connecting rod is fixedly connected with the shaft of the angular transducer.
In a preferred embodiment, the distance between the shaft at the first connecting rod both ends on the second connecting rod
The distance between the shaft at both ends is equal, and the shaft distance at the connecting rod both ends is passed with the shaft of the wheel to the angle
The shaft of sensor is equidistant.
In a preferred embodiment, the fluid path control device further includes hydraulic steering gear, adjusts the switching valve,
Vehicle can be made to be manually controlled by the hydraulic steering gear.
In a preferred embodiment, it sets between the switching valve and the electric proportional reversing valve there are two branch,
The unloading valve and safety valve of control oil pressure are respectively provided in described two branches.
Detailed description of the invention
The present invention will be described below with reference to accompanying drawings.
Fig. 1 shows the schematic diagram of the steering system of electrichydraulic control according to the present invention.
Fig. 2 shows the scheme of installation of the angle measurement unit in the steering system of electrichydraulic control according to the present invention.
Fig. 3 shows the angle measurement principle of the angle measurement unit in the steering system of electrichydraulic control according to the present invention
Figure.
In this application, all attached drawings are schematical attached drawing, are merely to illustrate the principle of the present invention, and not by real
Border ratio is drawn.
Specific embodiment
The present invention is introduced below by attached drawing.
Fig. 1 shows the schematic diagram of the steering system of electrichydraulic control according to the present invention.Steering system includes fluid path control
Device 100, fluid path control device 100 realize the automatic control to Vehicular turn by hydraulic control.As shown in Figure 1, fluid path control
Device 100 processed includes hydraulic pump 1, the oil that hydraulic pump 1 is supplied to fluid path control device 100 for extracting hydraulic oil from fuel tank
Road.Fluid path control device 100 further includes hydraulic steering gear 4, and hydraulic pump 1 is connect with hydraulic steering gear 4 by oil circuit pipeline.In liquid
Switching valve 3 is equipped between press pump 1 and hydraulic steering gear 4, switching valve 3 is for switching working mode to select to manually control or automatically
Control.Adjusting switching valve 3 can be such that vehicle is manually controlled using hydraulic steering gear 4.
Above-mentioned hydraulic steering gear 4 is the common hydraulic steering gear in this field, and therefore, which is not described herein again.
According to the present invention, fluid path control device 100 further includes the electric proportional reversing valve 6 being connected in oil circuit pipeline.Electric ratio
Example reversal valve 6 is used to control the flow direction of the hydraulic oil in oil circuit pipeline.Electric proportional reversing valve 6 uses the electromagnetic switch of 3-position 4-way
Valve.The control signal of electric proportional reversing valve 6 is from angular transducer (angular transducer will be described in detail below)
The difference of wheel actual steering angle and target steering angle is fed back, and according to the positive and negative and size relation of difference come closed-loop control electricity ratio
Example reversal valve 6, by spool move left and right or the control of intermediate state, thus the control flowed to hydraulic oil
System.When the coil on 6 the right of electric proportional reversing valve obtains electric, the spool of electric proportional reversing valve 6 move to left then hydraulic oil from left side oil circuit
Oil inlet, from the right oil circuit oil return.Electric proportional reversing valve 6 must not electricity when intermediate state, at this point, electric 6 not oil inlet of proportional reversing valve is not yet
It is fuel-displaced.When the coil on electric 6 left side of proportional reversing valve obtains electric, it is oily from the right that the spool of electric proportional reversing valve 6 moves to right then hydraulic oil
Road oil inlet, from left side oil circuit oil return.
It should be noted that Directional terms used in the present invention or determiner "left", "right" are for institute's reference
Attached drawing for.They are not used to limit the absolute position of involved components, but can change as the case may be.
In the present embodiment, two branch are also connected with by oil circuit pipeline between switching valve 3 and electric proportional reversing valve 6
Road, two branches are connected to fuel tank.It is respectively equipped with unloading valve 2 and safety valve 5 in two branches, in emergency circumstances, is unloaded
Lotus valve 2 and safety valve 5 can control in time the pressure of hydraulic oil in oil liquid pipeline, so that the safety of oil liquid pipeline is effectively ensured,
Improve the security performance of steering system.
As shown in Figure 1, fluid path control device 100 further includes rear-axle steering oil cylinder 10 and preceding bridge steering cylinder 13.Rear axle turns
It is turned to oil cylinder 10 for controlling vehicle rear wheel, preceding bridge steering cylinder 13 is turned to for controlling vehicle front-wheel.Pass through
The direction of motion of rear-axle steering oil cylinder 10 or preceding bridge steering cylinder 13 is controlled to control the steering of wheel.According to the present invention, rear
The first solenoid directional control valve 11 and second is respectively equipped between bridge steering cylinder 10 and preceding bridge steering cylinder 13 and electric proportional reversing valve 6
Solenoid directional control valve 12, the first solenoid directional control valve 11 and the second solenoid directional control valve 12 flow into rear-axle steering oil cylinder for controlling hydraulic oil
10 or preceding bridge steering cylinder 13 flow direction, to control the steering of wheel.In the present embodiment, the first solenoid directional control valve 11 3
The solenoid directional control valve of four-way, the second solenoid directional control valve 12 use the solenoid directional control valve of two four-ways.
According to the present invention, liquid is equipped between electric proportional reversing valve 6 and rear-axle steering oil cylinder 10 and preceding bridge steering cylinder 13
Pressure lock 7.Hydraulic lock 7 is configured to be only capable of making the hydraulic oil in oil liquid pipeline and flows to the first solenoid directional control valve from electric proportional reversing valve 6
11 and second solenoid directional control valve 12.Therefore.When hydraulic steering gear works, the hydraulic oil of output can be delivered directly to the first electricity
Magnetic reversal valve 11 and the second solenoid directional control valve 12 to control the movement of rear-axle steering oil cylinder 10 and preceding bridge steering cylinder 13, without
Flow to electric proportional reversing valve 6.Hydraulic oil in oil liquid pipeline is after the outflow of electric proportional reversing valve 6, by 7 single flow direction of hydraulic lock
Solenoid directional control valve 11 and solenoid directional control valve 12.In the present embodiment, in electric proportional reversing valve 6 and the first solenoid directional control valve 11 and
Branch there are two setting between two solenoid directional control valves 12, is respectively equipped with overflow valve 8 and check valve 9 in the two branches.Overflow valve 8
It can play the role of overflow pressure stabilizing, check valve 9 is for repairing with the oil pressure in makeup oil liquid pipeline.
The course of work of brief description rear-axle steering oil cylinder 10 and preceding bridge steering cylinder 13.Wherein, the first solenoid directional control valve
11 flow into the flow direction of the hydraulic oil of rear-axle steering oil cylinder 10 for adjusting, to control the direction of motion of rear-axle steering oil cylinder 10.When
When the left side coil of first solenoid directional control valve 11 obtains electric, spool is moved to right, and the oil circuit passed through in spool is parallel.When the first electromagnetic switch
When the right side coil of valve 11 obtains electric, then spool moves to left, and the oil circuit passed through in spool intersects.
Second solenoid directional control valve 12 is used to control the flow direction for flowing into the hydraulic oil of preceding bridge steering cylinder 13, is turned with controlling preceding bridge
To the direction of motion of oil cylinder 13.When the second solenoid directional control valve 12 must not be electric, hydraulic oil can drive preceding bridge by second solenoid valve 12
Steering cylinder 13 moves, and the specific direction of motion of oil cylinder is controlled by electric proportional reversing valve 6 at this time.When second solenoid valve 12 obtains electric, liquid
Pressure oil will not be by second solenoid valve 12, then preceding bridge steering cylinder 13 works.When electric 6 right side coil of proportional reversing valve obtains electric,
At this point, the second solenoid directional control valve 12 of control must not be electric, then bridge steering cylinder 13 stretches out to the right before can driving.The first electromagnetism is controlled to change
It is obtained to 11 right side coil of valve electric, then rear-axle steering oil cylinder 10 is driven to stretch out to the left.Control 11 left side coil of the first solenoid directional control valve
Must be electric, then drive rear-axle steering oil cylinder 10 to stretch out to the right.When electric 6 left side coil of proportional reversing valve obtains electric, if controlled at this time
Second solenoid directional control valve 12 must not be electric, then bridge steering cylinder 13 stretches out to the left before can driving.It is right to control the first solenoid directional control valve 11
Lateral coil obtains electric, then rear-axle steering oil cylinder 10 is driven to stretch out to the right.It controls 11 left side coil of the first solenoid directional control valve and obtains electric, then drive
Dynamic rear-axle steering oil cylinder 10 stretches out to the left.As a result, by the side-to-side movement of rear-axle steering oil cylinder 10 can control rear axle wheel into
Row turns to.Front axle wheel can be controlled by the side-to-side movement of preceding bridge steering cylinder 13 to be turned to.According to the present invention, by rear
The various combination of the swaying direction of bridge steering cylinder 10 and preceding bridge steering cylinder 13 control front-rear axle wheel, to realize wheel
Difference turns to.
Fig. 2 shows the installation signal of the angle measurement unit 200 in the steering system of electrichydraulic control according to the present invention
Figure.As shown in Fig. 2, angle measurement unit 200 includes angular transducer 210.Angular transducer 210 is for measuring wheel 240
Actual steering angle.Angular transducer 210 is fixedly installed on the preceding bridge 220 (or rear axle) of vehicle by pedestal 211.
According to the present invention, angle measurement unit 200 further includes the link mechanism connecting with wheel and angular transducer 210
230.As shown in Fig. 2, link mechanism 230 includes first connecting rod 231, second connecting rod 232 and connection first connecting rod 231 and second
The connecting rod 233 of connecting rod 232.One end of first connecting rod 231 is fixedly connected with the shaft of angular transducer 200, first connecting rod 231
The other end and connecting rod 233 one end by shaft formed rotation connection.One end of second connecting rod 232 and the fixed company of wheel
It connects, the other end and connecting rod 233 of second connecting rod 232 are formed by shaft to be rotatablely connected.
Fig. 3 shows the angle measurement schematic diagram of angle measurement unit 200.As shown in figure 3, A, B, C, D are link mechanism
230 each shaft, x indicate the direction of vehicle driving.In the present embodiment, between the shaft at 231 both ends of first connecting rod away from
From LCDWith the shaft L at 232 both ends of second connecting rodABThe distance between be set as equal, the shaft distance L at connecting rod both endsBCWith vehicle
Shaft L of the shaft of wheel 240 to angular transducerADDistance be set as equal.Each adjacent shafts of link mechanism 230 as a result,
Line form parallelogram.Since the longitudinal terminal surface E of wheel 240 is parallel always with first connecting rod 231.Caravan wheel 240
The angle of longitudinal terminal surface E and x be θ1, remember that the angle of the line CD and x of the shaft at 231 both ends of first connecting rod are θ2.Due to first
Connecting rod 231 is fixedly connected with the transmission shaft of angular transducer 210, therefore can measure wheel 240 by angular transducer 210
Steering angle, i.e. θ1=θ2.The actual steering angle of wheel 240 can be accurately measured by angular transducer 210 as a result,.
The control terminal of the steering system 100 of electrichydraulic control according to the present invention is inputted using electric signal, be can be realized and is cut
The electrical autocontrol of remote manual control or local program is changed, to realize the intelligence of steering system.The electrichydraulic control turns
The closed-loop control system that angular transducer 210 is utilized to system realizes the accurate control of Vehicular turn.Meanwhile by manual
Automatically the control mode combined effectively prevents the delay error of manual operation, improves the control precision of steering system, has
Effect ensure that the safety and reliability of Vehicular turn.In addition, using link mechanism between wheel 240 and angular transducer 210
230 connections effectively increase steering system to vehicle to can accurately measure the steering angle of wheel by angular transducer 210
The accuracy of course changing control.
Finally it should be noted that the foregoing is merely the preferred embodiments of the invention, do not constitute to the present invention
Any restrictions.Although referring to foregoing embodiments, invention is explained in detail, for the technology of this field
It for personnel, can still modify to technical solution documented by previous embodiment, or to part of technical characteristic
It is equivalently replaced.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all wrap
Containing within protection scope of the present invention.
Claims (10)
1. a kind of steering system of electrichydraulic control, comprising:
Fluid path control device (100), the fluid path control device include:
For providing the hydraulic pump (1) of hydraulic oil；
For controlling rear-axle steering oil cylinder (10) that vehicle rear wheel is turned to and for controlling before vehicle front-wheel turned to
Bridge steering cylinder (13)；
Electric proportional reversing valve (6) flows to the rear-axle steering oil cylinder (10) or the preceding bridge steering cylinder for controlling hydraulic oil
(13)；
For the switching valve (3) of switching working mode, adjusting the switching valve can be such that vehicle is manually controlled；And
Angle measurement unit (200) comprising for measuring the angular transducer (210) of the steering angle of wheel (240), the angle
Degree sensor is fixedly connected on the rear axle and/or preceding bridge of vehicle；
Wherein, the angle measurement unit measures the actual steering angle of the wheel, the electricity ratio by the angular transducer
Example reversal valve is according to the relationship between the actual steering angle and target steering angle of the wheel, to control the flow direction of hydraulic oil, with
The movement for controlling the rear-axle steering oil cylinder and the preceding bridge steering cylinder, to realize the automatic control of wheel steering.
2. steering system according to claim 1, which is characterized in that in the electric proportional reversing valve and the rear-axle steering
It is respectively equipped with the first solenoid directional control valve (11) and the second solenoid directional control valve (12) between oil cylinder and the preceding bridge steering cylinder, point
The flow direction of hydraulic oil in the rear-axle steering oil cylinder and the preceding bridge steering cylinder Yong Yu not be controlled, to control the rear-axle steering
The direction of motion of oil cylinder and the preceding bridge steering cylinder.
3. steering system according to claim 2, which is characterized in that in the electric proportional reversing valve and first electromagnetism
Hydraulic lock (7) are equipped between reversal valve and the second solenoid directional control valve, the hydraulic lock is only capable of changing hydraulic oil from the electric ratio
First solenoid directional control valve or the second solenoid directional control valve are flowed to valve.
4. steering system according to claim 2 or 3, which is characterized in that in the electric proportional reversing valve and described first
It is additionally provided between solenoid directional control valve and the second solenoid directional control valve for the overflow valve (8) of overflow pressure stabilizing and for the check valve of repairing
(9)。
5. steering system according to claim 1, which is characterized in that the angle measurement unit further includes and the wheel
And the link mechanism (230) of the angular transducer connection.
6. steering system according to claim 5, which is characterized in that the link mechanism includes and the angular transducer
The first connecting rod (231) of connection, the second connecting rod (232) being fixedly connected with the wheel and it connect the first connecting rod and institute
State the connecting rod (233) of second connecting rod.
7. steering system according to claim 5 or 6, which is characterized in that the first connecting rod and the angular transducer
Shaft be fixedly connected.
8. steering system according to claim 7 or 8, which is characterized in that between the shaft at the first connecting rod both ends
Distance is equal with the distance between the shaft at both ends on the second connecting rod, shaft distance and the vehicle at the connecting rod both ends
The shaft of the shaft of wheel to the angular transducer is equidistant.
9. steering system according to claim 1, which is characterized in that the fluid path control device further includes hydraulic steering gear
(4), the switching valve is adjusted, vehicle can be made to be manually controlled by the hydraulic steering gear.
10. steering system according to claim 1, which is characterized in that in the switching valve and the electric proportional reversing valve
Between set the unloading valve (2) and safety valve (5) for being respectively provided with control oil pressure there are two branch in described two branches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811156258.5A CN109466625B (en) | 2018-09-28 | 2018-09-28 | Electro-hydraulic control steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811156258.5A CN109466625B (en) | 2018-09-28 | 2018-09-28 | Electro-hydraulic control steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109466625A true CN109466625A (en) | 2019-03-15 |
| CN109466625B CN109466625B (en) | 2021-02-05 |
Family
ID=65663342
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811156258.5A Active CN109466625B (en) | 2018-09-28 | 2018-09-28 | Electro-hydraulic control steering system |
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| Country | Link |
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| CN (1) | CN109466625B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110282008A (en) * | 2019-04-22 | 2019-09-27 | 中国北方车辆研究所 | A kind of rear-axle steering integrates valve group and transfer |
| CN110282009A (en) * | 2019-04-22 | 2019-09-27 | 中国北方车辆研究所 | A kind of 4X4 mechanical electronic hydraulic all-wheel steering device |
| CN110371185A (en) * | 2019-04-04 | 2019-10-25 | 丰疆智能科技股份有限公司 | The automatically controlled steering hydraulic system of multi-mode and walking arrangement |
| CN111267951A (en) * | 2020-03-16 | 2020-06-12 | 吉林大学 | Electro-hydraulic coupling type all-wheel steering system |
| CN115447667A (en) * | 2022-09-19 | 2022-12-09 | 江苏徐工工程机械研究院有限公司 | Steering system of loader-digger and control method |
| CN115743294A (en) * | 2022-12-09 | 2023-03-07 | 四川蓝海智能装备制造有限公司 | Bidirectional driving four-wheel multifunctional hydraulic control system |
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| CN115447667A (en) * | 2022-09-19 | 2022-12-09 | 江苏徐工工程机械研究院有限公司 | Steering system of loader-digger and control method |
| CN115447667B (en) * | 2022-09-19 | 2023-07-28 | 江苏徐工工程机械研究院有限公司 | Steering system of backhoe loader and control method |
| CN115743294A (en) * | 2022-12-09 | 2023-03-07 | 四川蓝海智能装备制造有限公司 | Bidirectional driving four-wheel multifunctional hydraulic control system |
| CN115743294B (en) * | 2022-12-09 | 2023-08-25 | 四川蓝海智能装备制造有限公司 | Multifunctional hydraulic control system for two-way driving four wheels |
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| CN109466625B (en) | 2021-02-05 |
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