CN113895514B - Hydraulic steering wheel centering system and centering method - Google Patents
Hydraulic steering wheel centering system and centering method Download PDFInfo
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- CN113895514B CN113895514B CN202111233114.7A CN202111233114A CN113895514B CN 113895514 B CN113895514 B CN 113895514B CN 202111233114 A CN202111233114 A CN 202111233114A CN 113895514 B CN113895514 B CN 113895514B
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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
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a hydraulic steering wheel centering system and a centering method. The centering system comprises a hydraulic power device, a centering device and a centering device, wherein the hydraulic power device comprises a first power output port and a second power output port; the front steering cylinder is used for controlling the synchronous steering of the first front wheel and the second front wheel, the rear steering cylinder is used for controlling the synchronous steering of the first rear wheel and the second rear wheel, and the front steering cylinder is connected with the rear steering cylinder in series; the steering device is used for controlling the front steering oil cylinder and the rear steering oil cylinder to act, an input port of the steering device is communicated with the first power output port, the first output port of the steering device is communicated with the front steering oil cylinder, and the second output port of the steering device is communicated with the rear steering oil cylinder; the middle adjusting reversing valve is a three-position four-way reversing valve, an input port of the middle adjusting reversing valve is communicated with the second power output port, and the middle adjusting reversing valve is communicated with the rear steering cylinder through a hydraulic lock. The invention solves the problem of complex operation in the existing wheel alignment.
Description
Technical Field
The invention relates to the field of wheel centering of engineering vehicles, in particular to a hydraulic steering wheel centering system.
Background
The hydraulic steering system of the engineering vehicle is widely applied in the field of engineering machinery, and because the hydraulic steering system is inevitably unbalanced in the long-term working process, the front and rear wheel positions are not centered, so that the running safety of the whole vehicle is influenced, and therefore, the wheel centering system is generally required to realize the centering operation of wheels.
Existing wheel centering approaches typically include both mechanical centering and hydraulic centering. In the mechanical centering mode, an operator is required to adjust the directions of front and rear wheels by means of a driving mechanism such as a motor and then mechanically limit the wheels, and the adjustment operation is complex. The automatic adjustment of the wheels is realized by controlling the valves in the hydraulic system during the hydraulic centering, however, the existing hydraulic centering system needs to independently adjust each tire, and the adjustment reliability is not easy to ensure.
Disclosure of Invention
The invention aims to solve the technical problem that the existing wheel centering operation is complex, and therefore, the invention provides a convenient and reliable wheel steering centering system with simple operation.
Aiming at the technical problems, the invention provides the following technical scheme:
a hydraulic steering wheel alignment system, comprising: the hydraulic power device comprises a first power output port and a second power output port; the front steering cylinder is used for controlling the synchronous steering of the first front wheel and the second front wheel, the rear steering cylinder is used for controlling the synchronous steering of the first rear wheel and the second rear wheel, and the front steering cylinder is connected with the rear steering cylinder in series; the steering device is used for controlling the front steering oil cylinder and the rear steering oil cylinder to act, an input port of the steering device is communicated with the first power output port, a first output port of the steering device is communicated with the front steering oil cylinder, and a second output port of the steering device is communicated with the rear steering oil cylinder; the centering reversing valve is a three-position four-way reversing valve, an input port of the centering reversing valve is communicated with the second power output port, and the centering reversing valve is communicated with the rear steering cylinder through a hydraulic lock.
In some embodiments of the present invention, the front steering cylinder and the rear steering cylinder are double-acting cylinders, two piston rods of the front steering cylinder respectively act on the first front wheel and the second front wheel, and the rear steering cylinder respectively acts on the first rear wheel and the second rear wheel.
In some embodiments of the present invention, the front steering cylinder and the rear steering cylinder respectively include a first chamber and a second chamber, and the second chamber of the front steering cylinder and the first chamber of the rear steering cylinder are communicated.
In some embodiments of the present disclosure, the hydraulic lock includes a first pilot operated check valve and a second pilot operated check valve, the first pilot operated check valve being located on a line between a first output port of the centering and reversing valve and a first chamber of the rear steering cylinder, and the second pilot operated check valve being located on a line between a second output port of the centering and reversing valve and a second chamber of the rear steering cylinder.
In some embodiments of the present invention, the steering system further comprises an anti-gas suction valve, wherein the anti-gas suction valve is communicated with the second chamber of the front steering cylinder and the first chamber of the rear steering cylinder.
In some embodiments of the present invention, the gas-proof intake valve includes a first check valve and a second check valve that are connected in parallel and in opposite directions to each other.
In some embodiments of the present invention, the hydraulic control system further comprises an overflow valve, wherein the overflow valve is located on a pipeline where the second chamber of the front steering cylinder is communicated with the first chamber of the rear steering cylinder.
In some embodiments of the present invention, the hydraulic lock, the gas-intake preventing valve, and the overflow valve are integrated on one valve block to form a centering valve group.
The invention also provides a centering method of the hydraulic steering wheel centering system, which comprises the following steps:
controlling the hydraulic power device to enable pressure liquid to be conveyed to a front steering cylinder and a rear steering cylinder through a first power output port by the steering device in response to a maximum steering instruction of the steering device, enabling the first front wheel and the second front wheel to synchronously rotate to a maximum steering position, enabling the first rear wheel and the second rear wheel to synchronously rotate to a first set position, and enabling a steering angle of the first set position to be smaller than a steering angle of the maximum steering position;
in response to switching of the centering reversing valve to the adjusting position, controlling the hydraulic power device to enable pressure liquid to be conveyed to the rear steering oil cylinder through the second power output port by the centering reversing valve, and enabling the first rear wheel and the second rear wheel to synchronously rotate to the maximum steering position;
and responding to the switching of the centering reversing valve to the middle position, controlling the hydraulic power device to stop, and ending centering. In some embodiments of the present invention, the maximum steering command of the steering gear includes a maximum left steering command and a maximum right steering command; the adjusting bit of the centering reversing valve comprises a first adjusting bit corresponding to the maximum left steering command and a second adjusting bit corresponding to the maximum right steering command.
Compared with the prior art, the technical scheme of the invention has the following technical effects:
when the wheel centering system provided by the invention is used for centering the wheels, the steering device is controlled to rotate the front wheels and the rear wheels to the maximum steering angle; because the steering of the front wheel and the rear wheel is inconsistent, the pressure oil is turned to the rear wheel by controlling the centering reversing valve, the rear wheel is continuously turned to be consistent with the steering angle of the front wheel, the centering reversing valve is switched to the middle position, the rear steering cylinder keeps the current state under the locking action of the hydraulic lock, finally, the front wheel and the rear wheel are kept consistent, the centering is finished, and the normal steering of the vehicle can be carried out by controlling the steering gear. The wheel centering system is convenient and reliable in centering, centering can be realized only by operating the steering gear and the centering reversing valve, and is simple to operate.
Drawings
The objects and advantages of the present invention will be better understood by describing in detail preferred embodiments thereof with reference to the accompanying drawings in which:
FIG. 1 is a schematic system diagram of a hydraulic steerable wheel centering system provided by the present invention;
FIG. 2 is a pressure flow chart of the hydraulic steering wheel alignment system provided by the invention during steering;
FIG. 3 is a pressure flow diagram of the hydraulic steering wheel centering system provided by the present invention during centering;
FIG. 4 is a schematic illustration of the hydraulic steerable wheel centering system of the present invention applied in an engineering vehicle;
fig. 5 is a schematic structural diagram of a centering valve group in a hydraulic steering wheel centering system provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Fig. 1 is a schematic system diagram of a hydraulic steering wheel centering system (hereinafter referred to as a wheel centering system) according to the present invention. The wheel centering system is used for centering and centering front and rear wheels of the engineering vehicle so as to ensure that the front wheels and the rear wheels of the engineering vehicle are consistent in steering, and the problem of running safety caused by inconsistent front and rear wheel steering when the vehicle is steered is avoided. The wheel alignment system includes a hydraulic power unit 10, front and rear steering cylinders 20 and 30 for controlling steering angles of front and rear wheels, and a steering gear 40 and an alignment reversing valve 50 for controlling the front and rear steering cylinders 20 and 30. Wherein the hydraulic power device 10 comprises a first power output port P1 and a second power output port P2; the front steering cylinder 20 is used for controlling the synchronous steering of the first front wheel 61 and the second front wheel 62, the rear steering cylinder 30 is used for controlling the synchronous steering of the first rear wheel 63 and the second rear wheel 64, and the front steering cylinder 20 is connected with the rear steering cylinder 30 in series; the input port P of the steering gear 40 is communicated with the first power output port P1, the first output port A of the steering gear 40 is communicated with the front steering cylinder 20, and the second output port B of the steering gear 40 is communicated with the rear steering cylinder 30; the centering reversing valve 50 is a three-position four-way reversing valve, an input port P of the centering reversing valve 50 is communicated with the second power output port P2, and the centering reversing valve 50 is communicated with the rear steering cylinder 30 through a hydraulic lock 70.
When the wheel centering system is adopted to center the wheels, the steering device 40 is firstly controlled to enable the front wheels and the rear wheels to rotate to the maximum steering angle, and at the moment, the steering angle of the rear wheels is inconsistent with the steering angle of the front wheels; the pressure oil is turned to the rear wheels by controlling the centering reversing valve 50, the rear wheels continue to rotate until the turning angle of the front wheels is consistent, the centering reversing valve 50 is switched to the middle position, the rear steering cylinder 30 keeps the current state under the locking action of the hydraulic lock 70, the front wheels and the rear wheels are kept consistent finally, and the normal steering of the vehicle can be performed by controlling the steering gear 40 after centering is finished.
Specifically, the front steering cylinder 20 and the rear steering cylinder 30 are double-acting cylinders, two piston rods of the front steering cylinder 20 respectively act on the first front wheel 61 and the second front wheel 62, and the rear steering cylinder 30 respectively acts on the first rear wheel 63 and the second rear wheel 64. More specifically, the front steering cylinder 20 is mounted on a front transaxle, and the rear steering cylinder 30 is mounted on a rear transaxle.
Specifically, the front steering cylinder 20 and the rear steering cylinder 30 respectively include a first chamber C1 and a second chamber C2, and the second chamber C2 of the front steering cylinder 20 and the first chamber C1 of the rear steering cylinder 30 are communicated. Synchronous rotation of front and rear wheels is achieved by the tandem connection of the front steering cylinder 20 and the rear steering cylinder 30.
Specifically, the wheel centering system further includes an anti-air intake valve 80, and the anti-air intake valve 80 communicates with the second chamber C2 of the front steering cylinder 20 and the first chamber C1 of the rear steering cylinder 30. Since the second chamber C2 of the front steering cylinder 20 communicates with the first chamber C1 of the rear steering cylinder 30, a dead space isolated from the hydraulic power unit 10 side is formed. Under normal operation, the tandem connection of the front steering cylinder 20 and the rear steering cylinder 30 will cause both to steer synchronously. Under some working conditions, for example, during the sudden steering process of the steering gear 40, the volume of the second chamber C2 of the front steering cylinder 20 or the first chamber C1 of the rear steering cylinder 30 will increase instantaneously, so that an instantaneous negative pressure is formed in the dead space pipeline, and gas will be sucked into the dead space pipeline from the gaps of each part of the pipeline, which eventually results in poor consistency of the front and rear wheels, so that in order to avoid gas entering the pipeline through more parts, the gas-proof suction valve 80 blocks the branch where the hydraulic power device 10, the steering gear 40, the centering reversing valve 50 and the hydraulic lock 70 are located from the dead space, and can avoid gas flowing into the pipeline formed by the communication of the second chamber C2 of the front steering cylinder 20 and the first chamber C1 of the rear steering cylinder 30 through more parts.
More specifically, the gas-preventing suction valve 80 includes a first check valve 81 and a second check valve 82 connected in reverse and parallel to each other, wherein the opening pressures of the first check valve 81 and the second check valve 82 are greater than a set pressure value, for example, 1Mpa, so that hydraulic oil normally passes but gas cannot pass. The first end of the anti-gas suction valve 80 is connected to the output side of the hydraulic lock 70, and the second end of the anti-gas suction valve 80 is connected to a pipe through which the second chamber C2 of the front steering cylinder 20 communicates with the first chamber C1 of the rear steering cylinder 30.
Specifically, the hydraulic lock 70 includes a first pilot-operated check valve 71 and a second pilot-operated check valve 72, the first pilot-operated check valve 71 is located on a line between the first output port a of the centering and reversing valve 50 and the first chamber C1 of the rear steering cylinder 30, and the second pilot-operated check valve 72 is located on a line between the second output port B of the centering and reversing valve 50 and the second chamber C2 of the rear steering cylinder 30. After the centering is completed, the centering switch valve 50 is switched to the neutral position, and the rear steering cylinder 30 is locked at the set position by the hydraulic lock 70.
In order to prevent the high pressure from damaging the components in the system, the centering system further comprises an overflow valve 90, and the overflow valve 90 is communicated with the pipeline where the second chamber C2 of the front steering cylinder 20 and the first chamber C1 of the rear steering cylinder 30 are located. After the line pressure value is greater than the threshold value, excess pressurized fluid flows back to the tank through the relief valve 90.
In order to realize the integrated design, the hydraulic lock 70, the gas-proof suction valve 80 and the overflow valve 90 are integrated on a valve block 100 to form a centering valve group, and the centering valve group is installed on a box body where the hydraulic power device 10 is located.
The invention also provides a centering method of the hydraulic steering wheel centering system, which comprises the following steps:
s1, responding to a maximum steering command of a steering gear 40, controlling the hydraulic power device 10 to enable pressure liquid to be conveyed to a front steering cylinder 20 and a rear steering cylinder 30 through a first power output port P1 through the steering gear 40, enabling a first front wheel 61 and a second front wheel 62 to synchronously rotate to a maximum steering position, enabling a first rear wheel 63 and a second rear wheel 64 to synchronously rotate to a first set position, and enabling a steering angle of the first set position to be smaller than that of the maximum steering position;
s2, in response to the switching of the centering reversing valve 50 to the adjusting position, controlling the hydraulic power device 10 to enable pressure liquid to be conveyed to the rear steering cylinder 30 through the centering reversing valve 50 through a second power output port P2, and enabling the first rear wheel 63 and the second rear wheel 64 to synchronously rotate to the maximum steering position;
and S3, responding to the switching of the centering reversing valve 50 to the middle position, and ending centering.
In the above-mentioned centering method, step S1 is used for controlling the steering gear 40 to rotate the front and rear wheels to the maximum steering angle, at this time, the steering angle of the rear wheels is inconsistent with the steering angle of the front wheels, step S2 is used for controlling the centering reversing valve 50 to steer the rear wheels so that the rear wheels continue to rotate to be consistent with the steering angle of the front wheels, step S2 is used for switching the centering reversing valve 50 to the middle position, controlling the hydraulic power device 10 to stop, the rear steering cylinder 30 can keep the current state under the locking action of the hydraulic lock 70, finally, the front and rear wheels keep consistent, and after centering, normal steering of the vehicle can be performed by controlling the steering gear 40.
Specifically, the maximum steering command of the steering gear 40 includes a maximum left steering command and a maximum right steering command; the adjustment bits of the centering and reversing valve 50 include a first adjustment bit corresponding to a maximum left steering command and a second adjustment bit corresponding to a maximum right steering command.
In order to improve the centering effect of the wheels, the front and rear wheels are controlled to rotate to the left maximum corner position during the first centering after twice centering, and the first centering is finished; when the second centering, the front wheel and the rear wheel are controlled to rotate to the right maximum corner position, and after the second centering, the consistency of the front wheel and the rear wheel can be better through twice centering.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While obvious variations or modifications are contemplated as falling within the scope of the present invention.
Claims (9)
1. A method of centering a hydraulic steering wheel centering system, the centering system comprising:
the hydraulic power device comprises a first power output port and a second power output port;
the front steering cylinder is used for controlling the synchronous steering of the first front wheel and the second front wheel, the rear steering cylinder is used for controlling the synchronous steering of the first rear wheel and the second rear wheel, and the front steering cylinder is connected with the rear steering cylinder in series;
the steering device is used for controlling the front steering oil cylinder and the rear steering oil cylinder to act, an input port of the steering device is communicated with the first power output port, a first output port of the steering device is communicated with the front steering oil cylinder, and a second output port of the steering device is communicated with the rear steering oil cylinder;
the centering reversing valve is a three-position four-way reversing valve, an input port of the centering reversing valve is communicated with the second power output port, and the centering reversing valve is communicated with the rear steering cylinder through a hydraulic lock; the centering method comprises the following steps:
controlling the hydraulic power device to enable pressure liquid to be conveyed to a front steering cylinder and a rear steering cylinder through a first power output port by the steering device in response to a maximum steering instruction of the steering device, enabling the first front wheel and the second front wheel to synchronously rotate to a maximum steering position, enabling the first rear wheel and the second rear wheel to synchronously rotate to a first set position, and enabling a steering angle of the first set position to be smaller than a steering angle of the maximum steering position;
in response to switching of the centering reversing valve to the adjusting position, controlling the hydraulic power device to enable pressure liquid to be conveyed to the rear steering oil cylinder through the second power output port by the centering reversing valve, and enabling the first rear wheel and the second rear wheel to synchronously rotate to the maximum steering position;
and responding to the switching of the centering reversing valve to the middle position, controlling the hydraulic power device to stop, and ending centering.
2. The method of centering a hydraulic steering wheel centering system according to claim 1, wherein the front steering cylinder and the rear steering cylinder are double-acting cylinders, two piston rods of the front steering cylinder respectively act on a first front wheel and a second front wheel, and the rear steering cylinder respectively acts on a first rear wheel and a second rear wheel.
3. The method of centering a hydraulic steering wheel centering system of claim 2, wherein the front steering cylinder and the rear steering cylinder each include a first chamber and a second chamber, the second chamber of the front steering cylinder and the first chamber of the rear steering cylinder being in communication.
4. A method of centering a hydraulic steering wheel centering system as claimed in claim 3, wherein said hydraulic lock includes a first pilot operated check valve and a second pilot operated check valve, said first pilot operated check valve being located on a line between a first output port of said centering steering valve and a first chamber of said rear steering cylinder, said second pilot operated check valve being located on a line between a second output port of said centering steering valve and a second chamber of said rear steering cylinder.
5. The method of centering a hydraulic steering wheel centering system of claim 4, further comprising an anti-air intake valve in communication with the second chamber of the front steering cylinder and the first chamber of the rear steering cylinder.
6. The method of centering a hydraulic steering wheel centering system of claim 5, wherein said anti-air intake valve comprises a first check valve and a second check valve connected in anti-parallel with each other.
7. The method of centering a hydraulic steering wheel centering system of claim 5, further comprising an overflow valve located on a line where the second chamber of the front steering cylinder communicates with the first chamber of the rear steering cylinder.
8. The method of centering a hydraulic steering wheel centering system of claim 7, wherein said hydraulic lock, said anti-air intake valve and said relief valve are integrated into a valve block to form a centering valve block.
9. The method of centering a hydraulic steering wheel centering system of claim 1, wherein the maximum steering command of the steering gear includes a maximum left steering command and a maximum right steering command; the adjusting bit of the centering reversing valve comprises a first adjusting bit corresponding to the maximum left steering command and a second adjusting bit corresponding to the maximum right steering command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111233114.7A CN113895514B (en) | 2021-10-22 | 2021-10-22 | Hydraulic steering wheel centering system and centering method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111233114.7A CN113895514B (en) | 2021-10-22 | 2021-10-22 | Hydraulic steering wheel centering system and centering method |
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| Publication Number | Publication Date |
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| CN113895514A CN113895514A (en) | 2022-01-07 |
| CN113895514B true CN113895514B (en) | 2023-04-28 |
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Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2048183A (en) * | 1979-05-02 | 1980-12-10 | Cam Gears Ltd | Steering system |
| JP4075130B2 (en) * | 1998-04-23 | 2008-04-16 | コベルコクレーン株式会社 | Steering device for traveling vehicle |
| CN201400216Y (en) * | 2008-12-05 | 2010-02-10 | 湖北三江航天万山特种车辆有限公司 | Grouped steering system of electronic hydraulic machinery |
| CN102689651A (en) * | 2012-06-12 | 2012-09-26 | 徐州重型机械有限公司 | Crane and automatic centering and steering system |
| CN202827713U (en) * | 2012-06-14 | 2013-03-27 | 中国航天三江集团公司 | Hydraulic steering and alignment system |
| CN102673640B (en) * | 2012-06-14 | 2014-08-13 | 航天重型工程装备有限公司 | Hydraulic steering system |
| CN105972136B (en) * | 2016-05-11 | 2017-12-22 | 江苏大学 | A kind of feed energy suspension of damp adjustable 1/2 |
| DE102017126443A1 (en) * | 2017-11-10 | 2019-05-16 | V.S.E. Vehicle Systems Engineering B.V. | Self-steering vehicle axle |
| CN108891481A (en) * | 2018-07-17 | 2018-11-27 | 四川川龙拖拉机制造有限公司 | 4-wheel Steering Control System, carriage and four-wheel tractor |
| CN110949502A (en) * | 2019-11-04 | 2020-04-03 | 中国重汽集团济南动力有限公司 | Double-end fire engine a steering system |
| CN110861708B (en) * | 2019-12-17 | 2023-06-27 | 重庆达航工业有限公司 | Four-wheel steering system and steering control method for aircraft tractor |
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2021
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