CN111055915A - Double-control steering device and crane - Google Patents
Double-control steering device and crane Download PDFInfo
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- CN111055915A CN111055915A CN201911265088.9A CN201911265088A CN111055915A CN 111055915 A CN111055915 A CN 111055915A CN 201911265088 A CN201911265088 A CN 201911265088A CN 111055915 A CN111055915 A CN 111055915A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0442—Conversion of rotational into longitudinal movement
- B62D5/0454—Worm gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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- 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 invention discloses a double-control steering device, which comprises a first transmission mechanism, a hydraulic power-assisted steering device, a motor, a controller, a signal generating device and a steering wheel arranged in a chassis cab, wherein the first transmission mechanism is connected with the hydraulic power-assisted steering device through a first transmission mechanism; the tail end of the steering wheel is connected with a hydraulic power-assisted steering device, and the hydraulic power-assisted steering device drives wheels to steer; the output end of the motor is connected with one end of a first transmission mechanism, the other end of the first transmission mechanism is connected between the hydraulic power steering gear and the steering wheel, and the controller is respectively in signal connection with the signal generating device and the motor; the steering wheel is controlled to drive wheels to steer through a hydraulic power-assisted steering gear; the signal generating device sends an instruction to the controller, and the controller drives the hydraulic power steering gear to drive the wheels to steer through the motor; the invention can realize double control of vehicle steering, improve the steering portability and steering aligning capability of the vehicle and improve the operation efficiency in small-field occasions with multiple operation requirements.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a double-control steering device and a crane.
Background
When the crane finishes the operation at the site A and turns to the site B for the next operation, an operator needs to withdraw the special operation device for the upper vehicle, then returns to the ground from the special control room for the upper vehicle, collects the movable supporting legs of the chassis, enters the cab for the chassis, drives the vehicle to a new operation position, supports the supporting legs, and returns to the special control room for the upper vehicle to control the special operation device for the operation. When in a small range place, during a plurality of operation position demands, need the frequent change position that makes a round trip from special control cabin of getting on the bus to the chassis driver's cabin of operating personnel, can accomplish the different position hoist and mount demands of subregion, greatly influence the operating efficiency.
At present, a steering wheel of a hydraulic power-assisted steering system is relatively heavy in steering, the automatic aligning effect of a vehicle is poor, and the driving comfort is influenced. Meanwhile, the transmission ratio of the conventional steering system is invariable, when a vehicle runs at low speed, the steering wheel has a larger rotating angle, when the vehicle runs at high speed, the rotating angle of the steering wheel is smaller, and when the rotating angle of the steering wheel is larger, the transmission ratio of the steering system is required to be small so as to reduce the labor intensity of a driver; when the steering wheel rotating angle is small, the transmission ratio of a steering system is required to be large, the sensitivity of the steering wheel is reduced, and the stability of high-speed running of the vehicle is improved.
At present, the alignment of the vehicle is realized through the positioning parameters of an axle, but the alignment effect is not ideal due to the influence of the friction force of a steering system, so that the running deviation problem of the vehicle is caused.
Interpretation of related terms: steer-by-wire assembly: the device comprises a turbine, a worm, a motor, an angle sensor and the like. A turbine: parts in worm gear mechanism. Worm: parts in worm gear mechanism. The worm gear mechanism: transmitting motion and power between the two staggered shafts. A motor: the electric energy is converted into mechanical energy to provide a power source for the mechanical device. A hydraulic steering gear: namely a hydraulic power steering gear, and controls hydraulic oil to assist a steering axle according to an input rotation angle. Mechanical transmission ratio hydraulic steering: a hydraulic steering device in which the ratio of the steering input angle to the steering vertical angle varies with the input angle. An angle driver: the mechanical transmission direction is changed.
Disclosure of Invention
The invention aims to provide a double-control steering device and a crane, and aims to solve the problems that in the prior art, when the crane is required to be in a plurality of working positions, the positions need to be frequently changed, and the working efficiency is low.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the invention provides a double-control steering device, which comprises a first transmission mechanism, a hydraulic power-assisted steering device, a motor, a controller, a signal generating device and a steering wheel arranged in a chassis cab, wherein the first transmission mechanism is connected with the hydraulic power-assisted steering device through a first transmission mechanism;
the tail end of the steering wheel is connected with the hydraulic power-assisted steering gear, and the hydraulic power-assisted steering gear drives wheels to steer;
the output end of the motor is connected with one end of the first transmission mechanism, the other end of the first transmission mechanism is connected between the hydraulic power-assisted steering gear and the steering wheel, and the controller is respectively in signal connection with the signal generating device and the motor;
the steering wheel is controlled to drive wheels to steer through a hydraulic power-assisted steering gear; the signal generating device sends an instruction to the controller, and the controller drives the hydraulic power steering gear to drive the wheels to steer through the motor.
Further, the hydraulic power steering system further comprises a torque sensor, wherein the torque sensor is installed between the steering wheel and the hydraulic power steering gear; the torque sensor is in signal connection with the controller.
Further, the hydraulic power steering system further comprises an angle sensor, wherein the angle sensor is arranged between the steering wheel and the hydraulic power steering gear; the angle sensor is in signal connection with the controller.
Further, the first transmission mechanism is a worm and gear mechanism or a gear train.
The hydraulic power steering system further comprises a plurality of torque sensors, wherein the plurality of torque sensors are respectively arranged at the input end and the output end of the worm gear mechanism, the output end of the motor and the input end and the output end of the hydraulic power steering gear.
The hydraulic power steering system further comprises an angle driver, wherein the input end of the angle driver is connected with the output end of the worm gear mechanism, and the output end of the angle driver is connected with the hydraulic power steering device.
The hydraulic power steering system further comprises an angle driver, the input end of the angle driver is connected with the tail end of the steering wheel, the output end of the angle driver is connected with the hydraulic power steering gear, and the worm and gear mechanism is connected to one end far away from the output end of the angle driver in parallel.
Further, the steering transmission shaft is connected between the output end of the angle transmission device and the hydraulic power steering gear.
The hydraulic power-assisted steering device further comprises a plurality of angle sensors, wherein the angle sensors are respectively arranged at the input end and the output end of the angle driver and at the tail end of the hydraulic power-assisted steering device.
Further, the hydraulic power steering gear is one of a single-circuit integrated hydraulic power steering gear, a double-circuit integrated hydraulic power steering gear, a single-circuit semi-integrated hydraulic power steering gear, a double-circuit semi-integrated hydraulic power steering gear, a mechanical fixed-speed-ratio hydraulic power steering gear or a mechanical variable-speed-ratio hydraulic power steering gear.
Further, the signal generating device is a control handle, and the control handle is installed in a control room special for getting on the bus.
The invention also provides a crane which comprises the double-control steering device.
According to the technical scheme, the embodiment of the invention at least has the following effects:
1. according to the double-control steering device, the steering of the vehicle can be controlled in the special upper steering room or other places in the non-chassis cab through the arranged control handle, the controller, the worm and gear mechanism and the motor, and the steering of the vehicle is controlled through the steering wheel in the chassis cab, so that double control of the steering of the vehicle can be realized, and the efficiency of operation in occasions with multiple operation requirements in a small field is improved;
2. the torque sensor provided by the invention obtains the torque of the steering wheel, the controller obtains the torque information of the steering wheel and the vehicle speed information, analyzes and calculates the torque applied to the steering transmission shaft, and the torque of the steering transmission shaft is changed through the motor, so that the steering assistance is realized;
3. the angle sensor is additionally arranged to acquire the turning angle of the steering wheel, the torque sensor is used for acquiring the torque of the steering wheel, and the controller is used for controlling the automatic correction of the vehicle according to the torque of the steering wheel and judging whether the correction is needed or not.
Drawings
FIG. 1 is a schematic view of a steering apparatus in embodiment 1 of the present invention;
fig. 2 is a schematic view of a steering device in embodiment 2 of the present invention.
Wherein: 1. a steering wheel; 2. a torque sensor; 3. an angle sensor; 4. a worm and gear mechanism; 5. a hydraulic power steering gear; 6. a diverter output drop arm; 7. a steering transmission shaft; 8. an angle driver; 9. a motor; 10. a controller; 11. and a handle is operated.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Example 1
In order to meet the humanized requirement of crane operation, improve the operating efficiency, realize when the vehicle is gone when using on the non-road, can go the function through the special control room control vehicle of getting on the bus, this patent provides a two accuse steering device, can realize in the special control room of getting on the bus, control vehicle according to driver's intention control vehicle turns to. When a driver controls the vehicle to steer in the chassis cab through the steering wheel, the remote wire control system is closed and does not participate in control, so that the remote control of the vehicle steering in the special control chamber for the upper vehicle during non-road driving is met, and the safety and the reliability of the road driving steering system are met.
Further, for satisfying the driving comfort demand, the double control steering device that this patent provided can improve steering wheel moment in real time, adopts mechanical gear ratio steering gear in order to change the drive ratio under the different corner conditions simultaneously.
Further, in order to solve the problem that the steering wheel is not perfectly aligned, the double-control steering device provided by the patent judges whether the steering wheel needs to be automatically aligned or not by monitoring the torque of the steering wheel; when the steering wheel moment is small, the steering wheel needs to be automatically aligned, the motor drives the steering system to rotate, and whether the alignment reaches an ideal position is monitored through the corner sensor.
As shown in fig. 1, a double-control steering device comprises a first transmission mechanism, a motor 9, a controller 10, a control handle 11 installed in a control room special for loading and a steering wheel 1 installed in a chassis cab, wherein the tail end of the steering wheel 1 is connected with the transmission mechanism, and the transmission mechanism drives wheels to steer. In the present embodiment, the first transmission mechanism is referred to as a worm gear mechanism 4. Specifically, the transmission device comprises an angle transmission 8, a steering transmission shaft 7, a hydraulic power steering gear 5 and a steering gear output vertical arm 6. The hydraulic power-assisted steering gear adopts a mechanical gear ratio hydraulic power-assisted steering gear. The tail end of a steering wheel 1 is connected with the output end of a worm gear mechanism 4, the output end of the worm gear mechanism 4 is connected with the input end of an angle driver 8, the output end of the angle driver 8 is connected with the left end of a steering transmission shaft 7, the right end of the steering transmission shaft 7 is connected with a mechanical variable-speed ratio hydraulic power-assisted steering device 5, the mechanical variable-speed ratio hydraulic power-assisted steering device 5 is connected with a steering device output vertical arm 6, and the steering device output vertical arm 6 controls the steering of wheels. The output shaft of the motor 9 is connected with the input end of the worm gear mechanism 4, and the controller 10 is respectively connected with the control handle 11 and the motor 9 through signals.
The double steering process is as follows: when an operator controls the steering of the vehicle in the special control room for getting on the vehicle, the operator controls the get on control handle 11 to send a steering angle requirement to the controller 10, the controller 10 controls the steer-by-wire assembly motor 9 to rotate, drives the angle driver 8 to rotate, and respectively transmits the rotation to the steering transmission shaft 7 and the mechanical variable-speed ratio hydraulic power steering gear 5 to rotate, and the mechanical variable-speed ratio hydraulic power steering gear 5 controls the hydraulic loop to output high-pressure oil to the steering axle power cylinder according to the conditions of an input steering angle and the steering angle of the steering gear output shaft, so as to push the steering axle to steer. When an operator controls the steering wheel to steer in the chassis cab, the operator directly rotates the steering wheel 1, the steering wheel 1 drives the transmission device to move, and the transmission device drives the wheels to steer.
In order to ensure the safety of operation in a special control room for getting on a vehicle or a chassis cab, the getting on control and the getting off control need to be carried out independently, and the two operations can not be carried out simultaneously. By connecting two operation switches to the controller 10, the first operation switch is installed in the upper vehicle-dedicated operation room, and the first operation switch controls the steering wheel 1 to be inoperable. The second operating switch is arranged in the chassis cab, and the second operating switch controls the operating handle 11 to be incapable of working.
In the embodiment, a torque sensor 2 is further connected to the end of the steering wheel 1, the torque sensor 2 is in signal connection with the controller 10, and the torque sensor 2 is used for measuring the torque of the steering wheel 1 and transmitting the measured result to the controller 10.
When an operator controls the running steering of the vehicle in a chassis cab, the driver controls the steering wheel 1 to rotate, the torque sensor 2 monitors the torque of the steering wheel in real time, the controller 10 calculates the torque required to be applied to the steering transmission shaft 7 through a vehicle speed signal, a torque signal and the like, and the controller 10 changes the torque of the steering transmission shaft 7 in real time through the control motor 9. Specifically, the controller 10 automatically calculates the magnitude of the power to be added to the steering column by monitoring the signal of the torque sensor 2 in combination with the vehicle speed signal, and the controller 10 controls the output torque of the motor by giving a proper signal to the motor, so as to change the operation torque of the steering wheel 1.
In the embodiment, an angle sensor 3 is further connected to the end of the steering wheel 1, the angle sensor 3 is in signal connection with the controller 10, and the angle sensor 3 is used for measuring the rotation angle of the steering wheel 1 and transmitting the measured result to the controller 10.
When the torque sensor 2 monitors that the steering wheel torque is smaller than a certain limit value, the threshold value is set to be 1N.m according to the use habit, and the steering wheel 1 is considered to be separated from the operation of a person; if the vehicle speed is not zero, the controller 10 applies a reverse signal to the motor 9 according to the angle signal of the steering wheel 1 measured by the angle sensor 3, and drives the worm and gear mechanism 4 to move by controlling the reverse rotation of the motor 9, so as to further drive the steering wheel 1 to return to the middle position, thereby realizing the automatic return of the vehicle.
The steer-by-wire assembly consists of a worm gear mechanism 4, a motor 9, an angle sensor 3, a torque sensor 2, a control handle 11 and a controller 10. An output shaft of the motor 9 is mechanically connected and fixed with the worm and synchronously turns with the worm, and the worm wheel rotate in a matched mode. The entire steering control assembly is free of differential mechanisms, all mechanical connections are designed to be mechanically fixed ratios. The steering assembly is not limited to the worm gear structure, and other mechanical fixed transmission ratio connection modes can be used instead.
Example 2
As shown in fig. 2, the present embodiment is different from embodiment 1 in the connection form of the worm gear mechanism. A double-control steering device comprises a worm gear mechanism 4, a motor 9, a controller 10, a control handle 11 arranged in a special control chamber for a loading vehicle and a steering wheel 1 arranged in a chassis cab, wherein the tail end of the steering wheel 1 is connected with a transmission device, and the transmission device drives wheels to steer. Specifically, the transmission device comprises an angle transmission 8, a steering transmission shaft 7, a mechanical variable-speed ratio hydraulic power steering device and a steering device output vertical arm 6. The tail end of the square disc 1 is connected with the input end of an angle driver 8, a worm gear mechanism 4 is connected to the left end of the angle driver 8 in parallel, the right end (output end) of the angle driver 8 is connected with the left end of a steering transmission shaft 7, the right end of the steering transmission shaft 7 is connected with a mechanical variable-speed-ratio hydraulic power-assisted steering device 5, the mechanical variable-speed-ratio hydraulic power-assisted steering device 5 is connected with a steering device output vertical arm 6, and the steering device output vertical arm 6 controls the steering of wheels. The output shaft of the motor 9 is connected with the input end of the worm gear mechanism 4, and the controller 10 is respectively connected with the control handle 11 and the motor 9 through signals.
The principle and process of the functions of double steering, steering torque change of the steering wheel 1, automatic return and the like realized by the embodiment are the same as those of the embodiment 1.
The present invention can also be replaced in the following manner. The mechanically variable-ratio hydraulic power steering 5 may be replaced by a fixed-ratio hydraulic steering, or by another type of steering. The angle drive 8 is not limited to bevel gear drive, but may be replaced by a fixed gear train formed by other gear mechanisms. The steering transmission shaft 7 may be constituted by one or more members, or may be replaced by a coupling. The operating handle 11 may also be replaced by one or more signal generators or devices of other forms. The angle drive 8 and the steering drive shaft 7 are not essential, but the steering wheel 1 and the steering gear can also be connected directly by a worm-and-gear mechanism. The operating handle 11, the torque sensor 2 or the rotation angle sensor 3 can be selected according to functional requirements.
The self-aligning device comprises a torque sensor 2 and an angle sensor 3, and the automatic aligning effect is realized by controlling the rotation angle of a motor through the torque sensor 2 and the angle sensor 3; the control of the vehicle tires by the steering wheel 1 in the cab of the chassis and the remote control of the vehicle tires in the special control cab can be realized according to the intention of the driver. The invention can arrange the torque sensor 2 between the steering wheel 1 and the angle driver 8, the control motor 9 is connected into the steering system in a parallel mode, namely, a one-in two-out structure is adopted, two output ends share one transmission, one end of the angle driver 8 connected with the steering wheel 1 is an input shaft, the output end of the angle driver 8 is connected with the mechanical variable-speed ratio hydraulic power-assisted steering device through the steering transmission shaft 7, and the other end is connected with the control motor 9.
The invention has the following advantages: the method for realizing the coexistence of two vehicle steering control functions of the same vehicle not only meets the requirements of power assistance of a steering wheel, automatic aligning performance and a mechanical gear ratio of a steering system, but also meets the requirement of a remote control vehicle steering function in a special control room. The power-assisted steering function of the steering wheel is realized, the low-speed driving portability of the vehicle is improved, and the floating phenomenon of the high-speed driving steering wheel is reduced. By realizing the automatic steering wheel aligning function, the vehicle deviation amount is improved, and the straight-line driving lane keeping capacity of the vehicle is improved. By realizing the function of the gear ratio steering system, the torque and the steering angle of the low-speed large-steering-angle steering of the vehicle can be reduced, the sensitivity of the steering wheel for high-speed running of the vehicle is reduced, and the high-speed running stability of the vehicle is improved. Through realizing remote control vehicle and turning to the function, can reduce the operating personnel and make a round trip to change the position from getting on the bus control cabin to chassis driver's cabin under specific operating mode, greatly improve the operating efficiency. In the whole mechanical transmission mechanism, a clutch device is not arranged, so that the risk of clutch failure and vehicle runaway in mechanical steering is avoided. And when the vehicle is controlled to run in the chassis cab, the remote steer-by-wire system is closed, so that the running safety of the vehicle is not influenced. An arrangement method of electric power-assisted, automatic return-to-normal and remote steer-by-wire system mechanisms is used for adapting to the use requirements of different occasions.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (12)
1. A double-control steering device is characterized by comprising a first transmission mechanism, a hydraulic power-assisted steering gear (5), a motor (9), a controller (10), a signal generating device and a steering wheel (1) arranged in a chassis cab;
the tail end of the steering wheel (1) is connected with the hydraulic power-assisted steering gear (5), and the hydraulic power-assisted steering gear (5) drives wheels to steer;
the output end of the motor (9) is connected with one end of the first transmission mechanism, the other end of the first transmission mechanism is connected between the hydraulic power-assisted steering gear (5) and the steering wheel (1), and the controller (10) is in signal connection with the signal generating device and the motor (9) respectively;
the steering wheel (1) is controlled to drive wheels to steer through a hydraulic power-assisted steering gear (5); the signal generating device sends an instruction to the controller (10), and the controller (10) drives the hydraulic power steering gear (5) to drive the wheels to steer through the motor (9).
2. The double-control steering device according to claim 1, further comprising a torque sensor (2), the torque sensor (2) being installed between the steering wheel (1) and the hydraulic power steering gear (5); the torque sensor (2) is in signal connection with the controller (10).
3. The double-steering device according to claim 2, further comprising an angle sensor (3), the angle sensor (3) being installed between the steering wheel (1) and the hydraulic power steering (5); the angle sensor (3) is in signal connection with the controller (10).
4. The double-controlled steering device according to claim 1, characterized in that the first transmission mechanism is a worm gear mechanism (4) or a gear train.
5. The double-control steering device according to claim 4, further comprising a plurality of torque sensors (2), wherein the plurality of torque sensors (2) are respectively installed at the input end and the output end of the worm gear mechanism (4), the output end of the motor (9) and the input end and the output end of the hydraulic power steering (5).
6. The double-control steering device according to claim 4, further comprising an angle driver (8), wherein an input end of the angle driver (8) is connected with an output end of the worm gear mechanism (4), and an output end of the angle driver (8) is connected with the hydraulic power steering device (5).
7. The double-control steering device according to claim 4, further comprising an angle driver (8), wherein the input end of the angle driver (8) is connected with the tail end of the steering wheel (1), the output end of the angle driver (8) is connected with the hydraulic power steering device (5), and the worm gear mechanism (4) is connected in parallel with one end far away from the output end of the angle driver (8).
8. Double-steering device according to claims 6 and 7, further comprising a steering transmission shaft (7), said steering transmission shaft (7) being connected between the output of the angle drive (8) and the hydraulic power steering (5).
9. The double-control steering device according to claims 6 and 7, further comprising a plurality of angle sensors (3), wherein the plurality of angle sensors (3) are respectively installed at the input end and the output end of the angle actuator (8) and at the tail end of the hydraulic power steering (5).
10. The twin steering gear according to claim 1, wherein the hydraulic power steering gear (5) is one of a single circuit integrated hydraulic power steering gear, a double circuit integrated hydraulic power steering gear, a single circuit semi-integrated hydraulic power steering gear, a double circuit semi-integrated hydraulic power steering gear, a mechanical constant speed ratio hydraulic power steering gear or a mechanical variable speed ratio hydraulic power steering gear.
11. The double-controlled steering device according to claim 1, wherein the signal generating means is a steering handle (11), and the steering handle (11) is installed in a steering room dedicated to the upper vehicle.
12. A crane comprising an inchworm steering device as claimed in any one of claims 1-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911265088.9A CN111055915A (en) | 2019-12-11 | 2019-12-11 | Double-control steering device and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911265088.9A CN111055915A (en) | 2019-12-11 | 2019-12-11 | Double-control steering device and crane |
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| CN111055915A true CN111055915A (en) | 2020-04-24 |
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| CN201911265088.9A Pending CN111055915A (en) | 2019-12-11 | 2019-12-11 | Double-control steering device and crane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141207A (en) * | 2020-09-22 | 2020-12-29 | 徐州重型机械有限公司 | Electro-hydraulic power-assisted steering system and crane |
| CN112193314A (en) * | 2020-10-13 | 2021-01-08 | 一汽解放青岛汽车有限公司 | Right rudder chassis and right rudder commercial vehicle |
| CN114771647A (en) * | 2022-06-21 | 2022-07-22 | 太原理工大学 | Spiral variable transmission ratio mechanism, electro-hydraulic power steering system applying same and method |
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| CN112141207A (en) * | 2020-09-22 | 2020-12-29 | 徐州重型机械有限公司 | Electro-hydraulic power-assisted steering system and crane |
| CN112193314A (en) * | 2020-10-13 | 2021-01-08 | 一汽解放青岛汽车有限公司 | Right rudder chassis and right rudder commercial vehicle |
| CN114771647A (en) * | 2022-06-21 | 2022-07-22 | 太原理工大学 | Spiral variable transmission ratio mechanism, electro-hydraulic power steering system applying same and method |
| CN114771647B (en) * | 2022-06-21 | 2022-10-21 | 太原理工大学 | Spiral variable transmission ratio mechanism, electro-hydraulic power steering system applying same and method |
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Application publication date: 20200424 |