CN111169534A - Engineering truck and steering mechanism and steering control system thereof - Google Patents
Engineering truck and steering mechanism and steering control system thereof Download PDFInfo
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- CN111169534A CN111169534A CN201911198130.XA CN201911198130A CN111169534A CN 111169534 A CN111169534 A CN 111169534A CN 201911198130 A CN201911198130 A CN 201911198130A CN 111169534 A CN111169534 A CN 111169534A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 71
- 239000003921 oil Substances 0.000 claims description 64
- 238000006073 displacement reaction Methods 0.000 claims description 43
- 238000000034 method Methods 0.000 claims description 6
- 238000009428 plumbing Methods 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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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
- B62D5/06—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
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/003—Steerable axles
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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
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- 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
- B62D7/18—Steering knuckles; King pins
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- 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
Abstract
The invention discloses an engineering truck and a steering mechanism and a steering control system thereof.A first steering oil cylinder and a second steering oil cylinder are hinged at one end to the middle part of a front axle housing, and the other ends are hinged to a first wheel steering knuckle arm and a second wheel steering knuckle arm; the first end of the first wheel steering knuckle arm is connected with the front axle transmission mechanism; the second end of the first wheel steering knuckle arm is hinged with the first end of the first steering pull rod; the second end of the first steering pull rod is hinged with the lower end of the first pull rod steering rocker arm and the first end of the front axle adjustable steering pull rod; the second end of the second wheel steering knuckle arm is hinged with the first end of the second steering pull rod; the second end of the second steering pull rod is hinged with the lower end of the second pull rod steering rocker arm and the second end of the front axle adjustable steering pull rod; the upper ends of the first pull rod steering rocker arm and the second pull rod steering rocker arm are hinged on the front axle housing. The steering pull rods are three, the two ends of each steering pull rod are not adjustable, the middle of each steering pull rod is adjustable, and the steering structure can be conveniently adjusted at one time to adjust the toe-in values of the front axle and the rear axle.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and relates to an engineering truck and a steering mechanism and a steering control system thereof.
Background
In order to save structural space, the conventional steering mechanism of engineering machinery products mostly adopts a universal steering pull rod, namely one end of the steering pull rod is connected with a steering arm of a left axle, and one end of the steering pull rod is connected with a steering arm of a right axle. The steering gear drives the axle to rotate, so that the structure occupies a large space, the steering pull rod is long, and the ground clearance is small; the existing product adopts an integral hydraulic power-assisted steering gear on the front axle, the hydraulic power-assisted acting force is small, the steering wheel operating force is large, and the driving is fatigued; the product is firstly used, and the rear axle is not provided with a steering mechanism, so that the turning radius is larger during loading operation, and the operation efficiency is low.
In the prior art, a steering mechanism usually adopts a double-rocker structure, and oil cylinders at two ends control a knuckle arm to rotate so as to drive the whole tire to rotate. The following drawbacks exist: (1) the position of the steering oil cylinder is unreasonable, the steering force arm is small, and dead points are easy to occur; (2) the steering pull rods at the two ends are longer, so that the steering rocker arm is longer, and the spatial arrangement is not facilitated; (3) the steering pull rods at the two ends are adjustable, the adjustment is complex, and left-right asymmetry is easy to cause in the adjustment.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides an engineering truck and a steering mechanism and a steering control system thereof.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
in a first aspect, a steering mechanism is provided, which comprises a front axle steering mechanism, wherein the front axle steering mechanism comprises a first wheel steering knuckle arm, a first steering pull rod, a first pull rod steering rocker arm, a front axle adjustable steering pull rod, a first steering cylinder, a second pull rod steering rocker arm, a second steering pull rod and a second wheel steering knuckle arm;
the first wheel steering knuckle arm and the second wheel steering knuckle arm are respectively used for being connected with the left front wheel and the right front wheel; one end of the first steering oil cylinder is hinged to the middle of the front axle housing, the other end of the first steering oil cylinder is hinged to the first wheel steering knuckle arm, one end of the second steering oil cylinder is hinged to the middle of the front axle housing, and the other end of the second steering oil cylinder is hinged to the second wheel steering knuckle arm; the first end of the first wheel steering knuckle arm or the first end of the second wheel steering knuckle arm is connected with the front axle transmission mechanism;
the second end of the first wheel steering knuckle arm or the second wheel steering knuckle arm is hinged with the first end of the first steering pull rod; the second end of the first steering pull rod is hinged with the lower end of the first pull rod steering rocker arm and the first end of the front axle adjustable steering pull rod;
the second end of the second wheel steering knuckle arm is hinged with the first end of the second steering pull rod; the second end of the second steering pull rod is hinged with the lower end of the second pull rod steering rocker arm and the second end of the front axle adjustable steering pull rod;
the upper ends of the first pull rod steering rocker arm and the second pull rod steering rocker arm are hinged on the front axle housing.
In some embodiments, the front axle drive mechanism comprises a steering drive shaft, a steering gear, a steering plumbing arm, a first drive steering linkage, a drive steering rocker arm, a second drive steering linkage;
the steering transmission shaft is in transmission connection with a power input shaft of the steering gear through a spline, one end of the steering vertical arm is in spline connection with the steering gear, the other end of the steering vertical arm is hinged with a first end of a first transmission steering pull rod, a second end of the first transmission steering pull rod is hinged with a transmission steering rocker arm, and the transmission steering rocker arm is connected with the frame through a bearing; the first end of the second transmission steering pull rod is hinged with the transmission steering rocker arm, and the second end of the second transmission steering pull rod is hinged with the first end of the first wheel steering knuckle arm or the first end of the second wheel steering knuckle arm;
and the oil path of the steering gear is respectively connected with the oil paths of the first steering oil cylinder and the second steering oil cylinder.
In some embodiments, the front axle steering mechanism further comprises a front axle angular displacement sensor disposed on a front axle housing for detecting a steering angle of the rear wheels.
In some embodiments, the steering mechanism further comprises a rear axle steering mechanism comprising a fourth wheel steering knuckle arm, a fourth steering link, a fourth tie rod steering rocker arm, a rear axle steering dead lock integral cylinder, a rear axle adjustable steering link, a third tie rod steering rocker arm, a third steering link, a third wheel steering knuckle arm;
the fourth wheel knuckle arm and the third wheel knuckle arm are respectively connected with the left rear wheel and the right rear wheel; one end of the rear axle steering and locking integrated oil cylinder is hinged to a rear axle housing, and the other end of the rear axle steering and locking integrated oil cylinder is hinged to a third wheel steering knuckle arm or a fourth wheel steering knuckle arm;
the third wheel knuckle arm is hinged with the first end of a third steering pull rod; the second end of the third steering pull rod is hinged with the lower end of the third pull rod steering rocker arm and the first end of the rear axle adjustable steering pull rod;
the fourth wheel steering knuckle arm is hinged with the first end of the fourth steering pull rod; the second end of the fourth steering pull rod is hinged with the lower end of the fourth pull rod steering rocker arm and the second end of the rear axle adjustable steering pull rod.
In some embodiments, the rear axle steering lock integrated cylinder is connected with a steering valve group.
In some embodiments, the rear axle steering mechanism further comprises a rear axle angular displacement sensor disposed on a rear axle housing for detecting a steering angle of the rear wheels.
In a second aspect, a working vehicle is provided, which comprises the steering mechanism.
In a third aspect, a steering control system of an engineering truck is provided, which comprises the steering mechanism, a controller, a front axle angular displacement sensor, a rear axle angular displacement sensor and a steering valve group, wherein the front axle angular displacement sensor, the rear axle angular displacement sensor and the steering valve group are respectively connected with the controller;
the front axle angular displacement sensor is used for detecting the steering angle of the rear wheel and sending the steering angle to the controller;
the rear axle angular displacement sensor is used for detecting the steering angle of a rear wheel and sending the steering angle to the controller;
and the control end of the steering valve group is connected with the controller and is used for receiving a control instruction of the controller and controlling the action of the rear axle steering and locking integrated oil cylinder.
In a fourth aspect, a working method of a steering mechanism of a engineering truck is provided, which includes:
(1) 2WS steering
When a whole vehicle button is in a 2WS state, the rear axle steering and locking integrated oil cylinder is locked, when a steering wheel is rotated, the steering wheel drives a steering column to rotate, the transmission direction is changed through an angle steering gear, a steering transmission shaft is driven to act, the steering transmission shaft drives a power input shaft of the steering gear to rotate, the steering gear drives a steering vertical arm to swing, then a second transmission steering pull rod is driven to act through a first transmission steering pull rod and a transmission steering rocker arm, meanwhile, hydraulic oil output by the steering gear enters a first steering oil cylinder and a second steering oil cylinder, and rear wheel steering is realized through the second transmission steering pull rod, the first steering oil cylinder and the second steering oil cylinder.
(2) 4WS steering
When the front axle steers, the steering angle of the rear wheel acquired by the front axle angular displacement sensor is acquired, the steering valve group is controlled to act according to a control program of the controller, the rear axle steering and locking integrated oil cylinder acts to drive the rear wheel to steer, the steering angle of the rear wheel is monitored in real time through the rear axle angular displacement sensor, the steering angle of the rear wheel, which is opposite to the direction of the front wheel, is realized, and then 4WS steering is realized.
(3) Crab steering
When the front axle steers, the steering angle of the rear wheel acquired by the front axle angular displacement sensor is acquired, the steering valve group is controlled to act according to a control program of the controller, the rear axle steering and locking integrated oil cylinder acts to drive the rear wheel to steer, the steering angle of the rear wheel is monitored in real time through the rear axle angular displacement sensor, the steering angle of the rear wheel in the same direction as that of the front wheel is achieved, and crab steering is achieved.
Has the advantages that: according to the engineering truck and the steering mechanism and the steering control system thereof, the steering pull rod and the rocker arm form a steering trapezoid structure, the front axle adopts a semi-integral steering gear, and the rear axle adopts a steering locking integrated oil cylinder; has the following advantages: (1) the three steering pull rods are adopted, the two ends of each steering pull rod are not adjustable, the middle part of each steering pull rod is adjustable, a steering structure can be conveniently adjusted at one time, and the toe-in values of a front axle and a rear axle can be conveniently and quickly adjusted; (2) the structure is compact, sufficient space arrangement is reserved for hanging the thrust rod behind the bridge, and the ground clearance is effectively improved; (3) the double-rocker steering structure is adopted, so that the steering is more stable and the impact load is small when the steering is left and right; (4) in the front axle steering mechanism, one end of a steering oil cylinder is arranged in the middle of an axle housing, and the other end of the steering oil cylinder is arranged on a steering knuckle arm, so that the steering torque is effectively increased; (5) the front wheels adopt a mechanical and hydraulic combined steering mode, so that the driving safety is ensured; (6) in the rear axle steering mechanism, the rear wheels adopt a steering and locking integrated oil cylinder, so that the steering of the front wheels can be ensured at high speed, and the four-wheel steering and crab steering can be ensured during operation.
Drawings
FIG. 1 is a schematic illustration of a front axle steering mechanism in an embodiment;
FIG. 2 is a schematic illustration of a rear axle steering mechanism in an embodiment;
in the figure: the steering mechanism comprises a steering transmission shaft 1, a steering gear 2, a steering plumbing arm 3, a first transmission steering pull rod 4, a transmission steering rocker arm 5, a second transmission steering pull rod 6, a first wheel steering knuckle arm 7, a first steering pull rod 8, a first pull rod steering rocker arm 9, a front axle adjustable steering pull rod 10, a first steering oil cylinder 11, a second steering oil cylinder 12, a second pull rod steering rocker arm 13, a second steering pull rod 14, a second wheel steering knuckle arm 15 and an angular displacement sensor 16. The rear axle steering mechanism comprises an angular displacement sensor 16, a fourth wheel steering knuckle arm 17, a fourth steering pull rod 18, a fourth pull rod steering rocker arm 19, a rear axle steering locking integrated oil cylinder 20, a rear axle adjustable steering pull rod 21, a third pull rod steering rocker arm 22, a third steering pull rod 23, a third wheel steering knuckle arm 24 and a rear axle angular displacement sensor 25.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Example 1
A steering mechanism of an engineering truck comprises a front axle steering mechanism and a rear axle steering mechanism;
as shown in fig. 1, the front axle steering mechanism includes a steering transmission shaft 1, a steering gear 2, a steering plumbing arm 3, a first transmission steering tie rod 4, a transmission steering rocker arm 5, a second transmission steering tie rod 6, a first wheel steering knuckle arm 7, a first steering tie rod 8, a first tie rod steering rocker arm 9, a front axle adjustable steering tie rod 10, a first steering cylinder 11, a second steering cylinder 12, a second tie rod steering rocker arm 13, a second steering tie rod 14, a second wheel steering knuckle arm 15, and a front axle angular displacement sensor 16;
in some embodiments, as shown in fig. 1, the front axle steering mechanism comprises a first wheel steering knuckle arm 7, a first steering link 8, a first tie rod steering rocker arm 9, a front axle adjustable steering link 10, a first steering cylinder 11, a second steering cylinder 12, a second tie rod steering rocker arm 13, a second steering link 14, a second wheel steering knuckle arm 15;
the first wheel steering knuckle arm 7 and the second wheel steering knuckle arm 15 are respectively used for being connected with the left front wheel and the right front wheel; one end of a first steering oil cylinder 11 is hinged to the middle of the front axle housing, the other end of the first steering oil cylinder is hinged to the first wheel steering knuckle arm 7, one end of a second steering oil cylinder 12 is hinged to the middle of the front axle housing, and the other end of the second steering oil cylinder is hinged to the second wheel steering knuckle arm 15; the first end of the first wheel steering knuckle arm 7 is connected with the front axle transmission mechanism;
the second end of the first wheel steering knuckle arm 7 is hinged with the first end of a first steering pull rod 8; the second end of the first steering pull rod 8 is hinged with the lower end of a first pull rod steering rocker arm 9 and the first end of a front axle adjustable steering pull rod 10;
a second end of the second wheel knuckle arm 15 is hinged with a first end of the second steering linkage 14; the second end of the second steering pull rod 14 is hinged with the lower end of the second pull rod steering rocker arm 13 and the second end of the front axle adjustable steering pull rod 10;
the upper ends of the first pull rod steering rocker arm 9 and the second pull rod steering rocker arm 13 are hinged on a front axle housing.
In some embodiments, as shown in fig. 1, the front axle transmission mechanism comprises a steering transmission shaft 1, a steering gear 2, a steering pendant 3, a first transmission steering tie rod 4, a transmission steering rocker arm 5 and a second transmission steering tie rod 6; the steering transmission shaft 1 is in transmission connection with a power input shaft of a steering gear 2 through a spline, one end of a steering vertical arm 3 is in spline connection with the steering gear 2, the other end of the steering vertical arm 3 is hinged with a first end of a first transmission steering pull rod 4, a second end of the first transmission steering pull rod 4 is hinged with a transmission steering rocker arm 5, and the transmission steering rocker arm 5 is connected with a vehicle frame through a bearing; a first end of a second transmission steering pull rod 6 is hinged with the transmission steering rocker arm 5, and a second end of the second transmission steering pull rod 6 is hinged with a first end of a first wheel steering knuckle arm 7 or a first end of a second wheel steering knuckle arm 15; the oil path of the steering gear 2 is respectively connected with the oil paths of the first steering oil cylinder 11 and the second steering oil cylinder 12.
In some embodiments, as shown in fig. 1, the front axle steering mechanism further includes a front axle angular displacement sensor 16, and the front axle angular displacement sensor 16 is disposed on a front axle housing for detecting a steering angle of the rear wheels.
In some embodiments, as shown in fig. 2, the rear axle steering mechanism includes a fourth wheel knuckle arm 17, a fourth steering link 18, a fourth tie rod steering rocker arm 19, a rear axle steering lock integral cylinder 20, a rear axle adjustable steering link 21, a third tie rod steering rocker arm 22, a third steering link 23, a third wheel knuckle arm 24, a rear axle angular displacement sensor 25;
the fourth wheel knuckle arm 17 and the third wheel knuckle arm 24 are respectively connected with the left rear wheel and the right rear wheel; one end of the rear axle steering and locking integrated oil cylinder 20 is hinged on a rear axle housing, and the other end is hinged on a third wheel steering knuckle arm 24; the third wheel knuckle arm 24 is hinged with a first end of a third steering tie rod 23; the second end of the third steering pull rod 23 is hinged with the lower end of the third pull rod steering rocker arm 22 and the first end of the rear axle adjustable steering pull rod 21;
the fourth wheel knuckle arm 17 is articulated with a first end of a fourth steering linkage 18; the second end of the fourth steering link 18 is hinged to the lower end of a fourth link steering rocker arm 19 and the second end of a rear axle adjustable steering link 21.
In some embodiments, the rear axle steering lock-up cylinder 20 is connected to a steering valve set.
In some embodiments, as shown in fig. 2, the rear axle steering mechanism further includes a rear axle angular displacement sensor 25 disposed on a rear axle housing for detecting a steering angle of the rear wheels.
Example 2
A working vehicle comprising the steering mechanism according to embodiment 1.
Example 3
A steering control system of an engineering truck comprises the steering mechanism in embodiment 1, and further comprises a controller, a front axle angular displacement sensor 16, a rear axle angular displacement sensor 25 and a steering valve group, wherein the front axle angular displacement sensor 16, the rear axle angular displacement sensor 25 and the steering valve group are respectively connected with the controller;
the front axle angular displacement sensor 16 is used for detecting the steering angle of the rear wheel and sending the steering angle to the controller;
the rear axle angular displacement sensor 25 is used for detecting the steering angle of the rear wheel and sending the steering angle to the controller;
and the control end of the steering valve group is connected with the controller and is used for receiving a control instruction of the controller and controlling the action of the rear axle steering and locking integrated oil cylinder 20.
Example 4
A working method of a steering mechanism of a engineering truck can generate the following three combinations when the steering mechanism is used for steering:
(1) 2WS steering
When the whole vehicle button is in a 2WS state, the rear axle steering and locking integrated oil cylinder 20 is locked, when a steering wheel is rotated, the steering wheel drives a steering column to rotate, the transmission direction is changed through an angle steering gear, the steering transmission shaft 1 is driven to act, the steering transmission shaft 1 drives a power input shaft of the steering gear 2 to rotate, the steering gear 2 drives the steering vertical arm 3 to swing, then the second transmission steering pull rod 6 is driven to act through the first transmission steering pull rod 4 and the transmission steering rocker arm 5, meanwhile, hydraulic oil output by the steering gear 2 enters the first steering oil cylinder 11 and the second steering oil cylinder 12, and rear wheel steering is achieved through the second transmission steering pull rod 6, the first steering oil cylinder 11 and the second steering oil cylinder 12.
(2) 4WS steering
When the front axle steers, the steering angle of the rear wheel acquired by the front axle angular displacement sensor 16 is acquired, the steering valve group is controlled to act according to a controller control program, the rear axle steering and locking integrated oil cylinder 20 acts to drive the rear wheel to steer, the steering angle of the rear wheel is monitored in real time through the rear axle angular displacement sensor 25, the steering angle of the rear wheel opposite to the front wheel is achieved, and then 4WS steering is achieved.
(3) Crab steering
When the front axle steers, the steering angle of the rear wheel acquired by the front axle angular displacement sensor 16 is acquired, the action of the steering valve group is controlled according to the control program of the controller, the rear axle steering and locking integrated oil cylinder 20 acts to drive the rear wheel to steer, the steering angle of the rear wheel is monitored in real time through the rear axle angular displacement sensor 25, the steering angle of the rear wheel in the same direction as that of the front wheel is realized, and the crab steering is further realized.
When the steering mechanism is adopted, the following effects can be produced:
(1) adjusting steering toe-in
When the toe-in of the front axle and the rear axle needs to be adjusted, the toe-in values of the front axle and the rear axle can be adjusted only by adjusting the front axle adjustable steering pull rod 10 and the rear axle adjustable steering pull rod 21, so that the adjustment is convenient and quick;
(2) compact structure
The steering pull rod is positioned at the rear side of the bridge, and space arrangement is reserved for hanging the thrust rod behind the bridge, so that ground clearance is effectively improved.
(3) Stable force transmission
The double-rocker steering structure is adopted, so that the steering is more stable and the impact load is small when the steering is left and right.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be considered limiting of the claimed invention.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A steering mechanism is characterized by comprising a front axle steering mechanism, wherein the front axle steering mechanism comprises a first wheel steering knuckle arm (7), a first steering pull rod (8), a first pull rod steering rocker arm (9), a front axle adjustable steering pull rod (10), a first steering oil cylinder (11), a second steering oil cylinder (12), a second pull rod steering rocker arm (13), a second steering pull rod (14) and a second wheel steering knuckle arm (15);
the first wheel steering knuckle arm (7) and the second wheel steering knuckle arm (15) are respectively connected with the left front wheel and the right front wheel; one end of a first steering oil cylinder (11) is hinged to the middle of the front axle housing, the other end of the first steering oil cylinder is hinged to a first wheel steering knuckle arm (7), one end of a second steering oil cylinder (12) is hinged to the middle of the front axle housing, and the other end of the second steering oil cylinder is hinged to a second wheel steering knuckle arm (15); the first end of the first wheel steering knuckle arm (7) or the first end of the second wheel steering knuckle arm (15) is connected with a front axle transmission mechanism;
the second end of the first wheel steering knuckle arm (7) or the second wheel steering knuckle arm (15) is hinged with the first end of the first steering pull rod (8); the second end of the first steering pull rod (8) is hinged with the lower end of a first pull rod steering rocker arm (9) and the first end of a front axle adjustable steering pull rod (10);
the second end of the second wheel steering knuckle arm (15) is hinged with the first end of the second steering pull rod (14); the second end of the second steering pull rod (14) is hinged with the lower end of a second pull rod steering rocker arm (13) and the second end of the front axle adjustable steering pull rod (10);
the upper ends of the first pull rod steering rocker arm (9) and the second pull rod steering rocker arm (13) are hinged on a front axle housing.
2. The steering mechanism according to claim 1, characterized in that the front axle transmission comprises a steering transmission shaft (1), a steering gear (2), a steering plumbing arm (3), a first transmission steering tie rod (4), a transmission steering rocker arm (5), a second transmission steering tie rod (6);
the steering transmission shaft (1) is in transmission connection with a power input shaft of the steering gear (2) through a spline, one end of the steering vertical arm (3) is in spline connection with the steering gear (2), the other end of the steering vertical arm (3) is hinged with the first end of the first transmission steering pull rod (4), the second end of the first transmission steering pull rod (4) is hinged with the transmission steering rocker arm (5), and the transmission steering rocker arm (5) is connected with the frame through a bearing; the first end of the second transmission steering pull rod (6) is hinged with the transmission steering rocker arm (5), and the second end of the second transmission steering pull rod (6) is hinged with the first end of the first wheel steering knuckle arm (7) or the first end of the second wheel steering knuckle arm (15);
the oil circuit of the steering gear (2) is respectively connected with the oil circuits of the first steering oil cylinder (11) and the second steering oil cylinder (12).
3. The steering mechanism according to claim 1, wherein the front axle steering mechanism further comprises a front axle angular displacement sensor (16), the front axle angular displacement sensor (16) being provided on a front axle housing for detecting a steering angle of the rear wheels.
4. The steering mechanism according to claim 1, 2 or 3, further comprising a rear axle steering mechanism comprising a fourth wheel steering knuckle arm (17), a fourth steering tie rod (18), a fourth tie rod steering rocker arm (19), a rear axle steering dead lock integral cylinder (20), a rear axle adjustable steering tie rod (21), a third tie rod steering rocker arm (22), a third steering tie rod (23), a third wheel steering knuckle arm (24);
the fourth wheel steering knuckle arm (17) and the third wheel steering knuckle arm (24) are respectively connected with the left rear wheel and the right rear wheel; one end of a rear axle steering and locking integrated oil cylinder (20) is hinged on a rear axle housing, and the other end of the rear axle steering and locking integrated oil cylinder is hinged on a third wheel steering knuckle arm (24) or a fourth wheel steering knuckle arm (17);
the third wheel knuckle arm (24) is hinged with the first end of a third steering pull rod (23); the second end of the third steering pull rod (23) is hinged with the lower end of a third pull rod steering rocker arm (22) and the first end of a rear axle adjustable steering pull rod (21);
the fourth wheel steering knuckle arm (17) is hinged with the first end of a fourth steering pull rod (18); the second end of the fourth steering pull rod (18) is hinged with the lower end of a fourth pull rod steering rocker arm (19) and the second end of a rear axle adjustable steering pull rod (21).
5. Steering mechanism according to claim 4, wherein the rear axle steering lock-up cylinder (20) is connected to a steering valve block.
6. A steering mechanism according to claim 4, further comprising a rear axle angular displacement sensor (25) provided on a rear axle housing for detecting a steering angle of the rear wheels.
7. A work vehicle, characterized in that it comprises a steering mechanism according to any one of claims 1-6.
8. A steering control system of an engineering truck, which is characterized by comprising the steering mechanism of any one of claims 1 to 6, and further comprising a controller, a front axle angular displacement sensor (16), a rear axle angular displacement sensor (25) and a steering valve group, wherein the front axle angular displacement sensor (16), the rear axle angular displacement sensor (25) and the steering valve group are respectively connected with the controller;
the front axle angular displacement sensor (16) is used for detecting the steering angle of a rear wheel and sending the steering angle to the controller;
the rear axle angular displacement sensor (25) is used for detecting the steering angle of a rear wheel and sending the steering angle to the controller;
and the control end of the steering valve group is connected with the controller and is used for receiving a control instruction of the controller and controlling the action of the rear axle steering locking integrated oil cylinder (20).
9. A working method of a steering mechanism of a engineering truck is characterized by comprising the following steps:
when a whole vehicle button is in a 2WS state, a rear axle steering and locking integrated oil cylinder (20) is locked, when a steering wheel is rotated, the steering wheel drives a steering column to rotate, the transmission direction is changed through an angle steering gear, a steering transmission shaft (1) is driven to act, the steering transmission shaft (1) drives a power input shaft of the steering gear (2) to rotate, the steering gear (2) drives a steering vertical arm (3) to swing, then a second transmission steering pull rod (6) is driven to act through a first transmission steering pull rod (4) and a transmission steering rocker arm (5), meanwhile, hydraulic oil output by the steering gear (2) enters a first steering oil cylinder (11) and a second steering oil cylinder (12), and rear wheel steering is realized through the second transmission steering pull rod (6), the first steering oil cylinder (11) and the second steering oil cylinder (12).
10. A working method of a steering mechanism of a engineering truck is characterized by comprising the following steps:
when the front axle steers, the steering angle of the rear wheel acquired by the front axle angular displacement sensor (16) is acquired, the steering valve group is controlled to act according to a control program of the controller, the rear axle steering and locking integrated oil cylinder (20) acts to drive the rear wheel to steer, the steering angle of the rear wheel is monitored in real time through the rear axle angular displacement sensor (25), the steering angle of the rear wheel opposite to the front wheel is realized, and the 4WS steering is further realized;
or when the front axle steers, the steering angle of the rear wheel acquired by the front axle angular displacement sensor (16) is acquired, the steering valve group is controlled to act according to a controller control program, the rear axle steering and locking integrated oil cylinder (20) acts to drive the rear wheel to steer, the steering angle of the rear wheel is monitored in real time through the rear axle angular displacement sensor (25), the steering angle with the same direction of the rear wheel and the front wheel is realized, and crab steering is further realized.
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| CN201911198130.XA CN111169534B (en) | 2019-11-29 | 2019-11-29 | Engineering truck, steering mechanism and steering control system thereof |
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| CN201911198130.XA CN111169534B (en) | 2019-11-29 | 2019-11-29 | Engineering truck, steering mechanism and steering control system thereof |
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| CN111169534B CN111169534B (en) | 2023-12-08 |
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Cited By (1)
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|---|---|---|---|---|
| CN113830170A (en) * | 2021-10-21 | 2021-12-24 | 东风商用车有限公司 | Double front axle assembly of vehicle steering system and vehicle steering system |
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| Publication number | Publication date |
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| CN111169534B (en) | 2023-12-08 |
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