CN114194159A - Control method and device for tire crane, controller and tire crane - Google Patents
Control method and device for tire crane, controller and tire crane Download PDFInfo
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- CN114194159A CN114194159A CN202111397184.6A CN202111397184A CN114194159A CN 114194159 A CN114194159 A CN 114194159A CN 202111397184 A CN202111397184 A CN 202111397184A CN 114194159 A CN114194159 A CN 114194159A
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- 239000003921 oil Substances 0.000 claims description 233
- 238000001514 detection method Methods 0.000 claims description 30
- 239000010720 hydraulic oil Substances 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
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- 230000003287 optical effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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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
- B62D5/061—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle provided with effort, steering lock, or end-of-stroke limiters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07509—Braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
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- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Abstract
The embodiment of the invention provides a control method and device for a tire crane, a controller and the tire crane, wherein the control method for the tire crane comprises the following steps: determining whether a tank turning mode of the tire crane is on; acquiring a steering mode of the tire crane under the condition that the tank turning mode is started; determining the steering of the steering gear under the condition that the steering mode is a preset steering mode; braking the left front wheel and the left rear wheel in a case where the steering is left turn; and braking the right front wheel and the right rear wheel when the steering is a right turn. The embodiment of the invention realizes the tank turning mode of the tire crane, and can be combined with a front wheel steering mode, a rear wheel steering mode and a four-wheel steering mode for use, so that the tire crane has a smaller turning radius, and the requirement of quick turning on narrow road conditions is met.
Description
Technical Field
The invention relates to the technical field of control of a tire crane, in particular to a control method and device for the tire crane, a controller and the tire crane.
Background
At present, the off-road tyre crane at home and abroad mainly has four steering modes: front wheel steering, rear wheel steering, four-wheel steering, crab steering. The steering of the tank and the crawler traveling machinery is realized by the speed difference of the crawler belts on two sides, and the pivot steering can be realized when the left crawler belt and the right crawler belt move in opposite directions. At present, a tank turning mode configured for some off-road vehicles is used for meeting the turning requirement of narrow road conditions. Due to the mechanism design of the wheeled vehicle, the tires on the two sides cannot move in opposite directions. The tank turning mode of the cross-country road vehicle is realized by locking a rear wheel on one side through an electronic brake and normally rotating other three wheels to reduce the turning radius. The off-road tire crane is an off-road vehicle, has good trafficability, short vehicle body, small turning radius and outstanding off-road performance, and can run with load. Is suitable for severe road conditions and narrow operation places. The method is widely applied to ports, wharfs, airports, oil fields and construction sites. The current off-road tire hoisting crane uses a full hydraulic steering and hydraulic braking system. There are four steering modes: front wheel steering, rear wheel steering, four-wheel steering and crab steering. The hydraulic braking system comprises a service braking system and a parking braking system, wherein the service braking system is a foot brake (foot brake), and the parking braking system is a hand brake (hand brake). During service braking, pressure oil acts on the disc brakes on the four wheel sides to brake. Although the turning radius of the off-road tire crane is far smaller than that of a conventional automobile crane, the driving scene of the off-road tire crane is usually desert, gobi, plateau and mine, the working occasions are mainly oil fields, ports, wharfs and storage yards, the driving road conditions are complex and narrow, the space of the working occasions is small, and the off-road tire crane needs to be backed repeatedly for many times when needing to turn around. Therefore, it is urgently needed to provide a technical solution to solve the above technical problems in the prior art.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a control method and device for a tire crane, a controller and a tire crane, which solve the foregoing technical problems in the prior art.
In order to achieve the above object, a first aspect of the present invention provides a control method for a tire crane including a left front wheel, a right front wheel, a left rear wheel, a right rear wheel, and a steering, the control method comprising: determining whether a tank turning mode of the tire crane is started; acquiring a steering mode of the tire crane under the condition that the tank turning mode is started; determining the steering of the steering gear under the condition that the steering mode is a preset steering mode; braking the left front wheel and the left rear wheel under the condition that the steering is left-turning; and braking the right front wheel and the right rear wheel in the case where the steering is a right turn.
In an embodiment of the present invention, the tire crane further includes a tank turning mode switch, and determining whether the tank turning mode of the tire crane is on includes: determining whether a tank turning mode starting signal output by a tank turning mode switch is received; and determining that the tank turning mode is started under the condition that the tank turning mode starting signal is received.
In an embodiment of the present invention, the tire crane further includes a steering mode selection switch, and acquiring the steering mode of the tire crane includes: acquiring a steering mode selection signal output by a steering mode selection switch; and determining a steering mode according to the steering mode selection signal.
In the embodiment of the present invention, the preset steering mode is selected from any one of the following steering modes: a front wheel steering mode; a rear wheel steering mode; and a four-wheel steering mode.
In an embodiment of the present invention, determining the steering of the steering gear comprises: acquiring a pressure value of a left steering oil port of the steering gear and a pressure value of a right steering oil port of the steering gear; determining that the steering is left-turning under the condition that the pressure value of the left-turning oil port is greater than a preset pressure value; and determining that the steering is right-handed under the condition that the pressure value of the right-handed oil port is greater than the preset pressure value.
In an embodiment of the present invention, the tire crane further includes a left steering pressure sensor and a right steering pressure sensor, the left steering pressure sensor is communicated with a left steering oil port of the steering gear, the right steering pressure sensor is communicated with a right steering oil port of the steering gear, and acquiring a pressure value of the left steering oil port of the steering gear and a pressure value of the right steering oil port of the steering gear includes: acquiring a detection electric signal of a left steering pressure sensor and a detection electric signal of a right steering pressure sensor; determining the pressure value of a left steering oil port according to the detection electric signal of the left steering pressure sensor; determining the pressure value of the right steering oil port according to the detection electric signal of the right steering pressure sensor; wherein, the detection electrical signal of the left steering pressure sensor is related with the pressure value of the left steering oil port, and the detection electrical signal of the right steering pressure sensor is related with the pressure value of the right steering oil port.
In an embodiment of the present invention, the tire crane further comprises: a service brake valve; a parking brake valve; a left front wheel rim brake; a right front wheel rim brake; a left rear wheel hub brake; a right rear wheel hub brake; a first input oil port of the first electromagnetic valve is communicated with an output oil port of the travelling brake valve, a second input oil port of the first electromagnetic valve is communicated with an output oil port of the parking brake valve, and the output oil port of the first electromagnetic valve is communicated with the left front wheel side brake; a first input oil port of the second electromagnetic valve is communicated with an output oil port of the travelling brake valve, a second input oil port of the second electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the second electromagnetic valve is communicated with the right front wheel side brake; a first input oil port of the third electromagnetic valve is communicated with an output oil port of the travelling brake valve, a second input oil port of the third electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the third electromagnetic valve is communicated with the left rear wheel brake; a first input oil port of the fourth electromagnetic valve is communicated with an output oil port of the travelling brake valve, a second input oil port of the fourth electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the fourth electromagnetic valve is communicated with the right rear wheel side brake; braking a left front wheel and a left rear wheel of a tire crane includes: controlling the first control valve and the third control valve to be in a power-on state and the second control valve and the fourth control valve to be in a power-off state so as to brake a left front wheel and a left rear wheel of the tire crane; braking the right front wheel and the right rear wheel of the tire crane comprises the following steps: and controlling the first control valve and the third control valve to be in a power-off state and the second control valve and the fourth control valve to be in a power-on state so as to brake the right front wheel and the right rear wheel of the tire crane.
In the embodiment of the invention, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the fourth electromagnetic valve are two-position three-way electromagnetic valves respectively.
A second aspect of the invention provides a controller configured to execute the control method for a tire crane of the foregoing embodiment.
A third aspect of the present invention provides a control device for a tire crane, the tire crane including a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel, the control device comprising: a diverter; and the controller of the foregoing embodiment.
In an embodiment of the present invention, the control device further includes: the tank turning mode switch is electrically connected with the controller and used for outputting a tank turning mode starting signal.
In an embodiment of the present invention, the control device further includes: and the steering mode selection switch is electrically connected with the controller and is used for outputting a steering mode selection signal.
In an embodiment of the present invention, the control device further includes: the left steering pressure sensor is communicated with a left steering oil port of the steering gear and is electrically connected with the controller, the left steering pressure sensor is used for detecting the pressure value of the left steering oil port of the steering gear and outputting a detection electric signal, and the detection electric signal of the left steering pressure sensor is related to the pressure value of the left steering oil port; and the right steering pressure sensor is communicated with a right steering oil port of the steering gear and is electrically connected with the controller, the right steering pressure sensor is used for detecting the pressure value of the right steering oil port of the steering gear and outputting a detection electric signal, and the detection electric signal of the right steering pressure sensor is related to the pressure value of the right steering oil port.
In an embodiment of the present invention, the control device further includes: the service brake valve is used for controlling the output of service brake hydraulic oil; the parking brake valve is used for controlling the output of parking brake hydraulic oil; the left front wheel side brake is used for braking a left front wheel; the right front wheel side brake is used for braking the right front wheel; the left rear wheel side brake is used for braking the left rear wheel; the right rear wheel side brake is used for braking a right rear wheel; a first input oil port of the first electromagnetic valve is communicated with an output oil port of the travelling brake valve, a second input oil port of the first electromagnetic valve is communicated with an output oil port of the parking brake valve, and the output oil port of the first electromagnetic valve is communicated with the left front wheel side brake; a first input oil port of the second electromagnetic valve is communicated with an output oil port of the travelling brake valve, a second input oil port of the second electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the second electromagnetic valve is communicated with the right front wheel side brake; a first input oil port of the third electromagnetic valve is communicated with an output oil port of the travelling brake valve, a second input oil port of the third electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the third electromagnetic valve is communicated with the left rear wheel brake; and a first input oil port of the fourth electromagnetic valve is communicated with an output oil port of the travelling brake valve, a second input oil port of the fourth electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the fourth electromagnetic valve is communicated with the right rear wheel side brake.
A fourth aspect of the present invention provides a tire crane, comprising: a left front wheel; a right front wheel; a left rear wheel; a right rear wheel; and the control device for the tire crane of the foregoing embodiment.
According to the embodiment of the invention, the tank turning mode of the tire crane can be combined with the front wheel steering mode, the rear wheel steering mode and the four-wheel steering mode for use, so that the tire crane has a smaller turning radius, and the requirement of quick turning on narrow road conditions is met.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic flow diagram of a control method 100 for a tire crane according to an embodiment of the present invention;
FIG. 2A is a schematic diagram of the electrical circuit configuration of the steering hydraulic system of an off-road tire crane in an example of the present invention; and
fig. 2B is a schematic circuit configuration diagram of a brake hydraulic system of an off-road tire crane in an example of the present invention.
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 embodiments of the invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
The cross-country tyre crane is a full-hydraulic steering and braking system, and is controlled by a hydraulic system to lock wheels on one side during steering and reduce the turning radius. We name this mode as the off-road tire crane tank turning mode.
As shown in fig. 1, in an embodiment of the present invention, there is provided a control method 100 for a tire crane, the tire crane including a left front wheel, a right front wheel, a left rear wheel, a right rear wheel, and a steering, the control method 100 for the tire crane including the steps of:
step S110: it is determined whether the tank turning mode of the tire crane is on.
Step S130: in the case where the tank turning mode is on, the steering mode of the tire crane is acquired.
Step S150: in the case where the steering mode is the preset steering mode, the steering of the steering gear is determined.
Step S170: in the case of turning left, the left front wheel and the left rear wheel are braked. And
step S190: when the steering is a right turn, the right front wheel and the right rear wheel are braked.
Further, the tire crane further includes, for example, a tank turning mode switch, and it is determined whether the tank turning mode of the tire crane is on, that is, step S110 includes, for example:
(a1) and determining whether a tank turning mode starting signal output by a tank turning mode switch is received.
And
(a2) and under the condition of receiving a tank turning mode starting signal, determining that the tank turning mode is started.
Further, the tire crane further includes a steering mode selection switch, and the step S130 of obtaining the steering mode of the tire crane includes, for example:
(b1) and acquiring a steering mode selection signal output by the steering mode selection switch. And
(b2) and determining a steering mode according to the steering mode selection signal.
Specifically, the preset steering mode is selected from any one of the following steering modes, for example: a front-wheel steering mode, a rear-wheel steering mode, and a four-wheel steering mode.
Specifically, determining the steering of the steering gear, that is, step S150, for example, includes:
(c1) and acquiring the pressure value of a left steering oil port of the steering gear and the pressure value of a right steering oil port of the steering gear.
(c2) And determining that the steering is left-turning under the condition that the pressure value of the left-turning oil port is greater than the preset pressure value. And
(c3) and determining that the steering is right-handed under the condition that the pressure value of the right-handed oil port is greater than the preset pressure value.
Further, the tire crane, for example, further includes a left steering pressure sensor and a right steering pressure sensor. The left steering pressure sensor is communicated with a left steering oil port of the steering gear, and the right steering pressure sensor is communicated with a right steering oil port of the steering gear. Accordingly, acquiring the pressure value of the left steering port of the steering gear and the pressure value of the right steering port of the steering gear, that is, (c1) includes, for example:
(c11) and acquiring a detection electric signal of the left steering pressure sensor and a detection electric signal of the right steering pressure sensor.
(c12) And determining the pressure value of the left steering oil port according to the detection electric signal of the left steering pressure sensor.
And
(c13) and determining the pressure value of the right steering oil port according to the detection electric signal of the right steering pressure sensor. Wherein, the detection electrical signal of the left steering pressure sensor is related with the pressure value of the left steering oil port, and the detection electrical signal of the right steering pressure sensor is related with the pressure value of the right steering oil port.
Further, the tire crane, for example, further includes: the brake system comprises a driving brake valve, a parking brake valve, a left front wheel side brake, a right front wheel side brake, a left rear wheel side brake, a right rear wheel side brake, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve and a fourth electromagnetic valve.
The first input oil port of the first electromagnetic valve is communicated with the output oil port of the service brake valve, the second input oil port of the first electromagnetic valve is communicated with the output oil port of the parking brake valve, and the output oil port of the first electromagnetic valve is communicated with the left front wheel side brake.
The first input oil port of the second electromagnetic valve is communicated with the output oil port of the service brake valve, the second input oil port of the second electromagnetic valve is communicated with the output oil port of the parking brake valve, and the output oil port of the second electromagnetic valve is communicated with the right front wheel side brake.
The first input oil port of the third electromagnetic valve is communicated with the output oil port of the service brake valve, the second input oil port of the third electromagnetic valve is communicated with the output oil port of the parking brake valve, and the output oil port of the third electromagnetic valve is communicated with the left rear wheel brake.
The first input oil port of the fourth electromagnetic valve is communicated with the output oil port of the service brake valve, the second input oil port of the fourth electromagnetic valve is communicated with the output oil port of the parking brake valve, for example, and the output oil port of the fourth electromagnetic valve is communicated with the right rear wheel side brake, for example.
Accordingly, braking the left front wheel and the left rear wheel of the tire crane, that is, step S170 includes, for example:
and controlling the first control valve and the third control valve to be in a power-on state and the second control valve and the fourth control valve to be in a power-off state so as to brake the left front wheel and the left rear wheel of the tire crane.
The braking of the right front wheel and the right rear wheel of the tire crane, that is, step S190, for example, includes:
and controlling the first control valve and the third control valve to be in a power-off state and the second control valve and the fourth control valve to be in a power-on state so as to brake the right front wheel and the right rear wheel of the tire crane.
The second input oil port of the solenoid valve is communicated with the output oil port of the solenoid valve under the condition that any one solenoid valve of the first control valve, the second control valve, the third control valve and the fourth control valve is in an electrified state, and the oil flowing from the second input oil port of the solenoid valve is output under the condition that the second input oil port of the solenoid valve is provided with the oil.
In the same way, under the condition that any one electromagnetic valve in the first control valve, the second control valve, the third control valve and the fourth control valve is in a power-off state, the first input oil port of the solenoid valve is communicated with the output oil port of the solenoid valve, if the first input oil port of the solenoid valve has oil, the oil which flows in from the first input oil port of the solenoid valve is output, because the first input oil ports of the first control valve, the second control valve, the third control valve and the fourth control valve of the embodiment of the invention are all communicated with the output oil port of the service brake valve, under the condition that the service brake oil is output by the service brake valve, any one of the first control valve, the second control valve, the third control valve and the fourth control valve is electrified to output the service brake oil to the wheel brake communicated with the output oil port of the electromagnetic valve so as to brake the corresponding wheel.
Specifically, the first solenoid valve, the second solenoid valve, the third solenoid valve, and the fourth solenoid valve are, for example, two-position three-way solenoid valves, respectively.
In an embodiment of the invention, a controller is provided, for example configured to perform a control method 100 for a tire crane according to any one of the preceding embodiments. The detailed functions and details of the control method 100 for a tire crane can refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
Specifically, the controller may be a control device such as a microcontroller or an embedded processor, and may specifically be an onboard controller, which is not limited thereto in the embodiments of the present invention.
In an embodiment of the present invention, there is provided a control device for a tire crane including a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel, the control device for a tire crane including: a steering gear and a controller. The controller is for example a controller according to any of the previous embodiments. The detailed functions and details of the controller can refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
Further, the control device, for example, further includes: tank turning mode switch. The tank turning mode switch is electrically connected to the controller, for example, and the tank turning mode switch is used to output a tank turning mode turn-on signal.
Further, the control device, for example, further includes: a steering mode selection switch. The steering mode selection switch is electrically connected to the controller, for example, and the steering mode selection switch is configured to output a steering mode selection signal.
Further, the control device, for example, further includes: a left steering pressure sensor and a right steering pressure sensor.
The left steering pressure sensor is, for example, communicated with a left steering oil port of the steering gear and electrically connected to the controller, and is used for detecting a pressure value of the left steering oil port of the steering gear and outputting a detection electrical signal, and the detection electrical signal of the left steering pressure sensor is associated with the pressure value of the left steering oil port.
The right steering pressure sensor is, for example, in communication with the right steering oil port of the steering gear and electrically connected to the controller, and is configured to detect a pressure value of the right steering oil port of the steering gear and output a detection electrical signal, and the detection electrical signal of the right steering pressure sensor is correlated with the pressure value of the right steering oil port.
Further, the control device, for example, further includes: the brake system comprises a driving brake valve, a parking brake valve, a left front wheel side brake, a right front wheel side brake, a left rear wheel side brake, a right rear wheel side brake, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve and a fourth electromagnetic valve.
Service brake valves are used, for example, to control the output of service brake fluid.
The parking brake valve is used, for example, to control the output of parking brake hydraulic oil.
The left front wheel-side brake is used to brake the left front wheel, for example.
The right front wheel side brake is used, for example, to brake the right front wheel.
The left rear wheel hub brake is used, for example, to brake the left rear wheel.
The right rear wheel side brake is used to brake the right rear wheel, for example.
The first input oil port of the first electromagnetic valve is communicated with the output oil port of the service brake valve, for example, the second input oil port of the first electromagnetic valve is communicated with the output oil port of the parking brake valve, for example, and the output oil port of the first electromagnetic valve is communicated with the wheel side brake of the left front wheel, for example.
The first input oil port of the second electromagnetic valve is communicated with the output oil port of the service brake valve, for example, the second input oil port of the second electromagnetic valve is communicated with the output oil port of the parking brake valve, for example, and the output oil port of the second electromagnetic valve is communicated with the right front wheel side brake, for example.
The first input oil port of the third electromagnetic valve is communicated with the output oil port of the service brake valve, for example, the second input oil port of the third electromagnetic valve is communicated with the output oil port of the parking brake valve, for example, and the output oil port of the third electromagnetic valve is communicated with the left rear wheel side brake, for example.
The first input oil port of the fourth electromagnetic valve is communicated with the output oil port of the service brake valve, for example, the second input oil port of the fourth electromagnetic valve is communicated with the output oil port of the parking brake valve, for example, and the output oil port of the fourth electromagnetic valve is communicated with the right rear wheel side brake, for example.
In an embodiment of the present invention, there is provided a tire crane including: the left front wheel, the right front wheel, the left rear wheel, the right rear wheel and the control device. Wherein the control device is for example a control device for a tire crane according to any one of the preceding embodiments. The detailed functions and details of the control device for the tire crane can refer to the description of the foregoing embodiments, and are not repeated herein.
In particular, the tire crane is, for example, an off-road tire crane.
The following describes a control method and device for a tire crane, a controller and a tire crane according to an embodiment of the present invention with reference to specific examples, which include the following:
as shown in fig. 2A and 2B, which are schematic diagrams of a steering hydraulic system circuit structure and a braking hydraulic system circuit structure of an off-road tire crane in an example of the present invention, it should be noted that the drawings and descriptions related to the example of the present invention are only for explaining technical solutions of the embodiments of the present invention, and the embodiments of the present invention are not limited thereto.
The turning mode of the off-road tire crane, namely the tank turning mode, is combined with the front wheel turning mode, the rear wheel turning mode and the four-wheel turning mode for use, and the requirement of rapid turning of the off-road tire crane especially under narrow road conditions is met. The crab steering mode is mainly used for oblique line driving and is not combined with the tank turning mode.
The off-road tire crane of the invention starts or stops the tank turning mode through the arranged electric selection switch (not shown in the figure), and the vehicle-mounted controller (not shown in the figure) is electrically connected with the tank turning mode switch, for example, so that the tank turning mode starting signal output by the tank turning mode switch can be received under the condition that the tank turning mode is started. Under the condition that the vehicle-mounted controller receives a tank turning mode starting signal output by the tank turning mode switch, the turning mode of the current off-road tire crane is further judged to determine whether to start the tank turning mode.
The steering mode of the all terrain tire crane is set, for example, by a steering mode selection switch (not shown) electrically connected to an on-board controller, and the on-board controller determines which steering mode is currently selected by a received steering mode selection signal output from the steering mode selection switch. The tank turning mode may be enabled only when the turning mode of the off-road tire crane is a front wheel turning mode, a rear wheel turning mode, or a four wheel turning mode, and specifically, the on-vehicle controller may acquire the turning of the off-road tire crane when determining to enable the tank turning mode, control the left wheel brake in the case of a left turn, and control the right wheel brake in the case of a right turn. In the crab steering mode, the tank turning mode may not be enabled.
As shown in fig. 2A, after the front wheel steering mode is selected by the steering mode selection switch, none of the three solenoid valves S1, S2, S3 included in the steering valve ZXF is energized. After the rear wheel steering mode is selected by the steering mode selection switch, the on-board controller controls S1 and S2 to be powered on and S3 to be powered off, for example. After the four-wheel steering mode is selected by the steering mode selection switch, the onboard controller controls S2 to be powered on and S1 and S3 to be powered off, for example. After the crab steering mode is selected by the steering mode selection switch, the vehicle controller controls S3 to be powered on and S1 and S2 to be powered off, for example.
As shown in fig. 2A, a left steering pressure sensor ZP and a right steering pressure sensor YP are also provided in the off-road tire crane steering hydraulic system. The left steering pressure sensor ZP is communicated with a left steering oil port L of the steering gear ZXQ or the left steering pressure sensor ZP is communicated with an oil port D of the steering valve ZXF communicated with the left steering oil port L, the right steering pressure sensor YP is communicated with a right steering oil port R of the steering gear ZXQ or the right steering pressure sensor YP is communicated with an oil port C of the steering valve ZXF communicated with the right steering oil port R, and the left steering pressure sensor ZP and the right steering pressure sensor YP are respectively and electrically connected with the vehicle-mounted controller. Therefore, the pressure value of the left steering oil port L can be detected through the left steering pressure sensor ZP, the pressure value of the right steering oil port R can be detected through the right steering pressure sensor YP, and the detected pressure value data is sent to the vehicle-mounted controller so that the vehicle-mounted controller can judge the steering of the off-road tire crane according to the pressure value data. The specific vehicle-mounted controller can determine that the current steering of the off-road tire crane is left turning under the condition that the obtained pressure value of the left turning oil port L is greater than the preset pressure value. And under the condition that the obtained pressure value of the right steering oil port R is greater than the preset pressure value, determining that the current steering of the off-road tire crane is right steering. Off-road tire cranes control the steering of the off-road tire crane by rotating the steering gear ZXQ into the proper position.
As shown in fig. 2A, the steering hydraulic system of the off-road tire crane of the example of the present invention further includes, for example, a left front steering cylinder GZ1, a left rear steering cylinder GZ2, a right front steering cylinder GY1, a right rear steering cylinder GY2, a steering pump ZXB, etc., and specific connection relationships and functions can be referred to fig. 2A and related description in the prior art, which are not repeated herein.
As shown in fig. 2B, the brake hydraulic system of the all terrain tire crane of the example of the present invention is further provided with four solenoid valves, i.e., a first solenoid valve S5, a second solenoid valve S6, a third solenoid valve S7, and a fourth solenoid valve S8. S5, S6, S7, and S8 are, for example, two-position three-way solenoid valves.
The first inlet port T of the first solenoid valve S5 communicates with the outlet port a of the service brake valve, for example, the second inlet port P of the first solenoid valve S5 communicates with the outlet port B of the parking brake valve S4, for example, and the outlet port of the first solenoid valve S5 communicates with the left front wheel side brake, for example.
The first input port of the second solenoid valve S6 is, for example, communicated with the output port a of the service brake valve, the second input port of the second solenoid valve S6 is, for example, communicated with the output port B of the parking brake valve S4, and the output port of the second solenoid valve S6 is, for example, communicated with the right front wheel side brake.
The first input port of the third solenoid valve S7 is, for example, communicated with the output port a of the service brake valve, the second input port of the third solenoid valve S7 is, for example, communicated with the output port B of the parking brake valve S4, and the output port of the third solenoid valve S7 is, for example, communicated with the left rear wheel brake.
The first input port of the fourth solenoid valve S8 is communicated with the output port a of the service brake valve, for example, the second input port of the fourth solenoid valve S8 is communicated with the output port B of the parking brake valve S4, for example, and the output port of the fourth solenoid valve S8 is communicated with the right rear wheel side brake, for example.
When the solenoid valves S5, S6, S7, and S8 are energized, the solenoid valves S5, S6, S7, and S8 communicate the second input port with the output port, and when the solenoid valves S5, S6, S7, and S8 are de-energized, the solenoid valves S5, S6, S7, and S8 communicate the first input port with the output port. For example, when the power is supplied to S5, the second input port P is communicated with the output port a, that is, when the parking brake oil is output from the output port B of the parking brake valve S4, the parking brake oil is output to the output port a through the second input port P of S5, and finally flows to the left front wheel brake to realize braking of the left front wheel ZQL. When the power of the S5 is lost, the first input oil port T is communicated with the output oil port A, namely under the condition that the output oil port A of the service brake valve XZF outputs service brake oil at the moment, the service brake oil is output to the output oil port A through the first input oil port T of the S5 and finally flows to the left front wheel brake to realize the braking of the left front wheel ZQL.
The service braking process for an off-road tire crane of an example of the present invention in the case where the tank turn around mode is not enabled is as follows: after the brake pedal is stepped on, the hydraulic oil of two input oil ports P of the service brake valve XZF, that is, the service brake oil, passes through two output oil ports a and the four electromagnetic valves S5, S6, S7 and S8 of the front axle QQ and the rear axle HQ, and reaches the corresponding wheel brakes, that is, the left front wheel tire brake, the right front wheel brake, the left rear wheel brake and the right rear wheel brake (not shown in the figure), and the wheel brakes can be wheel disc brakes, for example, so as to realize service braking.
The parking brake process of the off-road tire crane of the invention example is as follows: when the hand brake is released, the parking brake valve S4 is powered, the hydraulic oil of the input oil port P of the parking brake valve S4, that is, the parking brake oil, reaches the parking brake ZCQ through the output oil port B, and at this time, the parking brake ZCQ does not brake and the vehicle can run. When the hand brake is pulled up, the parking brake valve S4 is de-energized, at the moment, the oil is drained from the parking brake ZCQ for braking, and the vehicle cannot be driven.
In a driving state, namely when a hand brake is in a down state, the parking brake valve S4 is electrified, hydraulic oil of an input oil port P of the parking brake valve S4, namely the parking brake oil, is output through an output oil port B and also reaches P ports of four electromagnetic valves S5, S6, S7 and S8 to supply oil to S5, S6, S7 and S8, and the parking brake oil is controlled to be electrified by controlling the S5, the S6, the S7 and the S8, so that the braking of each wheel can be controlled.
Specifically, when it is detected that the steering of the wild-type crane is left steering, the control steps S5 and S7 are powered on, and the control steps S6 and S8 are powered off, and the control steps S5 and S7 output the parking brake oil communicated with the port P to the left front wheel ZQL and the left rear wheel ZHL through the port a for braking, and the left turning radius is reduced by braking the left side wheel. And when the power is lost in S6 and S8, S6 and S8 select the first input oil port to be communicated with the output oil port, and at the moment, if the pedal is stepped, the service brake oil is output by the service brake valve XZF, and then the service brake oil is output to the right front wheel YQL and the right rear wheel YHL to realize the service brake effect to be realized, namely, the service brake effect caused by stepping on the pedal during left turning under the condition that the tank turning mode is started is the brake effect of only executing the pedal by the right wheel.
When the steering of the wild tire crane is detected to be right steering, S6 and S8 are controlled to be powered on, S5 and S7 are controlled to be powered off, and S6 and S8 output parking brake oil communicated with the P port to the right front wheel YQL and the right rear wheel YHL for braking. By braking the right wheel, the right turn radius is reduced. And when the power is lost in the S5 and the S7, the S5 and the S7 select the first input oil port to be communicated with the output oil port, and at the moment, if the pedal is stepped, the service brake valve outputs service brake oil, the service brake oil is output to the front left wheel ZQL and the rear left wheel ZHL to realize the service brake effect to be realized, namely, the service brake effect caused by stepping on the pedal during right turning under the condition that the tank turning mode is started is the brake effect of only executing the pedal by the left wheel.
As shown in fig. 2B, the brake hydraulic system of the off-road tire crane according to the example of the present invention further includes, for example, accumulators XN1 and XN2, a charging valve CYF, a brake pump ZDB, etc., and specific connection relationships and functions thereof can be referred to fig. 2B and the related description in the prior art, which are not repeated herein.
In summary, the foregoing embodiments of the present invention realize a tank turning mode used in combination with a front wheel steering mode, a rear wheel steering mode, and a four-wheel steering mode, so that the turning radius is reduced. The vehicle can be turned around and steered quickly in narrow and small working occasions such as complex and narrow driving road conditions.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (15)
1. A control method for a tire crane, the tire crane including a front left wheel, a front right wheel, a rear left wheel, a rear right wheel, and a steering gear, the control method comprising:
determining whether a tank turning mode of the tire crane is on;
acquiring a steering mode of the tire crane under the condition that the tank turning mode is started;
determining the steering of the steering gear under the condition that the steering mode is a preset steering mode;
braking the left front wheel and the left rear wheel in a case where the steering is left turn; and
and braking the right front wheel and the right rear wheel when the steering is a right turn.
2. The control method according to claim 1, wherein the tire crane further includes a tank turning mode switch, and the determining whether the tank turning mode of the tire crane is on includes:
determining whether a tank turning mode starting signal output by the tank turning mode switch is received; and
and under the condition of receiving the tank turning mode starting signal, determining that the tank turning mode is started.
3. The control method according to claim 1, wherein the tire crane further includes a steering mode selection switch, and the acquiring of the steering mode of the tire crane includes:
acquiring a steering mode selection signal output by the steering mode selection switch; and
and determining the steering mode according to the steering mode selection signal.
4. The control method according to claim 1, characterized in that the preset steering mode is selected from any one of the following steering modes:
a front wheel steering mode;
a rear wheel steering mode; and
four-wheel steering mode.
5. The control method according to claim 1, wherein the determining the steering of the steering gear includes:
acquiring a pressure value of a left steering oil port of the steering gear and a pressure value of a right steering oil port of the steering gear;
determining that the steering is left-turning under the condition that the pressure value of the left-turning oil port is greater than a preset pressure value; and
and under the condition that the pressure value of the right steering oil port is greater than the preset pressure value, determining that the steering is right steering.
6. The control method according to claim 5, wherein the tire crane further comprises a left steering pressure sensor and a right steering pressure sensor, the left steering pressure sensor is communicated with a left steering oil port of the steering gear, the right steering pressure sensor is communicated with a right steering oil port of the steering gear, and the obtaining of the pressure value of the left steering oil port of the steering gear and the pressure value of the right steering oil port of the steering gear comprises:
acquiring a detection electric signal of the left steering pressure sensor and a detection electric signal of the right steering pressure sensor;
determining the pressure value of the left steering oil port according to the detection electric signal of the left steering pressure sensor; and
determining the pressure value of the right steering oil port according to the detection electric signal of the right steering pressure sensor;
the detection electric signal of the left steering pressure sensor is related to the pressure value of the left steering oil port, and the detection electric signal of the right steering pressure sensor is related to the pressure value of the right steering oil port.
7. The control method according to claim 1, wherein the tire crane further comprises:
a service brake valve;
a parking brake valve;
a left front wheel rim brake;
a right front wheel rim brake;
a left rear wheel hub brake;
a right rear wheel hub brake;
a first input oil port of the first electromagnetic valve is communicated with an output oil port of the service brake valve, a second input oil port of the first electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the first electromagnetic valve is communicated with the left front wheel side brake;
a first input oil port of the second electromagnetic valve is communicated with an output oil port of the service brake valve, a second input oil port of the second electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the second electromagnetic valve is communicated with the right front wheel side brake;
a first input oil port of the third electromagnetic valve is communicated with an output oil port of the service brake valve, a second input oil port of the third electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the third electromagnetic valve is communicated with the left rear wheel side brake; and
a first input oil port of the fourth electromagnetic valve is communicated with an output oil port of the service brake valve, a second input oil port of the fourth electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the fourth electromagnetic valve is communicated with the right rear wheel side brake;
the braking of the front left wheel and the rear left wheel of the tire crane comprises:
controlling the first control valve and the third control valve to be in a power-on state and the second control valve and the fourth control valve to be in a power-off state so as to brake a left front wheel and a left rear wheel of the tire crane;
the braking of the right front wheel and the right rear wheel of the tire crane comprises:
and controlling the first control valve and the third control valve to be in a power-off state and the second control valve and the fourth control valve to be in a power-on state so as to brake the front right wheel and the rear right wheel of the tire crane.
8. The control method according to claim 7, characterized in that the first solenoid valve, the second solenoid valve, the third solenoid valve, and the fourth solenoid valve are each a two-position three-way solenoid valve.
9. A controller characterized by being configured to execute the control method for a tire crane according to any one of claims 1 to 8.
10. A control device for a tire crane, the tire crane including a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel, the control device comprising:
a diverter; and
the controller of claim 9.
11. The control device according to claim 10, characterized by further comprising: the tank turning mode switch is electrically connected with the controller and used for outputting a tank turning mode starting signal.
12. The control device according to claim 10, characterized by further comprising:
and the steering mode selection switch is electrically connected with the controller and is used for outputting a steering mode selection signal.
13. The control device according to claim 10, characterized by further comprising:
the left steering pressure sensor is communicated with a left steering oil port of the steering gear and is electrically connected with the controller, the left steering pressure sensor is used for detecting the pressure value of the left steering oil port of the steering gear and outputting a detection electric signal, and the detection electric signal of the left steering pressure sensor is related to the pressure value of the left steering oil port; and
the right steering pressure sensor is communicated with a right steering oil port of the steering gear and electrically connected with the controller, the right steering pressure sensor is used for detecting the pressure value of the right steering oil port of the steering gear and outputting a detection electric signal, and the detection electric signal of the right steering pressure sensor is associated with the pressure value of the right steering oil port.
14. The control device according to claim 10, characterized by further comprising:
the service brake valve is used for controlling the output of service brake hydraulic oil;
the parking brake valve is used for controlling the output of parking brake hydraulic oil;
the left front wheel side brake is used for braking the left front wheel;
a right front wheel side brake for braking the right front wheel;
the left rear wheel side brake is used for braking the left rear wheel;
the right rear wheel side brake is used for braking the right rear wheel;
a first input oil port of the first electromagnetic valve is communicated with an output oil port of the service brake valve, a second input oil port of the first electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the first electromagnetic valve is communicated with the left front wheel side brake;
a first input oil port of the second electromagnetic valve is communicated with an output oil port of the service brake valve, a second input oil port of the second electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the second electromagnetic valve is communicated with the right front wheel side brake;
a first input oil port of the third electromagnetic valve is communicated with an output oil port of the service brake valve, a second input oil port of the third electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the third electromagnetic valve is communicated with the left rear wheel side brake; and
and a first input oil port of the fourth electromagnetic valve is communicated with an output oil port of the service brake valve, a second input oil port of the fourth electromagnetic valve is communicated with an output oil port of the parking brake valve, and an output oil port of the fourth electromagnetic valve is communicated with the right rear wheel side brake.
15. A tire crane, comprising:
a left front wheel;
a right front wheel;
a left rear wheel;
a right rear wheel; and
the control device for a tire crane according to any one of claims 10 to 14.
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| CN202111397184.6A CN114194159A (en) | 2021-11-23 | 2021-11-23 | Control method and device for tire crane, controller and tire crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111397184.6A CN114194159A (en) | 2021-11-23 | 2021-11-23 | Control method and device for tire crane, controller and tire crane |
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| CN113511210A (en) * | 2021-06-01 | 2021-10-19 | 北京汽车集团越野车有限公司 | Vehicle control method, vehicle control device and vehicle |
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| JPS63235173A (en) * | 1987-03-23 | 1988-09-30 | Komatsu Ltd | Hydraulic steering device |
| JPH04183684A (en) * | 1990-11-16 | 1992-06-30 | Kubota Corp | Steering operation structure for harvester |
| CN1378938A (en) * | 2001-03-29 | 2002-11-13 | 株式会社小松制作所 | Steering device of track vehicle |
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Application publication date: 20220318 |
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