CN111169534B - Engineering truck, steering mechanism and steering control system thereof - Google Patents
Engineering truck, steering mechanism and steering control system thereof Download PDFInfo
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- CN111169534B CN111169534B CN201911198130.XA CN201911198130A CN111169534B CN 111169534 B CN111169534 B CN 111169534B CN 201911198130 A CN201911198130 A CN 201911198130A CN 111169534 B CN111169534 B CN 111169534B
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- arm
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- 230000007246 mechanism Effects 0.000 title claims abstract description 55
- 230000005540 biological transmission Effects 0.000 claims abstract description 69
- 239000003921 oil Substances 0.000 claims description 46
- 238000006073 displacement reaction Methods 0.000 claims description 43
- 230000009471 action Effects 0.000 claims description 13
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
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 application discloses an engineering vehicle, a steering mechanism and a steering control system thereof, wherein one end of a first steering oil cylinder and one end of a second steering oil cylinder are hinged to the middle part of a front axle housing, and the other end of the first steering oil cylinder and the other end of the second steering oil cylinder are hinged to a first wheel steering knuckle arm and a second wheel steering knuckle arm; the first end of the first wheel knuckle arm is connected with the front axle transmission mechanism; the second end of the first wheel knuckle arm is hinged to 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 knuckle arm is hinged to the first end of the second tie 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 end of the first pull rod steering rocker arm and the upper end of the second pull rod steering rocker arm are hinged on the front axle housing. The steering pull rod adopts three, the two ends of the steering pull rod are not adjustable, the middle part of the steering pull rod is adjustable, the steering structure can be conveniently and once adjusted, and the toe-in values of the front axle and the rear axle are adjusted.
Description
Technical Field
The application belongs to the technical field of engineering machinery, and relates to an engineering truck, a steering mechanism thereof and a steering control system thereof.
Background
At present, in order to save structural space, a general steering pull rod is adopted in the steering mechanism of engineering machinery products, namely one end of the steering pull rod is connected with the steering arm of the left axle, and one end of the steering pull rod is connected with the steering arm of the right axle. The steering gear drives the bridge to rotate, so that the space occupied by the structure is larger, the steering pull rod is longer, and the ground clearance is smaller; the front axle of the existing product adopts an integral hydraulic power-assisted steering gear, the hydraulic power-assisted acting force is small, the steering wheel operating force is large, and the driving is tired; the rear axle of the product is not provided with a steering mechanism, and the turning radius is larger and the working efficiency is low during loading operation.
In the prior art, a steering mechanism often adopts a double rocker structure, and the steering knuckle arm is controlled to rotate through oil cylinders at two ends, so that the whole tire is driven to rotate, the steering trapezoid arm consists of three rods, the two ends of the three rods are longer, the middle of the three rods can be adjusted, and the middle of the three rods is shorter and cannot be adjusted. The following drawbacks exist: (1) The steering oil cylinder is unreasonable in position, the steering force arm is smaller, and dead points are easy to occur; (2) The steering levers at the two ends are longer, so that the steering rocker arms are longer, and the space arrangement is not facilitated; (3) The steering pull rods at the two ends are adjustable, the adjustment is complex, and the left and 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 application provides an engineering vehicle, a steering mechanism thereof and a steering control system.
The technical scheme is as follows: in order to solve the technical problems, the application adopts the following technical scheme:
in a first aspect, a steering mechanism is provided, including a front axle steering mechanism including a first wheel knuckle arm, a first steering tie rod, a first tie rod steering rocker arm, a front axle adjustable steering tie rod, a first steering cylinder, a second tie rod steering rocker arm, a second steering tie rod, a second wheel knuckle arm;
the first wheel steering knuckle arm and the second wheel steering knuckle arm are respectively connected with the left front wheel and the right front wheel; one end of the first steering oil cylinder is hinged to the middle part 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 part 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 knuckle arm or the first end of the second wheel 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 knuckle arm is hinged to the first end of the second tie 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 end of the first pull rod steering rocker arm and the upper end of the second pull rod steering rocker arm are hinged on the front axle housing.
In some embodiments, the front axle transmission mechanism comprises a steering transmission shaft, a steering gear, a steering drop arm, a first transmission steering pull rod, a transmission steering rocker arm and a second transmission steering pull rod;
the steering transmission shaft is in transmission connection with a power input shaft of the steering gear through a spline, one end of a 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 knuckle arm or the first end of the second wheel knuckle arm;
the oil way of the steering gear is respectively connected with the oil ways of the first steering oil cylinder and the second steering oil cylinder.
In some embodiments, the front axle steering mechanism further includes a front axle angular displacement sensor provided on the 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 knuckle arm, a fourth tie rod steering rocker arm, a rear axle steering lock integral cylinder, a rear axle adjustable steering rod, a third tie rod steering rocker arm, a third tie rod, a third wheel knuckle arm;
the fourth wheel steering knuckle arm and the third wheel steering 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 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 or a fourth wheel steering knuckle arm;
the third wheel knuckle arm is hinged to the first end of the third steering link; the second end of the third steering pull rod is hinged with the first end of the rear axle adjustable steering pull rod at the lower end of the third pull rod steering rocker arm;
the fourth wheel knuckle arm is hinged to the first end of the fourth steering link; the second end of the fourth steering pull rod is hinged with the second end of the rear axle adjustable steering pull rod at the lower end of the fourth pull rod steering rocker arm.
In some embodiments, the rear axle steering lock integral cylinder is connected with a steering valve group.
In some embodiments, the rear axle steering mechanism further comprises a rear axle angular displacement sensor provided on the rear axle housing for detecting a steering angle of the rear wheels.
In a second aspect, an engineering vehicle is provided, including the steering mechanism.
The third aspect provides a steering control system of an engineering truck, which comprises the steering mechanism, and further comprises 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 the rear wheel and sending the steering angle to the controller;
the control end of the steering valve group is connected with the controller and 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 an engineering truck is provided, including:
(1) 2WS steering
When the whole car button is in 2WS state, the integrative hydro-cylinder lock of rear axle steering lock is dead, when turning the steering wheel, the steering wheel drives the steering column and rotates, change transmission direction through the angle steering ware, drive steering transmission shaft action, the power input shaft rotation of steering transmission shaft drive steering ware, the steering ware drives and turns to the pendulous arm swing, and then drive the action of second transmission steering pull rod through first transmission steering pull rod and transmission steering rocker arm, steering ware output hydraulic oil gets into first steering cylinder and second steering cylinder simultaneously, realize the rear wheel steering through second transmission steering pull rod and first steering cylinder and second steering cylinder.
(2) 4WS steering
When the front axle turns, the steering angle of the rear wheel acquired by the front axle angular displacement sensor is acquired, the action of the steering valve group is controlled according to the control program of the controller, so that the rear axle turning and locking integrated oil cylinder acts to drive the rear wheel to turn, 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 opposite to the direction of the front wheel is realized, and 4WS steering is further realized.
(3) Crab steering
When the front axle turns, the steering angle of the rear wheel collected by the front axle angular displacement sensor is obtained, the action of the steering valve group is controlled according to the control program of the controller, so that the rear axle turns and locks an integral oil cylinder to act to drive the rear wheel to turn, 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 with the same direction as the front wheel is realized, and further crab steering is realized.
The beneficial effects are that: according to the engineering truck, 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) Three steering pull rods are adopted, two ends of the steering pull rods are not adjustable, the middle part of the steering pull rods is adjustable, the steering structure can be conveniently and once adjusted, and the toe-in values of the front axle and the rear axle can be conveniently and rapidly adjusted; (2) The structure is compact, the space arrangement is reserved for hanging the thrust rod at the rear of 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 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 steering and locking integrated oil cylinders, so that the front wheels can be steered at high speed, and the four-wheel steering and crab steering can be performed 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: steering transmission shaft 1, steering gear 2, steering vertical arm 3, first transmission steering pull rod 4, transmission steering rocker arm 5, second transmission steering pull rod 6, first wheel knuckle arm 7, first steering pull rod 8, first pull rod steering rocker arm 9, front axle adjustable steering pull rod 10, first steering cylinder 11, second steering cylinder 12, second pull rod steering rocker arm 13, second steering pull rod 14, second wheel knuckle arm 15, and 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 rod 18, a fourth tie rod steering rocker arm 19, a rear axle steering and locking integrated oil cylinder 20, a rear axle adjustable steering rod 21, a third tie rod steering rocker arm 22, a third steering rod 23, a third wheel steering knuckle arm 24 and a rear axle angular displacement sensor 25.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Example 1
The steering mechanism of the engineering vehicle 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 drive shaft 1, a steering gear 2, a steering drop arm 3, a first power steering rod 4, a power steering rocker arm 5, a second power steering rod 6, a first wheel knuckle arm 7, a first steering rod 8, a first tie rod steering rocker arm 9, a front axle adjustable steering rod 10, a first steering cylinder 11, a second steering cylinder 12, a second tie rod steering rocker arm 13, a second steering rod 14, a second wheel knuckle arm 15, and a front axle angular displacement sensor 16;
in some embodiments, as shown in fig. 1, the front axle steering mechanism includes a first wheel knuckle arm 7, a first steering rod 8, a first tie rod steering rocker arm 9, a front axle adjustable steering rod 10, a first steering cylinder 11, a second steering cylinder 12, a second tie rod steering rocker arm 13, a second steering rod 14, and a second wheel 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 a left front wheel and a right front wheel; one end of a first steering cylinder 11 is hinged to the middle part of the front axle housing, the other end of the first steering cylinder is hinged to the first wheel steering knuckle arm 7, one end of a second steering cylinder 12 is hinged to the middle part of the front axle housing, and the other end of the second steering cylinder is hinged to the second wheel steering knuckle arm 15; the first end of the first wheel knuckle arm 7 is connected with a front axle transmission mechanism;
the second end of the first wheel knuckle arm 7 is hinged to the first end of the first steering tie rod 8; the second end of the first steering pull rod 8 is hinged with the first end of a front axle adjustable steering pull rod 10 at the lower end of the first pull rod steering rocker arm 9;
the second end of the second wheel knuckle arm 15 is hinged to the first end of the second tie rod 14; the second end of the second steering pull rod 14 is hinged with the second end of the second pull rod steering rocker 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 the 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 vertical arm 3, a first transmission steering pull rod 4, a transmission steering rocker arm 5 and a second transmission steering pull 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 rod 6 is hinged with the transmission steering rocker 5, and the second end of the second transmission steering rod 6 is hinged with the first end of the first wheel knuckle arm 7 or the first end of the second wheel knuckle arm 15; the oil path of the steering gear 2 is respectively connected with the oil paths of the first steering cylinder 11 and the second steering 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 tie rod 18, a fourth tie rod steering rocker arm 19, a rear axle steering lock integral cylinder 20, a rear axle adjustable steering rod 21, a third tie rod steering rocker arm 22, a third steering rod 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 connected to the left and right rear wheels, respectively; one end of the rear axle steering and locking integrated oil cylinder 20 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 24; the third wheel knuckle arm 24 is hinged to the first end of the third steering tie rod 23; the second end of the third steering rod 23 is hinged with the lower end of the third rod steering rocker 22 and the first end of the rear axle adjustable steering rod 21;
the fourth wheel knuckle arm 17 is hinged to a first end of a fourth tie rod 18; the second end of the fourth steering rod 18 is hinged to the lower end of the fourth rod steering rocker 19 and the second end of the rear axle adjustable steering rod 21.
In some embodiments, the rear axle steering lock integral cylinder 20 is connected with a steering valve group.
In some embodiments, as shown in fig. 2, the rear axle steering mechanism further includes a rear axle angular displacement sensor 25 provided on a rear axle housing for detecting a steering angle of the rear wheels.
Example 2
An engineering vehicle comprising the steering mechanism of embodiment 1.
Example 3
The engineering vehicle steering control system comprises the steering mechanism described in the embodiment 1, 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;
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
The working method of the engineering truck steering mechanism can generate the following three combinations when steering is performed:
(1) 2WS steering
When the whole car button is in 2WS state, the integrative hydro-cylinder 20 of rear axle steering lock is locked, when turning the steering wheel, the steering wheel drives the steering column and rotates, change transmission direction through the angle steering ware, drive steering transmission shaft 1 action, steering transmission shaft 1 drives the power input shaft rotation of steering gear 2, steering gear 2 drives and turns to the pendulous arm 3 and swing, and then drive the action of second transmission steering pull rod 6 through first transmission steering pull rod 4 and transmission steering rocker arm 5, simultaneously steering gear 2 output hydraulic oil gets into first steering cylinder 11 and second steering cylinder 12, realize the rear wheel steering through second transmission steering pull rod 6 and first steering cylinder 11 and second steering cylinder 12.
(2) 4WS steering
When the front axle steers, the steering angle of the rear wheels 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, so that the rear axle steering and locking integrated oil cylinder 20 acts to drive the rear wheels to steer, the steering angle of the rear wheels is monitored in real time through the rear axle angular displacement sensor 25, the steering angle of the rear wheels opposite to the direction of the front wheels is realized, and further 4WS steering is realized.
(3) Crab steering
When the front axle steers, the steering angle of the rear wheels collected by the front axle angular displacement sensor 16 is obtained, the action of the steering valve group is controlled according to the control program of the controller, so that the rear axle steering and locking integrated oil cylinder 20 acts to drive the rear wheels to steer, the steering angle of the rear wheels is monitored in real time through the rear axle angular displacement sensor 25, the steering angle of the rear wheels and the steering angle of the front wheels in the same direction are realized, and further crab steering is realized.
When such a steering mechanism is employed, the following effects are produced:
(1) Steering toe-in adjustment
When the front and rear axle steering toe-in is required to be regulated, the toe-in values of the front axle and the rear axle can be regulated only by regulating the front axle adjustable steering pull rod 10 and the rear axle adjustable steering pull rod 21, so that the vehicle is convenient and quick;
(2) Compact structure
The steering tie rod is positioned at the rear side of the bridge, so that a space is reserved for hanging the thrust rod at the rear of the bridge, and the 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 should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present application.
The foregoing is only a preferred embodiment of the application, it being 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 present application, and such modifications and adaptations are intended to be comprehended within the scope of the application.
Claims (6)
1. The 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 cylinder (11), a second steering 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 part 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 part 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) or the first end of the second wheel steering knuckle arm (15) is connected with the 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 first end of the front axle adjustable steering pull rod (10) at the lower end of the first pull rod steering rocker arm (9); 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 second end of the front axle adjustable steering pull rod (10) at the lower end of the second pull rod steering rocker arm (13); the upper ends of the first pull rod steering rocker arm (9) and the second pull rod steering rocker arm (13) are hinged on the front axle housing;
the steering mechanism further comprises a rear axle steering mechanism, wherein the rear axle steering mechanism comprises 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) and 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 steering knuckle arm (24) is hinged with the first end of the third steering pull rod (23); the second end of the third steering pull rod (23) is hinged with the first end of the rear axle adjustable steering pull rod (21) at the lower end of the third pull rod steering rocker arm (22); the fourth wheel steering knuckle arm (17) is hinged to the first end of the fourth steering tie rod (18); the second end of the fourth steering pull rod (18) is hinged with the second end of the rear axle adjustable steering pull rod (21) at the lower end of the fourth pull rod steering rocker arm (19);
the device also 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 front wheels 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; 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);
when the whole car button is in a 2WS state, a rear axle steering and locking integrated oil cylinder (20) is locked, and the steering wheel is rotated, the steering wheel drives a steering column to rotate, the transmission direction is changed through an angle steering device, a steering transmission shaft (1) is driven to act, the steering transmission shaft (1) drives a power input shaft of a steering device (2) to rotate, the steering device (2) drives a steering vertical arm (3) to swing, and then a first transmission steering pull rod (4) and a transmission steering rocker arm (5) drive a second transmission steering pull rod (6) to act, meanwhile, the steering device (2) outputs hydraulic oil to enter a first steering oil cylinder (11) and a second steering oil cylinder (12), and front wheel steering is realized through the second transmission steering pull rod (6) and the first steering oil cylinder (11) and the second steering oil cylinder (12);
when the front axle steers, the steering angle of the front 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, so that 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 direction of the front wheel is realized, and the 4WS steering is realized;
or, when the front axle turns, the steering angle of the front wheel collected by the front axle angular displacement sensor (16) is obtained, the action of the steering valve group is controlled according to the control program of the controller, so that the rear axle steering and locking integrated oil cylinder (20) acts to drive the rear wheel to turn, 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 with the same direction as the front wheel is realized, and further crab steering is realized.
2. Steering mechanism according to claim 1, characterized in that the front axle transmission mechanism further comprises a steering transmission shaft (1), a steering gear (2), a steering drop arm (3), a first driven steering rod (4), a driven steering rocker arm (5), a second driven steering rod (6);
the steering transmission shaft (1) is in spline transmission connection with a power input shaft of the steering gear (2), 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 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 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 way of the steering gear (2) is respectively connected with the oil ways of the first steering oil cylinder (11) and the second steering oil cylinder (12).
3. Steering mechanism according to claim 1, characterized in that the front axle steering mechanism further comprises a front axle angular displacement sensor (16), the front axle angular displacement sensor (16) being arranged on the front axle housing for detecting the steering angle of the front wheels.
4. Steering mechanism according to claim 1, characterized in that the rear axle steering lock-up integral cylinder (20) is connected with a steering valve group.
5. Steering mechanism according to claim 1, characterized in that the rear axle steering mechanism further comprises a rear axle angular displacement sensor (25) arranged on the rear axle housing for detecting the steering angle of the rear wheels.
6. An engineering vehicle comprising a steering mechanism according to any one of claims 1 to 5.
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| CN113830170B (en) * | 2021-10-21 | 2022-07-05 | 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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