CN110282012A - A kind of calculation method and its steering system of the target position of rear-axle steering hydraulic cylinder - Google Patents
A kind of calculation method and its steering system of the target position of rear-axle steering hydraulic cylinder Download PDFInfo
- Publication number
- CN110282012A CN110282012A CN201910321985.0A CN201910321985A CN110282012A CN 110282012 A CN110282012 A CN 110282012A CN 201910321985 A CN201910321985 A CN 201910321985A CN 110282012 A CN110282012 A CN 110282012A
- Authority
- CN
- China
- Prior art keywords
- steering
- axle
- interface
- assembly
- oil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
-
- 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
- B62D5/02—Power-assisted or power-driven steering mechanical, e.g. using a power-take-off mechanism for taking power from a rotating shaft of the vehicle and applying it to the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
-
- 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
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—Links, e.g. track rods
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides the calculation methods and its steering system of a kind of target position of rear-axle steering hydraulic cylinder, when rear axle participates in turning to, controller is required in driver turn steering wheel, pass through the signal of read direction disk rotary angle transmitter, calculate the target position of rear-axle steering hydraulic cylinder, it is final to realize that hydraulic steering cylinder stretches to absolute object position with the spool aperture of current control mode control 3-position 4-way proportioning valve, it is final that rear-axle steering leverage is driven to realize to the in the same direction of preceding bridge and rotate backward.The present invention can accurately realize that the closed-loop control of hydraulic steering cylinder and steering wheel operating, control are accurate by the way that the intelligent Target displacement function innovated is added.With safe and reliable performance, the safety and stability of system is substantially increased, system design stability is reliable.
Description
Technical field
The invention patent relates to a kind of high reliability machine-electric-liquid all-wheel control systems suitable for wheeled vehicle, belong to machine
Tool, hydraulic and road vehicle application field.
Background technique
Wheeled equipment is the important component of ground force's Weapon Equipment System, be the land, sea, air army realize " universe is motor-driven,
The important land motor platform of stereoscopic protective, multidimensional multipotency " development strategy.Vehicle mobility, broadly for, refer to space,
The quick arrival ability of region, including tactical mobility, strategy/off-the battle field mobility, for wheeled vehicle, mobility is mentioned
It rises to be more heavily weighted toward and improves soft terrain, the handling capacity of random off-road terrain, plateau mountainous region driving performance, air transportation etc..
The essence of wheeled vehicle steering system is to reflect that vehicle driving trace and driver intention exist using Vehicular turn radius as foundation
Time, the degree of agreement in space and vehicle running state degree of stability.Therefore, turning to mobility is to influence vehicle mobility
Deciding factor, pass through all-wheel steering technology and reduce low speed turning radius, enhancing high stability, provide special turn of diagonal etc.
To form, has become and solve the effective way that wheeled vehicle mobility promotes common problem in world wide.
(1) vehicle can be obviously reduced by the application of all-wheel control system in wheeled vehicle, especially multiaxis wheeled vehicle
Turning radius when running at a low speed promotes mobility performance.In the world, novel 8X8 Vehicle De L'Avant Blinde By Creussot generally turns in 1,2 axis
On the basis of, mobility is promoted by increasing by the 4th axle steer, part vehicle uses 1,2,3,4 axle steers, is generally possible to
Reduce Vehicular turn radius 30% or so.Since tactical vehicle vehicle changes more, the number of axle, arrangement form complexity with mission profile
Etc. factors, lead to the complicated multiplicity of more wheels/all-wheel steering form, therefore, at the beginning of scheme Design, generally pass through steering system
The forward design method of dynamics, dynamics of vehicle virtual road test environment in combination verifies all-wheel control system function for vehicle
The influence of control stability, to primarily determine applying working condition and overall plan.
(2) for wheeled vehicle compared with engineering truck, operating condition is increasingly complex, and environment is more severe, the response of following steering axle
Feature and impact resistance are the common problems for influencing vehicle handling stability, safety.Wheel military vehicle all-wheel steering system
System mostly uses electrohydraulic system technical solution, and system principle, composition, application method etc. are closer to engineering truck field, but
Be military vehicle use environment it is more harsh, under low-speed off-road surface conditions, the born nonlinear load of steeraxle will be anxious
Speed increases, and assembly average shows, typically larger than 3 of steeraxle load times or so, by the response of following steering axle cause compared with
It is big to influence, therefore, in military vehicle all-wheel control system, usually increases energy storage device, elastic device, solve low speed shock resistance
The shimmy problem of high frequency is eliminated with high speed.
(3) under pattern switching, system fault conditions, it is safeguards system that following steering axle, which actively returns and just turns to rigidity with middle position,
The key technology of reliability.All-wheel control system is under the conditions of complex load, when function switch or the system failure, needs with turn
It self-aligning and can guarantee the steering rigidity under middle position state to bridge, otherwise will directly affect vehicle mobility and safety
Property, therefore, the middle position that can be realized following steering axle, which keeps becoming with the device of active return function, ensures its reliability, vehicle
The most important thing of driving safety.
From the point of view of above-mentioned comparative situation, the changeable vehicle structure of wheeled vehicle, complicated application environment, harsh use
To all-wheel steering technology, reliability application brings great challenge to condition etc. on wheeled vehicle, by borrowing, improving engineering truck
The Technical Architecture of all-wheel control system is not to be able to satisfy requirement, therefore, can be provided simultaneously with following steering axle in complexity
Dynamic response and impact resistance under environment, under non-linear load in following steering axle position turn to rigidity and the system failure,
The all-wheel control system that following steering axle actively returns positive three core competence under damaged vehicle state, which will become, is suitable for wheeled vehicle
High reliability all-wheel control system.
Therefore, a kind of high reliability mechanical electronic hydraulic with the passive middle position Hui Zhengyu rigid locking function of steeraxle is developed to take turns entirely
Steering system is to solve the most effective approach of above-mentioned technical problem.
Summary of the invention
The technical problem to be solved by the present invention is how to provide a kind of high reliability machine-electric-liquid all-wheel control system.
To achieve the goals above, technical scheme is as follows:
A kind of calculation method of the target position of rear-axle steering hydraulic cylinder, which is characterized in that when rear axle participates in turning to, control
Device is required in driver turn steering wheel, by the signal of read direction disk rotary angle transmitter, calculates rear-axle steering liquid
The target position of cylinder pressure hydraulic steering cylinder is realized finally with the spool aperture of current control mode control 3-position 4-way proportioning valve
It stretches to absolute object position, it is final that rear-axle steering leverage is driven to realize to the in the same direction of preceding bridge and rotate backward.
Preferably, the numerical value that controller is acquired according to steering wheel angle sensor, in conjunction with the biography of preceding bridge hydraulic steering gear
The angular gear ratio of dynamic ratio, preceding bridge steering gear connection, estimates the value of front axle wheel steering angle, then according in the same direction or reverse mode
The numerical value that rear axle wheel turning angle is determined in conjunction with corresponding coefficient and reverse parameter in the same direction, passes in conjunction with the angle of rear-axle steering leverage
Dynamic ratio, obtains the target rotation angle of left swing arm, and rear-axle steering liquid is calculated in the brachium through left swing arm installation rear-axle steering hydraulic cylinder
The flexible displacement of targets value of the piston of cylinder pressure.
Preferably, its control method is as follows:
Wherein: θswIt is rotary angle transmitter collection value for steering wheel angle (°), range is -900 °~900 °；
L is vehicle wheelbase (mm), belongs to vehicle integral arrangement parameter, range (2800~3200)；
LgFor the flexible displacement of targets value of piston of rear-axle steering hydraulic cylinder；For system-computed output valve；
LggFor left swing arm in rear-axle steering leverage centre bore to installation rear-axle steering hydraulic cylinder ball stud axis away from
From (mm), range (180~280)；
ifFor the angular gear ratio of preceding bridge steering gear connection, range is 0.8~1.3；
iRFor the angular gear ratio of rear-axle steering leverage, range is 0.8~1.3；
iTFor front-rear axle steer coefficient in the same direction, range is 0.2~0.8；
iqIt is constant for the transmission ratio of hydraulic power steering gear；
λ is the preceding length of the bridge equivalent coefficient of wheel spacing instantaneous from steering.
A kind of 4X4 mechanical electronic hydraulic all-wheel control system, which is characterized in that including rear-axle steering hydraulic cylinder (6), the rear axle turns
It include cylinder barrel (88), piston rod (87), ball stud (36), clip (90), cylinder displacement sensor (35) to hydraulic cylinder (6),
Third interface (the 8- that rear-axle steering integrates valve group (8) is separately connected by oil pipe with first interface (34), second interface (33)
P2), the 4th interface (8-T2)；Cylinder displacement sensor (35) is mounted on inside cylinder barrel；Rear-axle steering hydraulic cylinder assembly (6) one end
It is connect by oscillating bearing with vehicle attached seat, the other end is connected by the left swing arm (70) of bulb (36) and rear-axle steering leverage (10)
It connects, thus realize the fixation of rear-axle steering hydraulic cylinder assembly (6), rear-axle steering hydraulic cylinder assembly (6) top oil circuit first interface
(34) the 5th interface (8-A) for integrating valve group (8) with rear-axle steering is connect, and second interface (33) and rear-axle steering integrate valve group
(8) the 6th interface (8-B) connection, the flexible displacement of targets value of the piston of the rear-axle steering hydraulic cylinder take mentioned-above side
Method.
Rear-axle steering tank unit oil outlet is connect with the oil inlet end of rear axle electric powered steering pump assembly by oil pipe, oil return opening
The oil return inlet T mouth for integrating valve group with rear-axle steering is connect by oil pipe；The oil outlet and rear axle of rear axle electric powered steering pump assembly turn
It is connected to the oil inlet end of integrated valve group by oil pipe；The first interface and rear-axle steering of rear-axle steering hydraulic cylinder assembly integrate valve group
A mouth connected by oil pipe, the B mouth that the second interface of rear-axle steering hydraulic cylinder assembly and rear-axle steering integrate valve group passes through oil pipe
Connection, rear-axle steering hydraulic cylinder assembly are connect with the left swing arm of rear-axle steering leverage, turn to the unlock of return locking mechanism assembly
The first interface of oil cylinder is connect with the P2 mouth that rear-axle steering integrates valve group by oil pipe, and the unlock of return locking mechanism assembly is turned to
The second interface of oil cylinder is connect with the T2 mouth that rear-axle steering integrates valve group by oil pipe, and return locking mechanism assembly and rear axle are turned to
The right swing arm of steering gear connection connects；It is that mentioned-above rear-axle steering integrates valve group that the rear-axle steering, which integrates valve group,.
Preferably, first interface is oil inlet port, it is connect with the oil outlet of rear-axle steering pump assembly, second interface is
Oil return port is connect with rear-axle steering tank unit oil return opening；Third interface, the 4th interface respectively with turn to return lockable mechanism
The first interface of the unlock oil cylinder of assembly, second interface connection；5th interface, the 6th interface and rear-axle steering hydraulic cylinder assembly
First interface is connected with second interface.
It is fixed on hull bottom plate preferably, rear-axle steering integrates valve group by the through-hole on valve body.
Preferably, the right swing arm for turning to return locking mechanism assembly and rear-axle steering leverage passes through bulb pin connection.
Preferably, steering wheel and steering assembly include steering wheel, stacked switch, the first steering drive axle, second turn
To transmission shaft, steering wheel angle sensor, right angle gear box, intermediate transmission axle assembly and hydraulic power steering device assembly；Direction
Disk is connect with the first steering drive axle, stacked switch bracket is machined in the middle part of the first steering drive axle, for installing stacked switch；
Steering wheel angle sensor is mounted on the first steering drive axle；First steering drive axle is connect with the second steering drive axle, the
One steering drive axle one end is connect with steering wheel, and the other end is connect with the second steering drive axle, the second steering drive axle other end
It is connect with right angle gear box, intermediate transmission axle assembly one end is connect by universal joint spline fitted with right angle gear box, the other end and liquid
The input axis connection of pressure power steering assembly.
Preferably, hydraulic power steering device assembly have two oil inlet P, oil return inlet T oil circuit interfaces, respectively with preceding bridge
The oil return opening connection of the fuel-displaced port of steering pump, preceding bridge steering reservoir assembly.
Preferably, it includes valve body, 3-position 4-way proportional reversing valve, two balanced valves, four that rear-axle steering, which integrates valve group,
2/2-way solenoid valve and two-bit triplet solenoid valve valve and check valve；It is solid by the through-hole on valve body that rear-axle steering integrates valve group
Due on hull bottom plate, there are 6 oil circuit interfaces；First interface is the oil outlet of oil inlet port P and rear-axle steering pump assembly
Connection, second interface are that oil return port T is connect with rear-axle steering oil tank oil return opening；Third interface P2, the 4th interface T2 respectively with
Turn to first interface, the second interface connection of the unlock oil cylinder (44) of return locking mechanism assembly, the 5th interface A, the 6th interface B
It is connect with the first interface of rear-axle steering hydraulic cylinder assembly and second interface.Unlock oil cylinder
Preferably, rear-axle steering hydraulic cylinder includes cylinder barrel, piston rod, bulb, clip, cylinder displacement sensor, tool
There are first interface, second interface to be separately connected the 5th interface, the 6th interface that rear-axle steering integrates valve group by oil pipe；Oil cylinder position
Displacement sensor is mounted on inside cylinder barrel；Rear-axle steering hydraulic cylinder assembly one end is connect by oscillating bearing with vehicle attached seat, another
End is connect by bulb with the left swing arm of rear-axle steering leverage, to realize the fixation of rear-axle steering hydraulic cylinder assembly, rear axle turns
It is connect to hydraulic cylinder assembly top oil circuit first interface with the 5th interface that rear-axle steering integrates valve group, second interface and rear axle turn
It is connected to the 6th interface of integrated valve group.
Preferably, it is total including unlock oil cylinder, unlock spring, return spring, mechanical lock to turn to return locking mechanism assembly
It is total at, rotating pin, return cylinder, telescoping cylinder, telescopic shaft, left support abutment fixture nut, left spring branch seat assembly, right spring fastening
At retaining ring, pin shaft, solution snap support, unlock cylinder upper bracket, unlock cylinder lower bracket, ball stud, locking sensor, solution between, cylinder body
Lock sensor, return spring left and right ends are packed into return cylinder body by left spring branch seat assembly, right spring fastening assembly, are passed through
Push left spring branch seat assembly, right spring fastening assembly difference compression retracteding position spring to left and right；Telescopic shaft through return cylinder and
Telescoping cylinder, can opposite return cylinder and telescoping cylinder progress reciprocal telescopic movement in the state of not locked；The one of telescopic shaft
End is radially pressed into pin shaft by interference fit, and the other end screws in left support abutment fixture nut and bulb pin assembly；Unlock oil cylinder
One end is connect in such a way that pin shaft adds oscillating bearing with unlock cylinder upper bracket, and the other end is added using pin shaft by the way of oscillating bearing
It is connect with mechanical lock assembly；Unlock cylinder upper bracket, unlock cylinder lower bracket are fixedly clamped the side bayonet slot outside return cylinder by 4 bolts
In；Solution snap support is bolted on telescoping cylinder upper end；The present apparatus uses two unlock springs, and unlock spring one end is hung over
On the pin shaft that mechanical lock assembly is connect with unlock oil cylinder, the other end is hung on the pin shaft of spring fastening.Mechanical lock assembly passes through two
The rotating pin of side is fixed on telescoping cylinder, and mechanical lock can be rotated up and down around the rotating pin of two sides, is completed to telescopic shaft
Unlock and locking；Retaining ring is bolted with telescoping cylinder by uniformly distributed 8 between return cylinder, cylinder body；It is logical to unlock sensor support base
It crosses threaded connection to be fixed on the flange face of return cylinder, solution lock sensor, which is connected through a screw thread, is fixed on unlock sensor support base
On, locking sensor, which is connected through a screw thread, to be fixed on mechanical lock assembly.
Preferably, rear-axle steering pump assembly includes motor and rear-axle steering pump, with oil inlet, oil outlet；It is fuel-displaced
It mouthful is connect by P mouthfuls of first interface of the integrated valve group of high-pressure oil pipe and rear-axle steering；Oil inlet is turned by low pressure pipe and rear axle
T mouthfuls of the second interface connections to integrated valve group；It is bolted and is fixed on vehicle attached seat.
Compared with the existing technology, the present invention has the advantage that:
1) completely new control relationship is developed, by two kinds of " front-rear axle turns in the same direction " and " front-rear axle counter steering "
The control relationship of operating mode, the numerical value that controller is acquired according to steering wheel angle sensor, in conjunction with preceding bridge hydraulic steering gear
Transmission ratio, preceding bridge steering gear connection angular gear ratio, the value of front axle wheel steering angle is estimated, then according in the same direction or reversed
Mode combination corresponding coefficient and reverse parameter in the same direction determine the numerical value of rear axle wheel turning angle, in conjunction with rear-axle steering leverage
Angular gear ratio obtains the target rotation angle of left swing arm 70, and rear axle is calculated in the brachium through left swing arm installation rear-axle steering hydraulic cylinder 6
The flexible displacement of targets value of the piston of hydraulic steering cylinder 6.By the way that the intelligent Target displacement function of innovation is added, it can accurately realize and turn
Closed-loop control to hydraulic cylinder and steering wheel operating, control are accurate.With safe and reliable performance, the peace of system is substantially increased
Full property and stability, system design stability are reliable.
2) completely new steering return locking mechanism assembly is developed, can complete to turn with rear axle in rear axle normal direction of rotation
To the follow-up telescoping of hydraulic cylinder；When rear axle does not turn to, be able to maintain rear-axle steering leverage middle position it is mechanical keep with just
Property it is locked；When electrical or hydraulic fault occurs in all-wheel control system, it can be realized that passive active is returned just and to complete rigidity locked,
Substantially increase the reliability of a whole set of all-wheel steering device.
3) it develops rear-axle steering and integrates valve block structure.Valve block structure is rationally distributed, easy to process, occupies little space, oil
Road is more reasonable, and the pressure loss is small, is convenient for stringing, and each control valve adjusts easy to operate.By installing 3-position 4-way proportioning valve energy additional
Enough precision control valve core apertures, and then rear-axle steering hydraulic cylinder is accurately controlled with the flexible of displacement of targets, realize hydraulic steering cylinder
With the closed-loop control of steering wheel operating.
4) completely new mechanical electronic hydraulic steering system is developed, the all-wheel control system of the structure is able to carry out between Three models
Facilitate switching, can be realized hydraulic steering cylinder and steering wheel operating closed-loop control and the passive active of steeraxle return just with rigidity
Solution, the lock-in control plurality of advantages of locking device, in addition front-rear axle hydraulic power source is independent, and system is safe and reliable.
5) completely new all-wheel steering control assembly is developed.Easily carry out the switching between three modes, it is contemplated that
Various faults mode ensure that the unfailing performance of system under various fault modes.Intelligent Target by the way that innovation is added is displaced letter
Number can accurately realize that the closed-loop control of hydraulic steering cylinder and steering wheel operating, control are accurate.
Detailed description of the invention
A kind of high reliability machine of Fig. 1-electric-liquid all-wheel control system structure chart
Fig. 2 steering wheel and power steering gear assembly structure chart
Fig. 2-1 stacked switch structure chart
Fig. 2-2 stacked switch rack assumption diagram
1 structure chart of Fig. 2-3 driving-shaft assembly
Bridge steering pump structure chart before Fig. 2-4
Bridge steering reservoir structure chart before Fig. 2-5
Bridge steering reservoir clip figure before Fig. 2-6
Fig. 3 rear-axle steering integrates valve group main view
Fig. 4 rear-axle steering hydraulic cylinder structure figure
Fig. 4-1 rear-axle steering hydraulic cylinder top view
Fig. 5 rear axle middle position locking mechanism structure figure
Fig. 5-1 rear axle middle position locking mechanism cross-sectional view
Fig. 6 rear-axle steering pump assembly structure chart
Fig. 6-1 rear-axle steering pump assembly structure chart 2
Fig. 7 rear-axle steering tank unit structure chart
Bridge steering reservoir clip figure before Fig. 7-1
Fig. 8 hydraulic system working principle diagram
Fig. 9 is equivalent coefficient of wheel spacing schematic diagram.
Appended drawing reference is as follows:
A kind of high reliability machine-electric-liquid all-wheel control system structure chart: 1 steering wheel and steering assembly；Bridge turns to before 2
Tank unit；Bridge steering pump before 3；4 rear-axle steering tank units；Bridge steering gear connection before 5；6 rear-axle steering hydraulic cylinder assemblies；7 turns
To return locking mechanism assembly；8 rear-axle steerings integrate valve group；9 all-wheel steering control assemblies；10 rear-axle steering leverages；After 11
Bridge electric powered steering pump assembly；70 left swing arms；71 right swing arms；72 pitman arms；
Steering wheel and power steering gear assembly structure chart: 12 steering wheels；19 first steering drive axles；14 second turn to transmission
Axis；13 steering wheel angle sensors；15 right angle gear boxs；16 intermediate transmission axle assemblies；17 hydraulic power steering device assemblies；
Stacked switch: 80 left handles, 82 fixation holes, 81 right handles；
Stacked switch bracket: 83 tapped through holes, 19 steering drive axles；
Steering drive axle scantling plan: 84 stacked switch brackets, 85 regulating mechanisms, 86 mounting holes；
Preceding bridge steering pump structure chart: 301 oil inlets, 302 oil outlets, 303 steering pump mounting holes, 304 steering pump splined shafts；
Preceding bridge steering reservoir structure chart: 203 steering reservoirs；204 oil tank racks；201 oil outlets, 202 oil return openings；
Preceding bridge steering reservoir clip figure: bridge steering reservoir bracket before 205；206 clips；
Rear-axle steering integrates valve group main view: 24 valve bodies；25 3-position 4-way proportional reversing valves；26 two balanced valves；Four
2/2-way solenoid valve (27,28,30,31)；29 two-bit triplet solenoid valves；32 check valves；Hydraulic fluid port 8-P, 8-T, 8-P2,8-T2,
8-A,8-B；
Rear-axle steering hydraulic cylinder structure figure: 88 cylinder barrels, 87 piston rods, 36 ball studs, 90 clips, 89 card slots, 35 oil cylinder positions
Displacement sensor, 34 first interfaces, 33 second interfaces；
Rear-axle steering hydraulic cylinder top view: 37 oscillating bearings；
Rear axle middle position locking mechanism: 44 unlock oil cylinders, 52 unlock springs, 56 return springs, 48 mechanical lock assemblies, 60 rotations
Pin shaft, 45 return cylinders, 49 telescoping cylinders, 40 telescopic shafts, 41 left support abutment fixture nuts, 55 left spring branch seat assemblies, 57 right spring branch
Retaining ring, 50 pin shafts, 54 solution snap supports, 43 unlock cylinder upper brackets, 42 unlock cylinder lower brackets, 38 bulbs between seat assembly, 47 cylinder bodies
Pin, 46 locking sensors, 51 solution lock sensors, 58 unlock oil cylinder second interfaces, 59 unlock oil cylinder first interfaces；
Rear-axle steering pump assembly structure chart: 110 oil outlets, 112 mounting holes；
Rear-axle steering pump assembly structure chart 2:111 oil inlet, 112 mounting holes；
Rear-axle steering tank unit structure chart: 403 steering reservoirs；404 oil tank racks；401 oil outlets, 402 oil return openings；
Preceding bridge steering reservoir clip figure: 405 rear-axle steering oil tank racks；406 clips；
Specific embodiment
Specific embodiments of the present invention will be described in detail with reference to the accompanying drawing.
Herein, if without specified otherwise, it is related to formula, "/" indicates that division, "×", " * " indicate multiplication.
To solve problem of the prior art, the present invention provides a kind of high reliability mechanical electronic hydraulic all-wheel control system and thereafter
Bridge is without from Hui Zhengyu locking system, especially 4X4 mechanical electronic hydraulic all-wheel control system.Bridge before the all-wheel steering device of the system
Form is turned to using hydraulic booster machinery, rear axle drives rear-axle steering using electric-controlled hydraulic cylinder.Preferably, the high reliability
4X4 mechanical electronic hydraulic all-wheel control system and its rear axle are without the wheeled vehicle for being suitable for 5 tons or more from Hui Zhengyu locking system.
System and its rear axle are described in detail without Hui Zhengyu locking system is originated from reference to the accompanying drawing.
As shown in Figure 1, the mechanical electronic hydraulic all-wheel control system includes steering wheel and steering assembly 1, preceding bridge steering reservoir
Assembly 2, rear-axle steering tank unit 4, preceding bridge steering gear connection 5, rear-axle steering hydraulic cylinder assembly 6, turns to back preceding bridge steering pump 3
The integrated valve group 8 of position locking mechanism assembly 7, rear-axle steering, all-wheel steering control assembly 9, rear-axle steering leverage 10, rear axle are electronic
Turn to pump assembly 11.Steering wheel and steering assembly 1 are connect with preceding bridge steering gear connection 5；Preceding bridge steering pump 3 is mounted on engine
On, power source, preferably high voltage power source are provided from engine driving to system；2 oil outlet 19 of preceding bridge steering reservoir assembly with
The oil inlet end 22 of preceding bridge steering pump 3 is connected by oil pipe, electronic-controlled power steering in oil return opening 20 and steering wheel and power steering gear assembly 1
The oil return opening of device assembly 17 is connected by oil pipe.
4 oil outlet 402 of rear-axle steering tank unit and the oil inlet end 111 of rear axle electric powered steering pump assembly 11 are connected by oil pipe
It connects, oil return opening 401 is connect with the oil return inlet T mouth that rear-axle steering integrates valve group 8 by oil pipe；Rear axle electric powered steering pump assembly 11
Oil outlet 110 is connect with the oil inlet end 8-P that rear-axle steering integrates valve group 8 by oil pipe；The first of rear-axle steering hydraulic cylinder assembly 6
Interface 34 is connect with 8-A mouthfuls of the A mouth that rear-axle steering integrates valve group 8 by oil pipe, the second interface of rear-axle steering hydraulic cylinder assembly 6
The 33 B mouth 8-B for integrating valve group 8 with rear-axle steering are connect by oil pipe, rear-axle steering hydraulic cylinder assembly 6 and rear-axle steering leverage 10
Left swing arm 70 connect, preferably connected by ball stud 36；Turn to the unlock oil cylinder 44 of return locking mechanism assembly 7 first connects
59 (oil inlets) of mouth are connect with the P2 mouth 8-P2 that rear-axle steering integrates valve group 8 by oil pipe, and return locking mechanism assembly 7 is turned to
The second interface 58 (fuel-displaced) for unlocking oil cylinder 44 is connect with the T2 mouth 8-T2 that rear-axle steering integrates valve group 8 by oil pipe, is turned to back
Position locking mechanism assembly 7 is connect with the right swing arm 71 of rear-axle steering leverage 10, is preferably connected by ball stud 38.
It is relatively independent on the axle steering system mechanical erection of front and back by above-mentioned scheme, and independent hydraulic power source is taken, lead to
It crosses all-wheel steering controller 9 and controls three kinds of steering patterns that rear-axle steering valve group realizes front-rear axle.
Preferably, steering wheel and steering assembly 1 are located in vehicle cab, pass through four on angle adjusting mechanism 20
A slotted hole is fixed with the mounting bracket at instrument board in cockpit.
Preferably, power steering gear assembly 17 and the steering of preceding bridge steering gear connection 5 are shaken in steering wheel and steering assembly 1
Arm 72 passes through cone spline connection.
Fig. 2 illustrates steering wheel and steering assembly of the invention.As shown in Fig. 2, steering wheel and steering assembly 1 include
Steering wheel 12, stacked switch 18, the first steering drive axle 19, the second steering drive axle 14, steering wheel angle sensor 13, angle pass
Dynamic case 15, intermediate transmission axle assembly 16 and hydraulic power steering device assembly 17.Steering wheel 12 and the first steering drive axle 19 connect
It connects, is machined with stacked switch bracket in the middle part of the first steering drive axle 19, for installing stacked switch, the preferably radial peace of transmission shaft
Dress, convenient for stacked switch 18 to be co-axially mounted and fix with the first steering drive axle 19；Steering wheel angle sensor 13 passed through
It is full of and is fitted on the first steering drive axle 19；, it is preferably mounted at below 19 stacked switch bracket of the first steering drive axle；The
One steering drive axle 19 is connect with the second steering drive axle 14, it is preferable that is machined with spline by 19 bottom of the first steering drive axle
Axis is connect with the second steering drive axle 14；First steering drive axle, 19 one end is connect with steering wheel 12, preferably passes through universal joint flower
Key is cooperatively connected, and the other end connect with the second steering drive axle 14, preferably connected by universal joint spline fitted；Second turns to biography
14 one end of moving axis is connect with steering drive axle assembly 19, is preferably connected by universal joint spline fitted, the other end and right angle gear box
15 connections, are preferably connected by universal joint spline fitted；16 one end of intermediate transmission axle assembly passes through universal joint spline fitted and angle
Transmission case 15 connects, and the other end passes through the input axis connection of universal joint spline fitted and hydraulic power steering device assembly 17.In this way,
When pilot control steering wheel 12, the first steering drive axle 19, the second steering drive axle 14, steering wheel angle sensor are driven
13, the co-axial rotation of the external splines output end of right angle gear box 15 and hydraulic power steering device assembly 17, while steering wheel turns
The angular signal of steering wheel is sent all-wheel steering control assembly 9 by angle transducer 14.
Preferably, 12 center of steering wheel is machined with internal splined hole, 19 top of the first steering drive axle is machined with flower
Key axis, 12 center internal splined hole of direction of insertion disk complete steering wheel 11 and the first steering drive axle 19 simultaneously by nut check
Connection；
Preferably, the mechanism 20 machined four slotted holes above, for consolidating steering wheel and power steering gear assembly 1
Determine on the dash panel.
Preferably, installing right angle gear box 15 between the second steering drive axle 14 and power steering stgear 17, function is to protect
Steering wheel 12 and power steering stgear 17 are demonstrate,proved in the flexibility of real vehicle mounting arrangements.
Hydraulic power steering device assembly 17 have two oil inlet P, oil return inlet T oil circuit interfaces, respectively with preceding bridge steering pump 3
Fuel-displaced port 302, preceding bridge steering reservoir assembly 2 oil return opening 201 connect；
Preferably, as in Figure 2-4, preceding bridge steering pump 3 has two road binders in the preceding installation to engine of bridge steering pump 3
Mouth interface, first interface 301 are connect with the oil outlet 202 of preceding bridge steering reservoir assembly 2, and second interface 302 and hydraulic power turn
It is connected to the oil inlet P of device assembly 17, function is to provide hydraulic power supply for front axle steering system；
As shown in Figure 2-5, preceding bridge steering reservoir assembly 2 includes steering reservoir 203, oil tank rack 204, steering reservoir 203
Fixed on the car body by oil tank rack 205, tool is oil outlet 202, oil return opening 201 respectively there are two oil circuit interface, fuel-displaced
Mouth 202 is connect with the oil inlet 301 of steering pump 3, and the oil return inlet T of oil return opening 201 and hydraulic power steering device assembly 1, rear axle turn
The 2nd interface 8-T connection to integrated valve group 8, function are to provide hydraulic power source for front axle steering system.
As shown in Fig. 3, it includes valve body 24,3-position 4-way proportional reversing valve 25, two balances that rear-axle steering, which integrates valve group 8,
26, four 2/2-way solenoid valves 27,28,30 and 31 of valve and two-bit triplet solenoid valve valve 29, check valve 32.Rear-axle steering collection
It is fixed on hull bottom plate at valve group 8 by the through-hole on valve body 24, there are 6 oil circuit interfaces, interface is preferably bite type
Straight coupling structure.
Preferably, the valve body 24 is cube structure, and including six faces, described two balanced valves 26, four
2/2-way solenoid valve valve 27,28,30 and 31 and two-bit triplet solenoid valve valve 29, check valve 32 are located on the first face, described
Tetra- third interface 8-P2, the 4th interface 8-T2, the 5th interface 8-A, the 6th interface 8-B interfaces are located to be vertically connected with the first face
On the second face connect, first interface 8-P, second interface 8-T are located on the third face being connected with the first face and the second face, and the 4th
Face and third face are opposite, and 3-position 4-way proportional reversing valve 25 is located at fourth face middle position.
Preferably, on the first face, valve 27,28 and 31 is located remotely from the side in the second face, from third face to fourth face,
It is arranged successively as valve 31,28,27；Valve 29,30 is arranged in side close to the second face, wherein successively arranging from third face to fourth face
It is classified as valve 30,29, and valve 30,29 is arranged close to the side in third face；Check valve 32 is located between valve 30,31；Two balances
Position of the valve 26 between valve 29 and fourth face and between valve 27,28 and the second face.
On the second surface, interface 8-P2,8-T2 is arranged close to the side in the first face, is preferably provided at one close to third face
Side, wherein being arranged successively from third face to fourth face as interface 8-P2,8-T2；Interface 8-A, 8-B are set far from the side in the first face
It sets, preferably adjacent to the side of fourth face, from wherein from third face to fourth face, being arranged successively as interface 8-B, 8-A.
On third face, first interface 8-P, second interface 8-T are arranged close to the first face, and wherein first interface 8-P is than
The distance in two the second faces of interface 8-T distance is farther.
By topology layout above, enable to integrated 8 structure of the valve group arrangement of rear-axle steering more reasonable, it is easy to process,
It occupies little space, oil circuit is more reasonable, and the pressure loss is small, is convenient for stringing, and each control valve adjusts easy to operate.The rear axle of Fig. 3 turns
To integrated valve block structure, valve block structure is rationally distributed, easy to process, occupies little space, and oil circuit is more reasonable, and the pressure loss is small,
Convenient for stringing, each control valve adjusts easy to operate.By install additional 3-position 4-way proportioning valve can precision control valve core aperture, in turn
Accurate control rear-axle steering hydraulic cylinder realizes the closed-loop control of hydraulic steering cylinder and steering wheel operating with the flexible of displacement of targets.
First interface is oil inlet port 8-P, is connect with the oil outlet 110 of rear-axle steering pump assembly 11, second interface is
Oil return port 8-T is connect with 4 oil return opening 401 of rear-axle steering tank unit；Third interface 8-P2, the 4th interface 8-T2 respectively with turn
It is connected to the first interface 59 of the unlock oil cylinder 44 of return locking mechanism assembly 7, second interface 58；5th interface 8-A, the 6th connect
Mouth 8-B is connect with the first interface 34 of rear-axle steering hydraulic cylinder assembly 6 and second interface 33.
The function that rear-axle steering integrates valve group 8 is: the steering pattern chosen according to driver, receives all-wheel steering control
On-off model provided by device, while four 2/2-way solenoid valve valves 27 are controlled, valve 28, valve 30, valve 31, two-bit triplet electricity
Magnet valve valve 29 is to switch oil circuit, so that bridge turns to before being realized according to the steering pattern of operator demand, front-rear axle turns in the same direction, preceding
The steering of rear axle counter steering Three models；Rear-axle steering integrates valve group 8 and receives the letter of electric current provided by all-wheel steering controller
Number, the valve body aperture of 3-position 4-way proportional reversing valve 25 is controlled, realizes that rear-axle steering leverage is steadily followed to what preceding bridge turned to.Tool
For body: 2/2-way solenoid valve 27,28 is connected on A mouthfuls, i.e., 8-A, B mouthfuls respectively, i.e. 8-B with T mouthfuls, i.e. between 8-T, power on and connect
After passing to, two chamber of rear-axle steering oil cylinder is communicated, and is in unloading condition；After solenoid valve power-off, rear-axle steering oil cylinder can build pressure, control
Device processed controls the flexible of 6 piston rod of rear-axle steering hydraulic cylinder by the supply current of control 3-position 4-way proportional reversing valve 25；Two
A balanced valve 26 is connected on respectively between 3-position 4-way proportional reversing valve 25 and A mouthfuls of 8-A, B mouthfuls of 8-B, can be to rear-axle steering liquid
The pressure of 6 liang of chambers of cylinder pressure plays the role of pressure maintaining, guarantees the stable state in each position of steering procedure；2/2-way solenoid valve 30,
Two-bit triplet solenoid valve 29 is connected between P mouthfuls 8-P, T mouthfuls 8-T and P2 mouthfuls 8-P2 mouthfuls, controls 2/2-way electricity by controller
The oil charging-discharging of unlock 44 rod chamber of oil cylinder is realized in the power supply of magnet valve 30, two-bit triplet solenoid valve 29；T2 mouthfuls 8-T2 mouthfuls and T mouthfuls of 8-T
Mouth communicates, unified to return to rear-axle steering tank unit 4.
It is an inventive point of the invention that rear-axle steering, which integrates valve group 8, and rear axle may be implemented according to driving by the invention
Member's demand, bridge turns to before realizing, front-rear axle turns in the same direction, the oil circuit switching between three kinds of steering patterns of front-rear axle counter steering.
As shown in Fig. 4, rear-axle steering hydraulic cylinder 6 includes cylinder barrel 88, piston rod 87, ball stud 36, clip 90, oil cylinder position
Displacement sensor 35 is separately connected rear-axle steering by high-pressure oil pipe with first interface 34, second interface 33 and integrates valve group 8
5th interface 8-A, the 6th interface 8-B；Cylinder displacement sensor 35 is mounted on inside cylinder barrel；Piston rod output end is riffled tube
Shape structure is machined with groove in piston rod output end side, and bulb is screwed onto piston rod output end respectively, and with card at groove
Hoop locking, fixed bulb screw-in depth.Cylinder barrel fixing end processes annular groove, is pressed into oscillating bearing, is fixed cylinder barrel by pin shaft
At the attached seat of rear-axle steering hydraulic cylinder.6 one end of rear-axle steering hydraulic cylinder assembly is connect by oscillating bearing with vehicle attached seat, another
End is connect by ball stud 36 with the left swing arm 70 of rear-axle steering leverage 10, to realize consolidating for rear-axle steering hydraulic cylinder assembly 6
Fixed, 6 top oil circuit first interface 34 of rear-axle steering hydraulic cylinder assembly is connect with the 5th interface 8-A that rear-axle steering integrates valve group 8,
Second interface 33 is connect with the 6th interface 8-B that rear-axle steering integrates valve group 8.
Fig. 5 illustrates the structural schematic diagram for turning to return locking mechanism assembly 7.As shown in Fig. 5, return locking machine is turned to
Structure assembly 7 include unlock oil cylinder 44, unlock spring 52, return spring 56, mechanical lock assembly 48, rotating pin 60, return cylinder 45,
It is kept off between telescoping cylinder 49, telescopic shaft 40, left support abutment fixture nut 41, left spring branch seat assembly 55, right spring fastening assembly 57, cylinder body
Circle 47, pin shaft 50, solution snap support 54, unlock cylinder upper bracket 43, unlock cylinder lower bracket 42, ball stud 38, locking sensor 46,
Solve lock sensor 51.Return spring 56 is arranged in return cylinder body 45, and 45 left and right ends of return cylinder are separately connected unlock jar support
Cylinder upper bracket 43 is unlocked wherein unlocking jar support includes unlock cylinder upper bracket 43 and unlock cylinder lower bracket 42 with telescoping cylinder 49
One end of upper end connection unlock oil cylinder 44, the other end of unlock oil cylinder 44 connect pin shaft, the pin shaft be mechanical lock assembly 48 with
Unlock the pin shaft that oil cylinder 44 connects；Described unlock 52 one end of spring hangs over the pin shaft that mechanical lock assembly 48 is connect with unlock oil cylinder 44
On, the other end is hung on the pin shaft of solution snap support 54, and solution snap support 54 is fixed on 49 upper end of telescoping cylinder；Mechanical lock assembly 48
One end is fixed on telescoping cylinder 49；Telescopic shaft 40 is extend into return cylinder 45 and telescoping cylinder 49.
56 left and right ends of return spring are packed into return cylinder body 45 by left spring branch seat assembly 55, right spring fastening assembly 57
It is interior, by pushing left spring branch seat assembly 55, right spring fastening assembly 57 difference compression retracteding position spring 56 to left and right；Telescopic shaft
40 run through return cylinder 45 and telescoping cylinder 49, can opposite return cylinder 45 and the progress of telescoping cylinder 49 in the state of not locked
Reciprocal telescopic movement；One end of telescopic shaft 40 is radially pressed into pin shaft 50 by interference fit, and the other end screws in left support abutment and fixes
Nut 41 and ball stud 38；Oil cylinder one end is unlocked to connect in such a way that pin shaft adds oscillating bearing with unlock cylinder upper bracket 43,
The other end is connect in such a way that pin shaft adds oscillating bearing with machinery lock assembly 48；Unlock cylinder upper bracket 43, unlock cylinder lower bracket
42 are fixedly clamped in the outer side bayonet slot of return cylinder 45 by 4 bolts；Solution snap support 54 is bolted on telescoping cylinder 49
Upper end；The present apparatus uses two unlock springs 52, and unlock 52 one end of spring hangs over mechanical lock assembly 48 and connect with unlock oil cylinder 44
Pin shaft on, the other end is hung on the pin shaft of spring fastening 54.Mechanical lock assembly 48 is fixed on by the rotating pin 60 of two sides
On telescoping cylinder 49, mechanical lock can be rotated up and down around the rotating pin 60 of two sides, complete unlock and locking to telescopic shaft 40；
Retaining ring 47 is bolted with telescoping cylinder 49 by uniformly distributed 8 between return cylinder 45, cylinder body；Unlock sensor support base 61 passes through screw thread
It is fastened on the flange face of return cylinder 45, solution lock sensor 46, which is connected through a screw thread, is fixed on unlock sensor support base 61
On, locking sensor 51, which is connected through a screw thread, to be fixed on mechanical lock assembly 48.
When preceding bridge turns to, turns to return locking mechanism assembly 7 and be in middle position and locked state.At this point, return spring 56
Driving left spring branch seat assembly 55, right spring fastening assembly 57, retaining ring 47 contacts between 45 inside of return cylinder, cylinder body respectively, in turn
Drive telescopic shaft 40 return to initial middle position state, after return spring 56 returns to middle position, control hydraulic valve bank hydraulic fluid port 8-A,
8-B, makes unlock 44 off-load of oil cylinder be in free state, and two unlock springs 52 drive mechanical lock assembly 48 to rotate around mechanical lock
Pin shaft 60 is rotated down, and the semicircle card slot of mechanical lock assembly 48 is caught in pin shaft 50, and telescopic shaft 40 will be unable to carry out stretching motion.
When rear axle participates in turning to, turns to return locking mechanism assembly 7 and be in the servo-actuated state of unlock.At this point, unlock oil cylinder
44 first interface 59 is oil-filled, and the piston rod of unlock oil cylinder 44 is shunk, drive mechanical lock assembly 48 around mechanical lock shaft 60 to
Upper rotation, until solution 46 signal lamp of lock sensor is bright, the mechanical unlock of lock assembly 48 is in place；At this point, telescopic shaft 40 then can bridge
Steering gear connection movement needs to carry out reciprocal telescopic movement: when telescopic shaft 40 is shunk, nut 41 pushes left spring branch seat assembly 55
It is moved right with telescopic shaft 40, retaining ring 47 is adjacent between right spring fastening assembly 57 and cylinder body, passes through compression retracteding position spring 56 to the right
Realize the compression of telescopic shaft 40；Telescopic shaft 40 extend when, the between centers of telescopic shaft 40 be bonded with right spring fastening assembly 57 together to
Left movement, left spring branch seat assembly 55 are adjacent to 45 inner surface of return cylinder, realize telescopic shaft 40 by compression retracteding position spring to the left
Elongation.
It turns to 7 one end of return locking mechanism assembly to connect by oscillating bearing with vehicle attached seat, the other end passes through ball stud
38 connect with the right swing arm 71 of rear-axle steering leverage 10, to realize the fixation for turning to return locking mechanism assembly 7, unlock oil cylinder
Third interface 8-P2, the 4th interface 8-T2 that first interface 59, second interface 58 and the rear-axle steering of 44 oil circuits integrate valve group 8 connect
It connects.
The steering return locking mechanism assembly of Fig. 5.It can be completed and rear-axle steering hydraulic cylinder in rear axle normal direction of rotation
Follow-up telescoping；When rear axle does not turn to, rear-axle steering leverage is able to maintain in the mechanical of middle position and keeps locked with rigidity；Full wheel
It when electrical or hydraulic fault occurs in steering system, can be realized that passive active is returned just and to complete rigidity locked, substantially increasing
The reliability of a whole set of all-wheel steering device.
All-wheel steering mode conversion switch is integrated in full-vehicle control panel itself, and by pilot control, there are three works for tool
Operation mode " preceding bridge steering " " front-rear axle turns in the same direction " " front-rear axle counter steering ".As shown in Fig. 1 to Fig. 7, the invention patent institute
A kind of feature of the working principle for the high reliability machine-electric-liquid all-wheel steering device being related to is as follows:
(1) " preceding bridge steering " mode
When " preceding bridge steering " mode, all-wheel steering mode conversion switch is in preceding bridge steering state, driver turn direction
Disk, the angular signal of steering wheel are sent to steering controller, and control system controls two two according to " preceding bridge steering " control strategy
Three-way electromagnetic valve valve 31 power off, while control rear-axle steering integrate valve group 8 in first interface 8-P and second interface 8-T oil circuit it is unimpeded,
Purpose is that 44 off-load of oil cylinder will be unlocked, unlocks spring 52 and the completion of mechanical lock 48 is driven to latch, be in locking state, guarantee rear axle
It is in middle position and is not involved in steering.
(2) " front-rear axle turns in the same direction " mode
When " front-rear axle turns in the same direction " mode, rear-axle steering integrates first interface 8-P and third interface 8-P2 oil in valve group 8
Road is unimpeded, and second interface 8-T and the 4th interface 8-T2 oil circuit are unimpeded, it is therefore intended that the rod chamber for unlock oil cylinder 44 is oil-filled, band
The rotation upwards around the shaft of dynamic mechanical lock 48, completes unlock；Controller control 2/2-way solenoid valve 27 and valve 28 power on, after realization
Bridge hydraulic steering cylinder 6 builds pressure, and when driver turn steering wheel, steering wheel angle sensor 13 sends steering wheel angle signal
To steering controller 9, control system calculates the target of rear-axle steering hydraulic cylinder 6 according to the control strategy that front-rear axle turns in the same direction
Displacement, the displacement stroke of rear-axle steering hydraulic cylinder 6 is accurately realized by the current control to 3-position 4-way proportional reversing valve 25, is led to
Crossing ball stud 36 pushes left steering rocker arm 70 to rotate, and rear-axle steering leverage is driven to realize rear axle with the steering in the same direction of preceding bridge；
(3) " front-rear axle counter steering " mode
When " front-rear axle counter steering " mode, rear-axle steering integrates first interface P8-P and third interface 8-P2 in valve group 8
Oil circuit is unimpeded, and second interface T8-T and the 4th interface 8-T2 oil circuit are unimpeded, it is therefore intended that and the rod chamber for unlock oil cylinder 44 is oil-filled,
The rotation upwards around the shaft of mechanical lock 48 is driven, unlock is completed；Controller control 2/2-way solenoid valve 27 and valve 28 power on, and realize
Rear-axle steering hydraulic cylinder 6 builds pressure, and when driver turn steering wheel, steering wheel angle sensor 13 sends out steering wheel angle signal
It is sent to steering controller 9, control system calculates the mesh of rear-axle steering hydraulic cylinder 6 according to the control strategy of front-rear axle counter steering
Marker displacement accurately realizes the displacement stroke of rear-axle steering hydraulic cylinder 6 by the current control to 3-position 4-way proportional reversing valve 25,
It pushes left steering rocker arm 70 to rotate by ball stud 36, rear-axle steering leverage is driven to realize rear axle with the counter steering of preceding bridge.
Such as attached drawing 6, rear-axle steering pump assembly 11 includes that motor and rear-axle steering pump, with oil inlet 111, oil outlet
110.Oil outlet 110 is connect by high-pressure oil pipe with P mouthfuls of 8-P of first interface that rear-axle steering integrates valve group 8；Oil inlet 111 is logical
It crosses low pressure pipe and is connect with T mouthfuls of 8-T of second interface that rear-axle steering integrates valve group 8；It is bolted and is fixed on vehicle attached seat
On.
Under " front-rear axle turns in the same direction " and " front-rear axle counter steering " two kinds of operating modes, controller all needs the present apparatus
, by the signal of read direction disk rotary angle transmitter 13, rear-axle steering hydraulic cylinder 6 is calculated in driver turn steering wheel
Target position, it is final to realize that hydraulic steering cylinder is stretched with the spool aperture of current control mode control 3-position 4-way proportioning valve 25
It is reduced to absolute object position, it is final that rear-axle steering leverage 10 is driven to realize to the in the same direction of preceding bridge and rotate backward.In control system
In, innovative proposes intelligent Target displacement function.Specifically, the number that controller is acquired according to steering wheel angle sensor
Value estimates front axle wheel steering angle in conjunction with the transmission ratio of preceding bridge hydraulic steering gear, the angular gear ratio of preceding bridge steering gear connection
Value then determines the number of rear axle wheel turning angle according to the combination of in the same direction or reverse mode corresponding coefficient and reverse parameter in the same direction
Value, in conjunction with the angular gear ratio of rear-axle steering leverage, obtains the target rotation angle of left swing arm 70, installs rear-axle steering liquid through left swing arm
The flexible displacement of targets value of piston of rear-axle steering hydraulic cylinder 6 is calculated in the brachium of cylinder pressure 6.Its basic skills is as follows:
Wherein: θswIt is rotary angle transmitter collection value for steering wheel angle (°), preferred scope is -900 °~900 °；
L is vehicle wheelbase (mm), belongs to vehicle integral arrangement parameter, preferred scope (2800~3200)；
LgFor the flexible displacement of targets value of piston of rear-axle steering hydraulic cylinder 6；For system-computed output valve；
LggFor left swing arm 70 in rear-axle steering leverage centre bore to installation 36 axis of ball stud of rear-axle steering hydraulic cylinder 6
Distance (mm), preferred scope (180~280)；
ifFor the angular gear ratio of preceding bridge steering gear connection, preferred scope is 0.8~1.3；
iRFor the angular gear ratio of rear-axle steering leverage, preferred scope is 0.8~1.3；
iTFor front-rear axle steer coefficient in the same direction, preferred scope is 0.2~0.8；
iqIt is constant for the transmission ratio of hydraulic power steering gear.Preferably 26；
λ is preceding length of the bridge from instantaneous equivalent coefficient of wheel spacing is turned to, and is obtained by calculation, preferably 0.6~0.8.All-wheel steering
" wheelbase " of vehicle is different from preceding bridge steering vehicle, the distance of two between centers in not simple meaning, axle to steering wink
The fore-and-aft distance of the heart." virtual rear axle " is established for all-wheel steering vehicle, " virtual rear axle " is turned to as preceding bridge in analysis
The rear axle of vehicle and preceding bridge turn to vehicle not turn to rear axle corresponding, and bridge arrives turn to instantaneous point along the longitudinal centerline before vehicle
Distance be " equivalent axis away from ".For equivalent axis away from being equivalent coefficient of wheel spacing with the ratio of wheelbase, the determination of the parameter and vehicle are minimum
Turning radius requires closely bound up.Referring specifically to Fig. 9.L is wheelbase in Fig. 9, and λ is preceding length of the bridge from turning to instantaneous equivalent axis away from being
Number.
The present invention has developed the flexible displacement of targets value of piston of completely new rear-axle steering hydraulic cylinder 6 by largely studying
Calculation, by accurately calculate rear-axle steering hydraulic cylinder 6 piston stretch displacement of targets value, pass through be added innovation
Intelligent Target displacement function can accurately realize that the closed-loop control of hydraulic steering cylinder and steering wheel operating, control are accurate；With peace
Complete reliable performance, substantially increases the safety and stability of system, and system design stability is reliable, can guarantee that vehicle is pacified
Entirely.
For security consideration, when speed transfinites, if driver fails bridge steering pattern, all-wheel steering before being switched in time
Bridge steering pattern before controller can automatically switch to；When electro-hydraulic failure occurs for system, the meeting off-load of rear-axle steering hydraulic cylinder, rear axle
It is able to drive rear-axle steering leverage without Hui Zhengyu locking system is originated from and returns to middle position, and control mechanical lock and latch and complete the machine of rear axle
Tool is locked.
The device is complete as a kind of high reliability mechanical electronic hydraulic with the passive middle position Hui Zhengyu rigid locking function of steeraxle
Steering system is taken turns, bridge steering pattern, front-rear axle are the same as mutually steering before driver can realize three kinds of steering patterns according to actual road conditions
Mode, front-rear axle out-phase steering pattern) switching, can be provided simultaneously with dynamic response of the following steering axle under complex environment with
Impact resistance, position turns to and is servo-actuated under rigidity and the system failure, damaged vehicle state in following steering axle under non-linear load
Steeraxle actively returns positive three core competence, relative to existing all-wheel control system, the present invention has the advantage that:
1. high reliability mechanical electronic hydraulic all-wheel control system of the invention, structure is simple, the operation is stable, high reliablity, front and back
Bridge uses independent hydraulically controlled source, and steering system can need to realize according to driver three kinds of steering patterns (preceding bridge steering pattern, front and back
Bridge is with phase steering pattern, front-rear axle out-phase steering pattern) switching, meanwhile, from the aspect of active safety, according to real vehicle safety
Need independently to carry out the switching of safe mode.
2. the present invention, which devises, turns to return locking mechanism assembly, which is the core component of the present apparatus, is to guarantee entirely
Rotate the critical component reliable and secure to vehicle.The mechanism can instruct real when rear steering bridge participates in turning to according to controller
Existing follow-up steering；When rear steering bridge does not need to turn to, middle position is gone back to according to controller instruction is servo-actuated, and complete by mechanical structure
The machinery of rear axle is locked, reliable and stable；When unforeseeable fault occurs in vehicle, it is able to drive rear steering bridge and realizes in passive time
Position, and it is locked by the machinery that mechanical structure completes rear axle.This automatic passive goes back to middle position and locked mechanism substantially increases
The safety of all-wheel steering vehicle, previous all-wheel control system cannot achieve.
3. the present invention, which is devised, integrates valve group for the rear-axle steering of all-wheel control system, valve group integrated level is high, control essence
Really, the accurate steering of rear steering bridge is realized by accurately controlling proportioning valve.
It should be noted that skilled person can easily appreciate that, the circulation of heavy type involved in the invention patent
Ball-type bimodulus electric power steering device can be applied in the above described manner to be turned in someone, unpiloted different types of wheeled vehicle
It, can be with into system, and in the case where not departing from the spirit and scope of the invention patent being defined by the following claims
Various various forms of changes and change are carried out to the invention patent.
Although the present invention has been disclosed in the preferred embodiments as above, present invention is not limited to this.Any art technology
Personnel can make various changes or modifications, therefore protection scope of the present invention is answered without departing from the spirit and scope of the present invention
When being defined by the scope defined by the claims..
Claims (6)
1. a kind of calculation method of the target position of rear-axle steering hydraulic cylinder, which is characterized in that controller is required in driver
When steering wheel rotation, by the signal of read direction disk rotary angle transmitter, the target position of rear-axle steering hydraulic cylinder is calculated, with
Current control mode controls the spool aperture of 3-position 4-way proportioning valve, final to realize that hydraulic steering cylinder stretches to absolute object position
It sets, it is final that rear-axle steering leverage is driven to realize to the in the same direction of preceding bridge and rotate backward.
2. the method as described in claim 1, which is characterized in that the numerical value that controller is acquired according to steering wheel angle sensor,
In conjunction with the transmission ratio of preceding bridge hydraulic steering gear, the angular gear ratio of preceding bridge steering gear connection, the value of front axle wheel steering angle is estimated, with
The numerical value of rear axle wheel turning angle is determined according to the combination of in the same direction or reverse mode corresponding coefficient and reverse parameter in the same direction afterwards, then
In conjunction with the angular gear ratio of rear-axle steering leverage, the target rotation angle of left swing arm is obtained, through left swing arm installation rear-axle steering hydraulic cylinder
The flexible displacement of targets value of piston of rear-axle steering hydraulic cylinder is calculated in brachium.
3. the method as described in claim 1, which is characterized in that its control method is as follows:
Wherein: θswIt is rotary angle transmitter collection value for steering wheel angle (°), range is -900 °~900 °；
L is vehicle wheelbase (mm), belongs to vehicle integral arrangement parameter, range (2800~3200)；
LgFor the flexible displacement of targets value of piston of rear-axle steering hydraulic cylinder；For system-computed output valve；
LggFor left swing arm in rear-axle steering leverage centre bore to installation rear-axle steering hydraulic cylinder ball stud axis distance
(mm), range (180~280)；
ifFor the angular gear ratio of preceding bridge steering gear connection, range is 0.8~1.3；
iRFor the angular gear ratio of rear-axle steering leverage, range is 0.8~1.3；
iTFor front-rear axle steer coefficient in the same direction, range is 0.2~0.8；
iqIt is constant for the transmission ratio of hydraulic power steering gear；
λ is the preceding length of the bridge equivalent coefficient of wheel spacing instantaneous from steering.
4. a kind of 4X4 mechanical electronic hydraulic all-wheel control system, which is characterized in that including rear-axle steering hydraulic cylinder (6), the rear-axle steering
Hydraulic cylinder (6) includes cylinder barrel (88), piston rod (87), bulb (36), clip (90), cylinder displacement sensor (35), is had
First interface (34), second interface (33) by oil pipe be separately connected rear-axle steering integrate valve group (8) the 5th interface (8-A),
6th interface (8-B)；Cylinder displacement sensor (35) is mounted on inside cylinder barrel；Rear-axle steering hydraulic cylinder assembly (6) one end passes through
Oscillating bearing is connect with vehicle attached seat, and the other end is connect by bulb (36) with the left swing arm (70) of rear-axle steering leverage (10),
To realize the fixation of rear-axle steering hydraulic cylinder assembly (6), rear-axle steering hydraulic cylinder assembly (6) top oil circuit first interface (34)
The 5th interface (8-A) for integrating valve group (8) with rear-axle steering is connect, and second interface (33) and rear-axle steering integrate valve group (8)
The connection of 6th interface (8-B), the flexible displacement of targets value of the piston of the rear-axle steering hydraulic cylinder are taken described in claim 1-3
Method.
5. steering system as claimed in claim 4, the system comprises steering wheel and steering assembly, preceding bridge steering reservoir are total
At, preceding bridge steering pump, rear-axle steering tank unit, preceding bridge steering gear connection, rear-axle steering hydraulic cylinder assembly, turn to return locking machine
Structure assembly, rear-axle steering integrate valve group, all-wheel steering control assembly, rear-axle steering leverage, rear axle electric powered steering pump assembly, side
It is connect to disk and steering assembly with preceding bridge steering gear connection；The installation of preceding bridge steering pump on the engine, from engine driving to being
System provides power source；Preceding bridge steering reservoir assembly oil outlet is connect with the oil inlet end of preceding bridge steering pump by oil pipe, oil return opening with
Steering wheel is connect with the oil return opening of power steering gear assembly in power steering gear assembly by oil pipe；
Rear-axle steering tank unit oil outlet is connect with the oil inlet end of rear axle electric powered steering pump assembly by oil pipe, and oil return opening is with after
The oil return inlet T mouth that bridge turns to integrated valve group is connected by oil pipe；The oil outlet and rear-axle steering collection of rear axle electric powered steering pump assembly
It is connected at the oil inlet end of valve group by oil pipe；The first interface and rear-axle steering of rear-axle steering hydraulic cylinder assembly integrate the A of valve group
Mouth is connected by oil pipe, and the B mouth that the second interface and rear-axle steering of rear-axle steering hydraulic cylinder assembly integrate valve group passes through oil pipe and connects
It connects, rear-axle steering hydraulic cylinder assembly is connect with the left swing arm of rear-axle steering leverage, turns to the unlock oil of return locking mechanism assembly
The first interface of cylinder is connect with the P2 mouth that rear-axle steering integrates valve group by oil pipe, and the unlock oil of return locking mechanism assembly is turned to
The second interface of cylinder is connect with the T2 mouth that rear-axle steering integrates valve group by oil pipe, turns to return locking mechanism assembly and rear axle turns
It is connected to the right swing arm of leverage.
6. steering system as claimed in claim 5, it includes valve body (24), 3-position 4-way ratio that rear-axle steering, which integrates valve group (8),
Reversal valve (25), two balanced valves (26), four 2/2-way solenoid valves (27,28,30,31), two-bit triplet solenoid valve (29),
Check valve 32；Rear-axle steering integrates valve group (8) and is fixed on hull bottom plate by the through-hole on valve body (24), has 6 oil
Road interface is bite type straight coupling structure.First interface is oil inlet port P (8-P) and rear-axle steering pump assembly (11)
Oil outlet (110) connection, second interface are that oil return port T (8-T) is connect with rear-axle steering oil tank (4) oil return opening (401)；Third
Interface P2 (8-P2), the 4th interface T2 (8-T2) respectively with the unlock oil cylinder (44) for turning to return locking mechanism assembly (7) the
One interface (59), second interface (58) connection, the 5th interface A (8-A), the 6th interface B (8-B) and rear-axle steering hydraulic cylinder assembly
(6) first interface (34) and second interface (33) connection.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010345936.3A CN111619661B (en) | 2019-04-22 | 2019-04-22 | Front and rear axle equidirectional steering method and steering system |
| CN202010345939.7A CN111619663B (en) | 2019-04-22 | 2019-04-22 | Front axle steering method and steering system |
| CN201910321985.0A CN110282012B (en) | 2019-04-22 | 2019-04-22 | Method for calculating target position of rear axle steering hydraulic cylinder and steering system thereof |
| CN202010345937.8A CN111619662B (en) | 2019-04-22 | 2019-04-22 | Front and rear axle reverse steering method of 4X4 electromechanical hydraulic all-wheel steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910321985.0A CN110282012B (en) | 2019-04-22 | 2019-04-22 | Method for calculating target position of rear axle steering hydraulic cylinder and steering system thereof |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010345936.3A Division CN111619661B (en) | 2019-04-22 | 2019-04-22 | Front and rear axle equidirectional steering method and steering system |
| CN202010345939.7A Division CN111619663B (en) | 2019-04-22 | 2019-04-22 | Front axle steering method and steering system |
| CN202010345937.8A Division CN111619662B (en) | 2019-04-22 | 2019-04-22 | Front and rear axle reverse steering method of 4X4 electromechanical hydraulic all-wheel steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110282012A true CN110282012A (en) | 2019-09-27 |
| CN110282012B CN110282012B (en) | 2020-11-24 |
Family
ID=68001738
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010345939.7A Active CN111619663B (en) | 2019-04-22 | 2019-04-22 | Front axle steering method and steering system |
| CN201910321985.0A Expired - Fee Related CN110282012B (en) | 2019-04-22 | 2019-04-22 | Method for calculating target position of rear axle steering hydraulic cylinder and steering system thereof |
| CN202010345936.3A Active CN111619661B (en) | 2019-04-22 | 2019-04-22 | Front and rear axle equidirectional steering method and steering system |
| CN202010345937.8A Active CN111619662B (en) | 2019-04-22 | 2019-04-22 | Front and rear axle reverse steering method of 4X4 electromechanical hydraulic all-wheel steering system |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010345939.7A Active CN111619663B (en) | 2019-04-22 | 2019-04-22 | Front axle steering method and steering system |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010345936.3A Active CN111619661B (en) | 2019-04-22 | 2019-04-22 | Front and rear axle equidirectional steering method and steering system |
| CN202010345937.8A Active CN111619662B (en) | 2019-04-22 | 2019-04-22 | Front and rear axle reverse steering method of 4X4 electromechanical hydraulic all-wheel steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN111619663B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169534A (en) * | 2019-11-29 | 2020-05-19 | 徐工集团工程机械股份有限公司 | Engineering truck and steering mechanism and steering control system thereof |
| 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 |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111619663B (en) * | 2019-04-22 | 2021-05-14 | 中国北方车辆研究所 | Front axle steering method and steering system |
| RU207574U1 (en) * | 2021-04-06 | 2021-11-02 | Федеральное государственное бюджетное образовательное Учреждение высшего образования "Воронежский государственный аграрный университет имени императора Петра 1" (ФГБОУ ВО Воронежский ГАУ) | All-wheel steering vehicle steering system |
| CN113276940A (en) * | 2021-07-05 | 2021-08-20 | 北京汽车集团越野车有限公司 | Vehicle steering system and vehicle |
| CN113771942B (en) * | 2021-09-27 | 2022-09-09 | 湖南三一中型起重机械有限公司 | Steering control system and working machine |
| CN113771943A (en) * | 2021-09-27 | 2021-12-10 | 湖南三一中型起重机械有限公司 | Steering control system and working machine |
| CN115503815A (en) * | 2022-08-30 | 2022-12-23 | 北京机械设备研究所 | Vehicle steering device and steering system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874309A (en) * | 2012-09-24 | 2013-01-16 | 三一重工股份有限公司 | Crane as well as steering system and rocker arm thereof |
| CN107140017A (en) * | 2017-04-12 | 2017-09-08 | 西华大学 | The orchard management power platform of four-wheel steering four-wheel drive |
| CN109250657A (en) * | 2018-12-03 | 2019-01-22 | 江苏建筑职业技术学院 | A kind of aerial work platform steering system and control method |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3427160A1 (en) * | 1984-07-24 | 1986-02-06 | Daimler-Benz Ag, 7000 Stuttgart | STEERING DEVICE FOR MOTOR VEHICLES |
| JPS6157465A (en) * | 1984-08-30 | 1986-03-24 | Nissan Motor Co Ltd | Steering gear for vehicles |
| DE3933585A1 (en) * | 1988-12-03 | 1991-04-11 | Doerr Klaus | PARKING AND MANEUVERING AID FOR MOTOR VEHICLES |
| CN203427872U (en) * | 2013-08-30 | 2014-02-12 | 徐州重型机械有限公司 | Wheeled crane and steering hydraulic control system thereof |
| JP2016068830A (en) * | 2014-09-30 | 2016-05-09 | ヤンマー株式会社 | Agricultural work vehicle |
| CN204419754U (en) * | 2014-10-09 | 2015-06-24 | 徐州重型机械有限公司 | A kind of middle position locking oil cylinder and engineering truck |
| CN104477239B (en) * | 2014-12-26 | 2017-01-11 | 中国北方车辆研究所 | Steering link stroke protection device of tracked vehicle |
| CN104960572B (en) * | 2015-07-08 | 2017-08-25 | 武汉理工大学 | Commercial car with four-wheel steering |
| CN105539574B (en) * | 2015-12-07 | 2017-09-26 | 中国北方车辆研究所 | Automobile back wheel turns to electronically controlled hydraulic system and its control method |
| CN107618326A (en) * | 2017-09-21 | 2018-01-23 | 中国北方车辆研究所 | A kind of amphibious vehicle water/land integrated control formula power steering gear |
| CN207579473U (en) * | 2017-09-21 | 2018-07-06 | 中国北方车辆研究所 | A kind of amphibious vehicle water/land integrated control formula power steering gear |
| CN107856732B (en) * | 2017-11-02 | 2020-03-20 | 北京航天发射技术研究所 | Electro-hydraulic steering hydraulic system for multi-mode control |
| CN107933687B (en) * | 2017-12-06 | 2023-07-28 | 西南交通大学 | All-round steering system of pipe gallery inspection trolley based on in-wheel motor |
| CN111619663B (en) * | 2019-04-22 | 2021-05-14 | 中国北方车辆研究所 | Front axle steering method and steering system |
-
2019
- 2019-04-22 CN CN202010345939.7A patent/CN111619663B/en active Active
- 2019-04-22 CN CN201910321985.0A patent/CN110282012B/en not_active Expired - Fee Related
- 2019-04-22 CN CN202010345936.3A patent/CN111619661B/en active Active
- 2019-04-22 CN CN202010345937.8A patent/CN111619662B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874309A (en) * | 2012-09-24 | 2013-01-16 | 三一重工股份有限公司 | Crane as well as steering system and rocker arm thereof |
| CN107140017A (en) * | 2017-04-12 | 2017-09-08 | 西华大学 | The orchard management power platform of four-wheel steering four-wheel drive |
| CN109250657A (en) * | 2018-12-03 | 2019-01-22 | 江苏建筑职业技术学院 | A kind of aerial work platform steering system and control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169534A (en) * | 2019-11-29 | 2020-05-19 | 徐工集团工程机械股份有限公司 | Engineering truck and steering mechanism and steering control system thereof |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111619661B (en) | 2021-05-28 |
| CN111619663A (en) | 2020-09-04 |
| CN111619662A (en) | 2020-09-04 |
| CN111619661A (en) | 2020-09-04 |
| CN110282012B (en) | 2020-11-24 |
| CN111619662B (en) | 2021-06-22 |
| CN111619663B (en) | 2021-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110282012A (en) | A kind of calculation method and its steering system of the target position of rear-axle steering hydraulic cylinder | |
| CN110282009A (en) | A kind of 4X4 mechanical electronic hydraulic all-wheel steering device | |
| CN108995711B (en) | Independent-drive all-wheel steering electric unmanned vehicle chassis | |
| CN112236327B (en) | Hydraulic power transmission system of utility vehicle | |
| CN107618326A (en) | A kind of amphibious vehicle water/land integrated control formula power steering gear | |
| CN104608819A (en) | Multi-axle steering system for multi-axle vehicle and multi-axle vehicle | |
| CN108556910B (en) | All-wheel steering system | |
| CN110282008A (en) | A kind of rear-axle steering integrates valve group and transfer | |
| CN207607313U (en) | A kind of amphibious vehicle steering reservoir and power steering gear | |
| US5137107A (en) | Joint damping device | |
| CN110282010A (en) | A kind of steering return locking mechanism assembly and its steering system | |
| CN211869504U (en) | Electro-hydraulic hybrid drive type four-wheel steering system | |
| CN207607314U (en) | A kind of amphibious vehicle steering waterborne integrates valve group and transfer | |
| CN107584977A (en) | A kind of amphibious vehicle steering wheel and power steering stgear and transfer | |
| CN108945097A (en) | A kind of electric wire-control steering system | |
| CN202669477U (en) | Multi-pump driving closed type hydraulic loop of multi-axis self-traveling type hydraulic heavy duty truck | |
| CN107585206A (en) | A kind of land hydraulic steering cylinder of amphibious vehicle and transfer | |
| CN107554218A (en) | A kind of amphibious vehicle steering reservoir and power steering gear | |
| RU2739627C1 (en) | Vehicle control lever or pedal rod and vehicle transmission | |
| CN107651004A (en) | A kind of amphibious vehicle steering pump and transfer | |
| CN107651009A (en) | A kind of amphibious vehicle land and water conversion integrates valve group and transfer | |
| CN107539053A (en) | A kind of amphibious vehicle steering waterborne integrates valve group and transfer | |
| CN115465359A (en) | Modular electro-hydraulic steering system of ultra-heavy type electric-driven multi-axle vehicle and control method | |
| RU116824U1 (en) | MULTI-AXLE VEHICLE TURN MANAGEMENT SYSTEM | |
| CN110001289A (en) | Wheeled agricultural machinery floating rear axle and wheeled agricultural machinery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201124 Termination date: 20210422 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |