CN113858883A - Steering axle assembly, steering control system and vehicle - Google Patents
Steering axle assembly, steering control system and vehicle Download PDFInfo
- Publication number
- CN113858883A CN113858883A CN202010618320.9A CN202010618320A CN113858883A CN 113858883 A CN113858883 A CN 113858883A CN 202010618320 A CN202010618320 A CN 202010618320A CN 113858883 A CN113858883 A CN 113858883A
- Authority
- CN
- China
- Prior art keywords
- oil
- steering
- steering wheel
- oil pump
- bidirectional
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to the technical field of steering control of steering wheels, and discloses a steering axle assembly, a steering control system and a vehicle. In the steering axle assembly, an axle body comprises steering wheel mounting parts which are arranged at intervals; the steering oil cylinder is arranged on the bridge body; the bidirectional oil pump is arranged on the bridge body, a first oil port of the bidirectional oil pump is used for being communicated with one oil cavity of the steering oil cylinder, and a second oil port of the bidirectional oil pump is used for being communicated with the other oil cavity of the steering oil cylinder; the oil pump motor is arranged on the bridge body and is connected with the bidirectional oil pump. The positive and negative rotation of the oil pump motor can drive the bidirectional oil pump to rotate positively and negatively, so that a piston rod of the steering oil cylinder is driven to move to drive a steering wheel support arranged on the steering wheel mounting part to rotate, and the steering of the steering wheel is realized. Therefore, the steering axle assembly does not need to supply oil through a hydraulic oil pump for supplying hydraulic oil to a working system of the vehicle, so that the steering axle assembly can effectively reduce steering energy consumption, and has the advantages of simple structure and high integration level.
Description
Technical Field
The invention relates to the technical field of steering control of steering wheels, in particular to a steering axle assembly, a steering control system and a vehicle.
Background
In the structure of the existing forklift, a steering wheel is connected with a motor through a steering gear, the motor is connected with a hydraulic oil pump, and the hydraulic oil pump supplies oil to a working system and a steering system of the forklift. Meanwhile, the hydraulic steering gear consists of a cycloid rotor pump and a distributing valve. The forklift steering axle of the forklift is generally a transverse oil cylinder type steering axle, a hydraulic oil pump of the forklift provides hydraulic power to push a transverse steering oil cylinder to move, two ends of a through type piston rod of an oil cylinder push a left steering knuckle and a right steering knuckle to swing through a pin shaft and a connecting rod, and the left steering knuckle and the right steering knuckle drive a steering main pin to rotate, so that the left steering wheel and the right steering wheel deflect by taking the steering main pin as a circle center, and the steering of the forklift is realized.
However, because the hydraulic system of the forklift only has one hydraulic oil pump, the hydraulic oil pump not only provides power for the working system, but also provides power for the steering system, in order to meet the requirements of lifting speed, flow and pressure under the lifting working condition of the forklift, the motor power and the oil pump displacement are generally larger, the required flow, the pressure and the power of the steering system of the forklift are small, and the hydraulic oil pump consuming high power is always operated as long as the forklift runs, so that the power waste is caused, and the energy consumption loss is larger.
In addition, in the steering system of the existing forklift, the steering wheel turning angle and the steering wheel turning angle cannot realize constant correspondence, the turning angles of the steering wheels at the same steering wheel turning angle may be different under different wheel loads and road conditions, the response speed of the existing hydraulic control is slow, and the accurate steering control is difficult to realize, which causes inconvenience to the realization of the automatic driving function.
Disclosure of Invention
The invention aims to provide a steering axle assembly which has a simple structure and high integration level and can effectively reduce steering energy consumption.
In order to achieve the above object, the present invention provides a steering axle assembly including: the bridge body comprises steering wheel mounting parts which are arranged at intervals; the steering oil cylinder is arranged on the bridge body; the bidirectional oil pump is arranged on the bridge body, a first oil port of the bidirectional oil pump is used for being communicated with one oil cavity of the steering oil cylinder, and a second oil port of the bidirectional oil pump is used for being communicated with the other oil cavity of the steering oil cylinder; and the oil pump motor is arranged on the bridge body and is connected with the bidirectional oil pump.
In the technical scheme, the oil pump motor and the bidirectional oil pump are both arranged on the bridge body, and the first oil port and the second oil port of the bidirectional oil pump are respectively communicated with the two oil cavities of the steering oil cylinder, so that the bidirectional oil pump is driven to rotate forwards when the oil pump motor rotates forwards, oil in one oil cavity of the steering oil cylinder can be pumped into the other oil cavity under the action of forced oil pumping of the bidirectional oil pump, a piston rod of the steering oil cylinder moves towards one direction to realize steering towards one direction, the bidirectional oil pump is driven to rotate backwards when the oil pump motor rotates backwards, similarly, under the action of the forced oil pumping of the bidirectional oil pump, the oil in the other oil cavity of the steering oil cylinder is pumped into one oil cavity, the piston rod of the steering oil cylinder moves towards the other opposite direction to realize steering towards the other direction, and therefore, the steering wheel bracket can be rotatably arranged on the steering wheel mounting part in practical use of the steering axle assembly, the steering wheel can be arranged on the steering wheel support, so that the positive and negative rotation of the oil pump motor can drive the bidirectional oil pump to rotate positively and negatively, the piston rod of the steering oil cylinder is driven to move so as to drive the steering wheel support arranged on the steering wheel mounting part to rotate, and the steering of the steering wheel is realized. Therefore, the steering axle assembly does not need to supply oil through a hydraulic oil pump for supplying hydraulic oil to a working system of the vehicle, so that the steering axle assembly can effectively reduce steering energy consumption, and has the advantages of simple structure and high integration level.
Further, the bridge body comprises a channel, a coupler is arranged in the channel, the oil pump motor covers an opening on one side of the channel, the bidirectional oil pump covers an opening on the other side of the channel, and the oil pump motor is connected with the bidirectional oil pump through the coupler;
and/or the presence of a gas in the gas,
the both ends of the length direction of the axle body are respectively provided with the steering wheel installation parts, the steering oil cylinder is arranged at the both ends between the steering wheel installation parts, and the axis of the steering oil cylinder is along the length direction of the axle body extends.
Further, an oil supplementing oil tank is arranged on the bridge body; the steering axle assembly comprises an oil supplementing oil way, the oil supplementing oil way comprises a first oil supplementing oil way and a second oil supplementing oil way, the first oil supplementing oil way comprises a first oil supplementing control valve, and the second oil supplementing oil way comprises a second oil supplementing control valve; the first oil supplementing oil path is connected between the first oil port and the oil supplementing oil tank; and the second oil supplementing oil way is connected between the second oil port and the oil supplementing oil tank.
Still further, the steer axle assembly includes at least one of: the first method is as follows: the first oil supplementing and feeding control valve is a first oil supplementing and feeding one-way valve, and the second oil supplementing and feeding control valve is a second oil supplementing and feeding one-way valve; the second method comprises the following steps: the oil supplementing oil path is formed into a valve group module arranged on the bridge body; the third method comprises the following steps: an oil supplementing cavity is formed in the bridge body and serves as the oil supplementing oil tank.
Further, the bidirectional oil pump comprises a bypass oil path, wherein one end of the bypass oil path is communicated with a first oil port of the bidirectional oil pump, and the other end of the bypass oil path is communicated with a second oil port of the bidirectional oil pump; the bidirectional oil pump comprises a third oil port which is communicated with the side branch oil way through a connecting pipeline, wherein a first one-way valve and a second one-way valve which are respectively positioned on two sides of the connecting pipeline are arranged on the side branch oil way, and oil inlet ends of the first one-way valve and the second one-way valve are arranged towards each other.
Furthermore, an auxiliary oil path which can be opened under a preset opening pressure is connected to an oil path section of the bypass oil path between the first check valve and the second check valve, and the preset opening pressure of the auxiliary oil path is greater than the opening pressures of the first check valve and the second check valve.
In addition, the steering axle assembly comprises a steering wheel bracket, the steering wheel bracket comprises a steering wheel mounting frame body and a supporting rotating shaft, wherein the supporting rotating shaft can be rotatably arranged on the steering wheel mounting part, and a radial rocker arm rotating along with the supporting rotating shaft is arranged on the supporting rotating shaft; and the connecting rods hinged with the piston rods at the two ends of the piston of the steering oil cylinder are hinged with the corresponding radial rocker arms.
Further, the steering axle assembly comprises at least one of the following structures: the structure I is as follows: the steering wheel mounting part comprises a stop structure which is arranged circumferentially in the rotating direction of the radial rocker arm so as to limit the rotating range of the radial rocker arm, wherein the stop structure can adjust the circumferential length along the circumferential direction so as to adjust the rotating range of the radial rocker arm; the structure II is as follows: the supporting rotating shaft is arranged on the steering wheel mounting part through tapered roller bearings which are axially arranged at intervals; the structure is three: and a corner sensor for detecting the deflection angle of the steering wheel support is arranged on the steering wheel mounting part.
In addition, the present invention provides a steering control system comprising a steering wheel detecting unit, a controller and a steering axle assembly as described in any of the above, wherein the steering wheel detecting unit and the oil pump motor are connected to the controller, and wherein the controller is capable of controlling the forward and reverse rotation and the rotational speed of the oil pump motor to control the forward and reverse rotation and the rotational speed of the bidirectional oil pump according to the steering and angular acceleration of the steering wheel detected by the steering wheel detecting unit.
Thus, as described above, the steering control system can effectively reduce steering power consumption. Simultaneously, because steering wheel detecting element and oil pump motor are connected with the controller, and the controller can control the just reversal and the rotational speed of rotational speed in order to control the just reversal and the rotational speed of two-way oil pump according to the steering of the steering wheel that steering wheel detecting element detected and angular acceleration to can control the translation rate of the piston rod that turns to the hydro-cylinder accurately, in order to realize accurate quick turning to.
Further, the steering control system includes at least one of: the first situation is as follows: the steering wheel detection unit is an encoder; case two: the steering control system comprises a corner sensor for detecting the deflection angle of the steering wheel, the corner sensor is connected with the controller, and the controller can compare the detected deflection angle with the rotation angle of the steering wheel so as to compensate the deflection angle difference of the steering wheel.
Furthermore, the present invention provides a vehicle provided with the steering control system as described in any of the above, wherein the steering wheel detecting unit is configured to detect steering and angular acceleration of a steering wheel of the vehicle; the first oil port of the bidirectional oil pump is communicated with one oil cavity of the steering oil cylinder, and the second oil port of the bidirectional oil pump is communicated with the other oil cavity of the steering oil cylinder.
Further, the vehicle is a forklift.
Drawings
FIG. 1 is a perspective view of one construction of a steer axle assembly in accordance with an embodiment of the present invention, showing a steerable wheel;
FIG. 2 is a schematic top view of the structure of FIG. 1;
FIG. 3 is a schematic cross-sectional structural view of one location of FIG. 1;
FIG. 4 is a schematic cross-sectional structural view of another location of FIG. 1;
FIG. 5 is a schematic illustration of a steering axle assembly having a structure in which a stop lever limits the range of rotation of a radial rocker arm in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of the connection of an oil pump motor, a bi-directional oil pump and an oil supply circuit in one configuration of a steering axle assembly according to an embodiment of the present invention;
FIG. 7 is a block diagram representation of a steering control system provided in accordance with an embodiment of the present invention;
fig. 8 is a schematic of the closed loop control of fig. 7.
Description of the reference numerals
1-a bridge body, 2-a steering wheel mounting part, 3-a steering oil cylinder, 4-a two-way oil pump, 5-a first oil port, 6-a second oil port, 7-an oil pump motor, 8-a coupler, 9-a first oil supplementing oil way, 10-a second oil supplementing oil way, 11-a first oil supplementing control valve, 12-a second oil supplementing control valve, 13-a valve bank module, 14-an oil supplementing cavity, 15-a bypass oil way, 16-a third oil port, 17-a connecting bypass, 18-a first one-way valve, 19-a second one-way valve, 20-an auxiliary oil way, 21-a steering wheel bracket, 22-a steering wheel mounting frame body, 23-a supporting rotating shaft, 24-a radial rocker arm, 25-a connecting rod, 26-a stop rod, 27-a conical roller bearing and 28-a corner sensor, 29-steering wheel detection unit, 30-controller, 31-steering axle assembly, 32-piston rod.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Referring to fig. 1 to 4, the steering axle assembly 31 provided by the present invention includes an axle body 1, a steering cylinder 3, a bidirectional oil pump 4 and an oil pump motor 7, wherein the axle body 1 includes steering wheel mounting portions 2 arranged at intervals, a steering wheel bracket 21 is rotatably mounted on the steering wheel mounting portions 2, the steering cylinder 3 is disposed on the axle body 1, that is, an axial direction of the steering cylinder 3 is arranged along a length direction of the axle body 1, the bidirectional oil pump 4 is disposed on the axle body 1, a first oil port 5 of the bidirectional oil pump 4 is configured to communicate with one oil chamber of the steering cylinder 3, a second oil port 6 of the bidirectional oil pump 4 is configured to communicate with another oil chamber of the steering cylinder 3, and the oil pump motor 7 is disposed on the axle body 1 and connected to the bidirectional oil pump 4.
In the steering axle assembly 31, because the oil pump motor 7 and the bidirectional oil pump 4 are both arranged on the axle body 1, and the first oil port and the second oil port of the bidirectional oil pump 4 are respectively communicated with the two oil cavities of the steering cylinder 3, the bidirectional oil pump 4 is driven to rotate forward when the oil pump motor 7 rotates forward, the oil in one oil cavity of the steering cylinder 3 can be pumped into the other oil cavity due to the forced oil pumping action of the bidirectional oil pump 4, so that the piston rod 32 of the steering cylinder 3 moves towards one direction, thereby realizing the steering in one direction, the bidirectional oil pump 4 is driven to rotate reversely when the oil pump motor 7 rotates reversely, similarly, under the forced oil pumping action of the bidirectional oil pump 4, the oil in the other oil cavity of the steering cylinder 3 is pumped into one oil cavity, so that the piston rod 32 of the steering cylinder 3 moves towards the other opposite direction, thereby realizing the steering in the other direction, and thus the steering axle assembly is in practical use, the steering wheel support can be rotatably arranged on the steering wheel mounting part, and the steering wheel can be mounted on the steering wheel support, so that the oil pump motor can drive the bidirectional oil pump to rotate forward and backward through forward and backward rotation, and the piston rod of the steering oil cylinder is driven to move so as to drive the steering wheel support mounted on the steering wheel mounting part to rotate, thereby realizing steering of the steering wheel. Therefore, the steering axle assembly does not need to supply oil through a hydraulic oil pump for supplying hydraulic oil to a working system of the vehicle, so that the steering axle assembly can effectively reduce steering energy consumption, and has the advantages of simple structure and high integration level.
In the steering axle assembly, the oil pump motor 7 may be directly connected to the bidirectional oil pump 4, that is, an output shaft of the oil pump motor 7 may be directly connected to an input shaft of the bidirectional oil pump. Or, as shown in fig. 4, the bridge body 1 includes a channel, a coupling 8 is disposed in the channel, wherein the oil pump motor 7 covers an opening on one side of the channel, the bidirectional oil pump 4 covers an opening on the other side of the channel, and the oil pump motor 7 is connected with the bidirectional oil pump 4 through the coupling 8. Like this, through shaft coupling 8, power transmission between oil pump motor 7 and the two-way oil pump 4 is more steady, and in addition, shaft coupling 8 sets up in the passageway, and oil pump motor 7 and two-way oil pump 4 simultaneously the both sides opening of closing cap passageway to can carry out better protection to shaft coupling 8.
In addition, in the steering axle assembly, the number of the steering wheel mounting parts 2 can be two or four or more, and when the number of the steering wheel mounting parts 2 is four, two steering wheel mounting parts 2 can be arranged at each end of the steering axle, and the two steering wheel mounting parts 2 at each end can be arranged at intervals. Alternatively, as shown in fig. 1, the steering axle assembly may include two steering wheel mounting portions 2, that is, the steering wheel mounting portions 2 are respectively disposed at both ends of the axle body 1 in the length direction, the steering cylinder 3 is disposed between the steering wheel mounting portions 2 at both ends, and the axis of the steering cylinder 3 extends along the length direction of the axle body 1. Of course, alternatively, the steering cylinder 3 may not necessarily be disposed between the steering wheel mounting portions 2 at both ends, for example, the steering cylinder 3 may be disposed at other positions of the axle body 1, and may be connected to the steering wheel bracket 21 rotatably disposed at the steering wheel mounting portions 2 through a power transmission mechanism such as a link mechanism to rotate the steering wheel bracket 21.
In addition, when the oil pump motor 7 drives the bidirectional oil pump 4 to rotate forward and backward, the hydraulic oil in the two oil cavities of the steering oil cylinder 3 can flow mutually. In order to further improve the more stable steering action of the steering cylinder 3, as shown in fig. 6, an oil supplementing oil tank is arranged on the axle body 1, and meanwhile, the steering axle assembly comprises an oil supplementing oil path, wherein the oil supplementing oil path comprises a first oil supplementing oil path 9 and a second oil supplementing oil path 10, the first oil supplementing oil path 9 comprises a first oil supplementing control valve 11, and the second oil supplementing oil path 10 comprises a second oil supplementing control valve 12; the first oil supplementing oil path 9 is connected between the first oil port and the oil supplementing oil tank; the second oil supply path 10 is connected between the second oil port and the oil supply tank. Therefore, when the oil pump motor 7 drives the bidirectional oil pump 4 to rotate forward and backward, the bidirectional oil pump 4 can pump the hydraulic oil in the oil supplementing oil tank into the oil inlet oil cavity of the steering oil cylinder through the first oil supplementing oil way 9 or the second oil supplementing oil way 10. For example, in fig. 6, when the bidirectional oil pump 4 pumps the hydraulic oil in the right oil chamber of the steering cylinder into the left oil chamber of the steering cylinder, the bidirectional oil pump 4 is replenished with oil from the oil replenishment oil tank through the second oil replenishment oil path 10 and the second oil replenishment control valve 12, so that the oil intake pressure of the left oil chamber of the steering cylinder is raised, so that the steering cylinder can be moved stably and reliably. When the bidirectional oil pump 4 pumps the hydraulic oil in the left oil cavity of the steering oil cylinder into the right oil cavity of the steering oil cylinder, the bidirectional oil pump 4 supplies oil from the oil supply oil tank through the first oil supply oil path 9 and the first oil supply control valve 11, so that the oil inlet pressure of the left oil cavity of the steering oil cylinder is increased, and the steering oil cylinder can stably and reliably move. Therefore, the pressure insufficiency when the two oil cavities of the steering oil cylinder 3 respectively feed oil can be compensated. In addition, an oil supplementing oil tank is arranged on the bridge body 1, so that the flowing distance of oil is shortened, and the steering sensitivity of hydraulic drive can be improved. Of course, as shown in fig. 6, if the pressure of the oil fed to the oil chamber of the steering cylinder exceeds the opening pressure of the relief valve, the relief valve opens to relieve the pressure.
In addition, the steering axle assembly comprises at least one of the following modes: the first method is as follows: as shown in fig. 6, the first oil replenishing control valve 11 is a first oil replenishing and feeding check valve, and the second oil replenishing control valve 12 is a second oil replenishing and feeding check valve; therefore, when the pressure difference between the two sides of the oil supplementing and feeding check valve reaches the opening pressure of the oil supplementing and feeding check valve, the oil supplementing and feeding check valve is opened to supplement oil. Of course, alternatively, the first oil-replenishing control valve 11 and the second oil-replenishing control valve 12 may also be controlled by a controller, for example, when oil replenishment is required, the controller controls the corresponding oil-replenishing control valve to open to replenish oil, for example, the oil-replenishing control valves may be solenoid valves. The second method comprises the following steps: the oil supply passage is formed as a valve block module 13 provided on the bridge body 1, so that it is only necessary to mount the valve block module 13 on the bridge body 1, as shown in fig. 1. Of course, alternatively, the oil makeup circuit may be a separate oil circuit. The third method comprises the following steps: an oil supplementing cavity 14 is formed in the bridge body 1 to serve as an oil supplementing oil tank, that is, the oil supplementing cavity 14 is integrally formed in the bridge body 1 to serve as an oil supplementing oil tank. Of course, alternatively, an external oil tank may be detachably provided on the bridge body 1 as an oil replenishment tank.
In addition, as shown in fig. 6, the bidirectional oil pump 4 includes a bypass oil path 15, wherein one end of the bypass oil path 15 is communicated with the first oil port 5 of the bidirectional oil pump 4, and the other end of the bypass oil path 15 is communicated with the second oil port 6 of the bidirectional oil pump 4; the two-way oil pump 4 comprises a third oil port 16, the third oil port 16 is communicated with a side branch oil path 15 through a connecting pipeline 17, wherein a first one-way valve 18 and a second one-way valve 19 which are respectively positioned at two sides of the connecting pipeline 17 are arranged on the side branch oil path 15, and oil inlet ends of the first one-way valve 18 and the second one-way valve 19 are arranged towards each other. In this way, because the oil inlet ends of the first check valve 18 and the second check valve 19 are arranged towards each other, when the pressure on the oil inlet side of the first check valve 18 or the second check valve 19 reaches the opening pressure value, the oil is cut off, so that the oil flows into the required oil cavity of the steering oil cylinder through the first check valve 18 or the second check valve 19, the suction phenomenon of the bidirectional oil pump can be prevented, and the steering oil cylinder can be stably and reliably moved to ensure the steering reliability.
As shown in fig. 6, an auxiliary oil passage 20 capable of being opened at a preset opening pressure is connected to the bypass oil passage 15 at an oil passage section between the first check valve 18 and the second check valve 19, and the preset opening pressure of the auxiliary oil passage 20 is higher than the opening pressures of the first check valve 18 and the second check valve 19. Thus, when the oil pressure in the two-way oil pump 4 exceeds the predetermined opening of the auxiliary oil passage 20 and the first check valve 18 and the second check valve 19 cannot be opened, the auxiliary oil passage 20 is opened to be depressurized.
In addition, as shown in fig. 1 and 3, the steering axle assembly includes a steering wheel bracket 21, the steering wheel bracket 21 includes a steering wheel mounting frame body 22 and a support rotating shaft 23, wherein the support rotating shaft 23 is rotatably disposed on the steering wheel mounting portion, and a radial rocker arm 24 rotating with the support rotating shaft is disposed on the support rotating shaft 23; the connecting rods 25 hinged with the piston rods 32 at the two ends of the piston of the steering oil cylinder 3 are hinged with the corresponding radial rocker arms 24. Thus, when the piston rods 32 at the two ends of the piston of the steering cylinder 3 move, the radial rocker arms 24 are driven to rotate by the respective hinged connecting rods 25, so as to drive the supporting rotating shaft 23 to rotate, further drive the steering wheel mounting frame body 22 to rotate, and further drive the steering wheel mounted on the steering wheel mounting frame body 22 to steer. In addition, the link 25 may be an arcuate bar, or the link 25 may include a plurality of articulated bar segments.
In addition, the steer axle assembly includes at least one of:
the structure I is as follows: the steering wheel mounting portion comprises a stop structure circumferentially arranged in the rotation direction of the radial rocker arm 24 to define the rotation range of the radial rocker arm 24, wherein the stop structure can adjust the circumferential length along the circumferential direction to adjust the rotation range size of the radial rocker arm 24; in this way, since the circumferential length of the stop structure can be adjusted along the circumferential direction, the circumferential length of the stop structure can be adjusted according to the actual situation, so as to adjust the size of the rotation range of the radial rocker arm 24, so as to realize the adjustment and control of the size of the steering range of the steering wheel.
Of course, the stop structure may have a variety of configurations, for example, one in which the stop structure is a plurality of, for example, two circumferentially sequentially movably nested circumferential sockets, i.e., each circumferential socket extends circumferentially, and one circumferential socket is movably nested circumferentially in the other and can remain in place after being moved circumferentially to a desired position, such that the first two circumferential sockets will respectively stop the radial rocker arms 24. Alternatively, in another type of structure, the steering wheel mounting portion includes two stop levers 26 arranged circumferentially at intervals in the rotational direction of the radial rocker arm 24 to define the rotational range of the radial rocker arm 24, as shown in fig. 5, wherein at least one stop lever 26 is adjustable in position in the circumferential direction to adjust the size of the rotational range of the radial rocker arm 24, and of course, both stop levers 26 are adjustable in position in the circumferential direction. For example, the steering wheel mounting portion includes a circumferential groove such as an annular groove or a circumferential groove section, and one end of two stopper rods 26 is inserted into and can move along the circumferential groove and is held in position after moving to a desired position, for example, a locking hole that also extends circumferentially is formed on a groove side wall of the circumferential groove, and a positioning bolt can be disposed in the locking hole and can move circumferentially therein to tighten the positioning bolt after the stopper rod 26 moves to the desired position so that a leading end of the positioning bolt abuts on an outer surface of the stopper rod 26 or is inserted into a radial hole on the stopper rod 26 to hold the stopper rod 26 in position at the desired position. As another example, the steering wheel mounting portion includes a plurality of circumferentially spaced apart insertion apertures, and the stop lever 26 can be inserted into each of the desired insertion apertures. Thus, changing the circumferential distance between the two stop levers 26 adjusts the amount of range of rotation of the radial rocker arm 24.
The structure II is as follows: as shown in fig. 3, the supporting shaft 23 is disposed on the steering wheel mounting portion through the tapered roller bearings 27 arranged at intervals in the axial direction, so that the bearing capacity and the service life of the steering axle assembly can be effectively improved by the radial and axial bearing component forces of the tapered roller bearings 27, and the bearing capacity and the reliability of the vehicle such as a forklift truck can be improved.
The structure is three: as shown in fig. 3, a steering wheel mounting portion is provided with a rotation angle sensor 28 for detecting a deflection angle of the steering wheel frame 21. For example, the detection steering wheel bracket 21 may be mounted on the above-described stopper structure defining the rotation range of the radial swing arm 24 or may be mounted on the above-described support rotating shaft 23 to detect the rotation angle of the support rotating shaft 23. The function of the rotation angle sensor 28 will be described later.
In addition, the present invention provides a steering control system, referring to fig. 7, comprising a steering wheel detecting unit 29, a controller 30 and a steering axle assembly 31 as described in any of the above, wherein the steering wheel detecting unit 29 and the oil pump motor 7 are connected to the controller 30, wherein the controller 30 is capable of controlling the forward and reverse rotation and the rotational speed of the oil pump motor 7 to control the forward and reverse rotation and the rotational speed of the bidirectional oil pump 4 according to the steering and angular acceleration of the steering wheel detected by the steering wheel detecting unit 29.
Thus, as described above with respect to steer axle assembly 31, the steering control system is effective to reduce steering energy consumption. Simultaneously, because steering wheel detecting element and oil pump motor are connected with the controller, and the controller can control the just reversal and the rotational speed of rotational speed in order to control the just reversal and the rotational speed of two-way oil pump according to the steering of the steering wheel that steering wheel detecting element detected and angular acceleration to can control the translation rate of the piston rod that turns to the hydro-cylinder accurately, in order to realize accurate quick turning to.
In addition, the steering control system includes at least one of the following: the first situation is as follows: the steering wheel detecting unit 29 is an encoder, and thus, the simultaneous detection of the steering and the angular acceleration (the speed of steering) of the steering wheel can be realized by the encoder. Of course, alternatively, the steering wheel detecting unit 29 may also include a position sensor for detecting the steering wheel rotation direction and a speed sensor for detecting the speed of the steering wheel rotation. Case two: the steering control system comprises a steering angle sensor 28 for detecting the yaw angle of the steered wheels, the steering angle sensor 28 is connected with a controller 30, and the controller 30 can compare the detected yaw angle with the rotation angle of the steering wheel in real time or in small time intervals for example, so as to compensate the yaw angle difference of the steered wheels. Thus, by the steering angle sensor 28, as shown in fig. 8, a closed-loop control of the steering wheel steering angle and the steered wheel steering angle can be formed, and the accurate control of the steering can be further improved.
For example, when a vehicle such as a forklift is started, the controller compares whether the deflection angle detected by the rotation angle sensor 28 is consistent with the current rotation angle of the encoder, and automatically starts the correction program when the deflection angle is inconsistent with the current rotation angle of the encoder, when the steering wheel is rotated, the controller commands the oil pump motor to rotate left or right according to the rotation direction of the steering wheel operated by a driver, and can determine the rotating speed of the oil pump motor according to the speed (angular acceleration) of the driving direction, and the comparison between the deflection angle detected by the rotation angle sensor 28 and the rotation angle of the steering wheel and the correction program fed back to the controller are always carried out, and when the steering wheel is not input any more after the correction is finished, the controller turns off the oil pump motor. In addition, when the steering oil cylinder moves to the stroke end and an operator continuously drives the steering wheel, the controller can close the oil pump motor after the time set by the program, so that energy consumption caused by opening the overflow valve for a long time can be prevented.
Finally, the present invention provides a vehicle provided with the steering control system as described in any of the above, wherein the steering wheel detecting unit 29 is configured to detect steering and angular acceleration of a steering wheel of the vehicle; the first oil port 5 of the bidirectional oil pump 4 is communicated with one oil cavity of the steering oil cylinder 3, and the second oil port 6 of the bidirectional oil pump 4 is communicated with the other oil cavity of the steering oil cylinder 3.
Further, the vehicle is a forklift, and of course, the vehicle can also be a transportation trolley and the like.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (12)
1. A steer axle assembly, comprising:
the steering wheel bridge comprises a bridge body (1), wherein the bridge body (1) comprises steering wheel mounting parts (2) which are arranged at intervals;
the steering oil cylinder (3), the steering oil cylinder (3) is arranged on the bridge body (1);
the bidirectional oil pump (4) is arranged on the bridge body (1), a first oil port (5) of the bidirectional oil pump (4) is communicated with one oil cavity of the steering oil cylinder (3), and a second oil port (6) of the bidirectional oil pump (4) is communicated with the other oil cavity of the steering oil cylinder (3);
the oil pump motor (7), the oil pump motor (7) set up on the pontic (1) and with two-way oil pump (4) are connected.
2. The steering axle assembly according to claim 1, characterized in that the axle body (1) comprises a channel in which a coupling (8) is arranged, wherein the oil pump motor (7) covers one side opening of the channel, the bidirectional oil pump (4) covers the other side opening of the channel, and the oil pump motor (7) is connected with the bidirectional oil pump (4) through the coupling (8);
and/or the presence of a gas in the gas,
the length direction's of the pontic (1) both ends are provided with respectively directive wheel installation department (2), steering cylinder (3) set up at both ends between directive wheel installation department (2), and the axis of steering cylinder (3) is along the length direction of pontic (1) extends.
3. The steering axle assembly according to claim 1, characterized in that the axle body (1) is provided with an oil supply tank;
the steering axle assembly comprises an oil supplementing oil way, the oil supplementing oil way comprises a first oil supplementing oil way (9) and a second oil supplementing oil way (10), the first oil supplementing oil way (9) comprises a first oil supplementing control valve (11), and the second oil supplementing oil way (10) comprises a second oil supplementing control valve (12);
the first oil supplementing oil path (9) is connected between the first oil port and the oil supplementing oil tank;
and the second oil supplementing oil path (10) is connected between the second oil port and the oil supplementing oil tank.
4. The steer axle assembly of claim 3, wherein said steer axle assembly comprises at least one of:
the first method is as follows: the first oil supplementing and feeding control valve (11) is a first oil supplementing and feeding one-way valve, and the second oil supplementing and feeding control valve (12) is a second oil supplementing and feeding one-way valve;
the second method comprises the following steps: the oil supplementing oil path is formed into a valve group module (13) arranged on the bridge body (1);
the third method comprises the following steps: an oil supplementing cavity (14) is formed in the bridge body (1) and serves as the oil supplementing oil tank.
5. The steering axle assembly according to claim 1, wherein the bidirectional oil pump (4) comprises a bypass oil path (15), wherein one end of the bypass oil path (15) is communicated with the first oil port (5) of the bidirectional oil pump (4), and the other end of the bypass oil path (15) is communicated with the second oil port (6) of the bidirectional oil pump (4);
the bidirectional oil pump (4) comprises a third oil port (16), the third oil port (16) is communicated with a side branch oil way (15) through a connecting pipeline (17), a first one-way valve (18) and a second one-way valve (19) which are respectively located on two sides of the connecting pipeline (17) are arranged on the side branch oil way (15), and oil inlet ends of the first one-way valve (18) and the second one-way valve (19) are arranged in a mutually facing mode.
6. The steering axle assembly according to claim 5, characterized in that an auxiliary oil line (20) which can be opened at a preset opening pressure is connected to the bypass oil line (15) on the oil path section between the first check valve (18) and the second check valve (19), the preset opening pressure of the auxiliary oil line (20) being greater than the opening pressures of the first check valve (18) and the second check valve (19).
7. The steer axle assembly according to any one of claims 1 to 6, wherein said steer axle assembly comprises a steer wheel bracket (21), said steer wheel bracket (21) comprising a steer wheel mounting bracket body (22) and a support spindle (23), wherein,
the supporting rotating shaft (23) can be rotatably arranged on the steering wheel mounting part, and a radial rocker arm (24) rotating along with the supporting rotating shaft is arranged on the supporting rotating shaft (23);
and piston rods (32) at two ends of the piston of the steering oil cylinder (3) are respectively hinged with connecting rods (25) which are hinged with the corresponding radial rocker arms (24).
8. The steer axle assembly of claim 7, wherein said steer axle assembly comprises at least one of:
the structure I is as follows: the steering wheel mounting part comprises a stop structure which is arranged circumferentially in the rotating direction of the radial rocker arm (24) to limit the rotating range of the radial rocker arm (24), wherein the stop structure can adjust the circumferential length along the circumferential direction to adjust the rotating range size of the radial rocker arm (24);
the structure II is as follows: the supporting rotating shaft (23) is arranged on the steering wheel mounting part through tapered roller bearings (27) which are axially arranged at intervals;
the structure is three: and a corner sensor (28) for detecting the deflection angle of the steering wheel bracket (21) is arranged on the steering wheel mounting part.
9. Steering control system, characterized in that it comprises a steering wheel detection unit (29), a controller (30) and a steering axle assembly (31) according to any one of claims 1-8, wherein,
the steering wheel detection unit (29) and the oil pump motor (7) are connected with the controller (30), wherein the controller (30) can control the positive and negative rotation and the rotating speed of the oil pump motor (7) according to the steering and the angular acceleration of the steering wheel detected by the steering wheel detection unit (29) so as to control the positive and negative rotation and the rotating speed of the bidirectional oil pump (4).
10. The steering control system of claim 9, comprising at least one of:
the first situation is as follows: the steering wheel detection unit (29) is an encoder;
case two: the steering control system comprises a rotation angle sensor (28) used for detecting the deflection angle of the steering wheel, the rotation angle sensor (28) is connected with the controller (30), and the controller (30) can compare the detected deflection angle with the rotation angle of the steering wheel so as to compensate the deflection angle difference of the steering wheel.
11. A vehicle characterized by being provided with the steering control system according to claim 9 or 10, wherein,
the steering wheel detection unit (29) is used for detecting the steering and angular acceleration of the steering wheel of the vehicle;
the first oil port (5) of the bidirectional oil pump (4) is communicated with one oil cavity of the steering oil cylinder (3), and the second oil port (6) of the bidirectional oil pump (4) is communicated with the other oil cavity of the steering oil cylinder (3).
12. The vehicle of claim 11, wherein the vehicle is a forklift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010618320.9A CN113858883A (en) | 2020-06-30 | 2020-06-30 | Steering axle assembly, steering control system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010618320.9A CN113858883A (en) | 2020-06-30 | 2020-06-30 | Steering axle assembly, steering control system and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113858883A true CN113858883A (en) | 2021-12-31 |
Family
ID=78981796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010618320.9A Pending CN113858883A (en) | 2020-06-30 | 2020-06-30 | Steering axle assembly, steering control system and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113858883A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118636603A (en) * | 2024-08-13 | 2024-09-13 | 比亚迪股份有限公司 | Steering axle and vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001001918A (en) * | 1999-06-22 | 2001-01-09 | Toyota Autom Loom Works Ltd | Hydraulic power steering device |
| CN1535878A (en) * | 2003-04-04 | 2004-10-13 | 日立优喜雅汽车配件有限公司 | Power steering system |
| JP2006207408A (en) * | 2005-01-26 | 2006-08-10 | Hitachi Ltd | Internal gear pump |
| CN208294700U (en) * | 2018-06-26 | 2018-12-28 | 北京金风科创风电设备有限公司 | Yawing brake system, yaw system and the wind power generating set of wind power generating set |
-
2020
- 2020-06-30 CN CN202010618320.9A patent/CN113858883A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001001918A (en) * | 1999-06-22 | 2001-01-09 | Toyota Autom Loom Works Ltd | Hydraulic power steering device |
| CN1535878A (en) * | 2003-04-04 | 2004-10-13 | 日立优喜雅汽车配件有限公司 | Power steering system |
| JP2006207408A (en) * | 2005-01-26 | 2006-08-10 | Hitachi Ltd | Internal gear pump |
| CN208294700U (en) * | 2018-06-26 | 2018-12-28 | 北京金风科创风电设备有限公司 | Yawing brake system, yaw system and the wind power generating set of wind power generating set |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118636603A (en) * | 2024-08-13 | 2024-09-13 | 比亚迪股份有限公司 | Steering axle and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5372214A (en) | Power steering apparatus | |
| US7409829B2 (en) | Pump unit | |
| JP3734996B2 (en) | Hydraulic power steering system for automobiles | |
| US8397858B2 (en) | Hydro-mechanical steering unit with integrated emergency steering capability | |
| US8348635B2 (en) | Variable displacement gear pump | |
| US8250862B1 (en) | Vehicle | |
| US7845458B2 (en) | Control system for frame-steering of a vehicle and method for controlling two steering cylinders in a frame-steered vehicle | |
| US20120097460A1 (en) | Hydraulically-powered working vehicle | |
| US8459400B2 (en) | Force steer axle assembly with redundant centering | |
| US6193009B1 (en) | Electromagnetic valve for a vehicle and a power steering device | |
| US20120097022A1 (en) | Pump unit | |
| CN113858883A (en) | Steering axle assembly, steering control system and vehicle | |
| CN102395505A (en) | Transport vehicle | |
| CN210599623U (en) | Control system of floating oil cylinder of high-altitude operation vehicle chassis and high-altitude operation vehicle | |
| CN213008342U (en) | Steering cylinder control system and vehicle | |
| US10518858B1 (en) | Systems and steering actuators for steering outboard marine engines | |
| CN115402405A (en) | Steering system and vehicle | |
| EP4161817B1 (en) | A power steering system for a working machine | |
| CN110744999B (en) | Hydraulic differential control system for vehicle | |
| JPH08324445A (en) | Power steering device | |
| CN113895514A (en) | Hydraulic steering wheel centering system and centering method | |
| Миклухина | Hydrostatic steering systems for lightweight wheeled tractors | |
| CN115654997A (en) | Filling vehicle, filling vehicle hydraulic system and control method | |
| JPS58139868A (en) | Power steering gear | |
| BR112018010124B1 (en) | STEERING SYSTEM FOR A DRAG AXLE OF A MOTOR VEHICLE AND METHOD OF OPERATION OF A STEERING SYSTEM FOR A DRAG AXLE OF A MOTOR VEHICLE |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |