CN115320705A - Steering system of road roller and control method thereof - Google Patents

Steering system of road roller and control method thereof Download PDF

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Publication number
CN115320705A
CN115320705A CN202210888194.8A CN202210888194A CN115320705A CN 115320705 A CN115320705 A CN 115320705A CN 202210888194 A CN202210888194 A CN 202210888194A CN 115320705 A CN115320705 A CN 115320705A
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CN
China
Prior art keywords
steering
controller
steering system
emergency
oil cylinder
Prior art date
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Pending
Application number
CN202210888194.8A
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Chinese (zh)
Inventor
谭佐州
陈云宇
黄晓
张国新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LIUGONG WUXI ROAD SURFACE MACHINERY CO Ltd
Original Assignee
LIUGONG WUXI ROAD SURFACE MACHINERY CO Ltd
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Publication date
Application filed by LIUGONG WUXI ROAD SURFACE MACHINERY CO Ltd filed Critical LIUGONG WUXI ROAD SURFACE MACHINERY CO Ltd
Priority to CN202210888194.8A priority Critical patent/CN115320705A/en
Publication of CN115320705A publication Critical patent/CN115320705A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • 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
    • 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
    • B62D5/062—Details, component parts
    • 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
    • B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
    • 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
    • B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
    • B62D5/12—Piston and cylinder
    • 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
    • B62D5/20—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle specially adapted for particular type of steering gear or particular application
    • 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
    • B62D5/20—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle specially adapted for particular type of steering gear or particular application
    • B62D5/28—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle specially adapted for particular type of steering gear or particular application for pivoted bogies
    • 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
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

The invention discloses a steering system of a road roller and a control method thereof, wherein the steering system comprises a hydraulic steering system and a steering gear, the hydraulic steering system and the steering gear are arranged between a front frame and a rear frame which are hinged with each other, and the steering gear controls the relative swing angle of the front frame and the rear frame through the hydraulic steering system; the hydraulic steering system comprises a steering oil cylinder and an electric control steering proportional valve, and the electric control steering proportional valve controls the stretching of the steering oil cylinder; the steering oil cylinder is provided with a piston rod stretching quantity sensor, the steering gear is provided with a steering angle sensor, a controller is arranged between the hydraulic steering system and the steering gear, and the controller controls the opening of the electric control steering proportional valve according to signals of the steering angle sensor and the piston rod stretching quantity sensor. Has the beneficial effects that: the steering angle of the whole machine and the rotation angle of the steering wheel are controlled to be synchronous, so that the response speed of a steering system is improved, the obstacle avoidance capability of the whole machine is improved, and the operation intensity of an operator can be reduced. The reliability of the steering system is improved by arranging the emergency steering system.

Description

Steering system of road roller and control method thereof
Technical Field
The invention relates to a component of a road roller and a control method thereof, in particular to a steering system of the road roller and a control method thereof, belonging to the technical field of engineering machinery.
Background
The road roller is also called soil compactor, which is a kind of road repairing equipment. The road roller belongs to the field of road equipment in engineering machinery, is widely used for the filling compaction operation of large engineering projects such as high-grade highways, railways, airport runways, dams, stadiums and the like, and can roll sandy, semi-viscous and viscous soil, roadbed stabilized soil and asphalt concrete pavement layers. The roller is suitable for various compaction operations under the action of the gravity of the machine, so that the compacted layer is permanently deformed and compacted.
The steering system of the existing road roller is a traditional hinged steering system, a steering device is driven by rotating a steering wheel, the telescopic motion of a steering oil cylinder is controlled, a front frame and a rear frame are pushed to form a steering angle, the steering angle of the whole vehicle and the number of turns of the steering wheel are not in a fixed relation, and the steering system is a great challenge for a beginner by relying on the experience of an operator. In addition, the weight of the road roller is generally larger, some machines can reach 40 tons, steel wheels of most machines are driven wheels, the braking distance is longer, when an emergency situation occurs, besides emergency braking, the rapid response of a steering system is also a very important obstacle avoidance means, a traditional steering wheel needs to rotate 3-4 circles to adjust the steering angle to the maximum angle, the response speed of the steering system is slower, and the obstacle avoidance capability of the whole machine is influenced. For a single steel wheel road roller for roadbed construction, due to the reasons of larger weight, uneven working surface, low working speed and the like, the traditional steering mode operation force is much larger than that of a common machine, the labor intensity of a driver is increased during long-time operation, and the fatigue of personnel is caused.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the problems in the prior art and provides a steering system of a road roller and a control method thereof.
The technical scheme is as follows: a steering system of a road roller comprises a hydraulic steering system and a steering gear, wherein the hydraulic steering system and the steering gear are arranged between a front frame and a rear frame which are hinged with each other; the hydraulic steering system comprises a steering oil cylinder and an electric control steering proportional valve, and the electric control steering proportional valve controls the steering oil cylinder to stretch; the steering oil cylinder is provided with a piston rod stretching quantity sensor, the steering gear is provided with a steering angle sensor, a controller is arranged between the hydraulic steering system and the steering gear, and the controller controls the opening of the electric control steering proportional valve according to signals of the steering angle sensor and the piston rod stretching quantity sensor.
The steering angle of the steering gear is monitored by the steering angle sensor, a steering signal measured by the steering angle sensor is used as an input signal to send a steering instruction to the controller, the controller is converted into the expansion amount of a piston rod of the steering oil cylinder according to a preset calculation program, the controller sends a control signal to the electric control steering proportional valve according to the conversion result, the electric control steering proportional valve supplies oil to the steering oil cylinder to realize steering, the piston rod expansion amount sensor monitors the expansion amount of the piston rod of the steering oil cylinder, the expansion amount which is not obtained by the piston rod expansion amount sensor is fed back to the controller as a result, and the on-off of the electric control steering proportional valve is controlled according to the feedback condition of the piston rod expansion amount sensor, so that the steering angle of the whole steering gear and the steering gear are kept synchronous.
The invention not only improves the response speed of the steering system, but also improves the sensitivity of the whole machine in an emergency due to the high response speed of the steering system, avoids serious accidents, and simultaneously reduces the operation difficulty of an operator due to the synchronization of the steering angle of the whole machine and the rotating angle of the steering wheel.
Preferably, in order to prevent serious accidents caused by the failure of the steering system and further improve the reliability of the steering system, the hydraulic steering system comprises a mechanical steering valve and an emergency steering electromagnetic valve which are connected with the electric control steering proportional valve in parallel, the mechanical steering valve is mechanically connected with a steering gear, the emergency steering electromagnetic valve is a two-position three-way electromagnetic valve and is in control connection with a controller, and a main oil supply path of the hydraulic steering system is respectively communicated with the electric control steering proportional valve and the mechanical steering valve through the emergency steering electromagnetic valve. When a steering system breaks down, the emergency steering electromagnetic valve is powered off, the mechanical steering valve is connected to the main oil supply way, an operator directly controls the mechanical steering valve through the steering gear to complete emergency steering, and shutdown troubleshooting is carried out in time, so that accidents caused by the fact that the steering system breaks down are avoided, risks of accidents when the whole machine breaks down are reduced, and meanwhile, safety of the operator and the public is guaranteed.
Preferably, in order to supply power to the steering angle sensor and the piston rod stretching amount sensor, the controller comprises a sensor power supply input port and a sensor grounding port; the controller supplies power to the steering angle sensor and the piston rod stretching amount sensor through the sensor power supply input port and the sensor grounding port respectively.
Preferably, in order to control the steering oil cylinder through the electric control steering proportional valve so as to control the left turn or the right turn of the whole machine, the controller comprises a left turn signal port and a right turn signal port; and the controller respectively sends control signals to the electric control steering proportional valve through the left-turn signal port and the right-turn signal port.
Preferably, in order to accurately obtain the steering angle of the steering gear in real time, the controller comprises a steering gear steering angle signal port; and the controller receives a steering angle signal of the steering gear measured by the steering angle sensor through a steering angle signal port of the steering gear.
Preferably, in order to accurately acquire the state of the steering oil cylinder in real time, the controller comprises an oil cylinder state signal port; and the controller receives an oil cylinder state signal measured by the piston rod stretching amount sensor through an oil cylinder state signal port.
Preferably, in order to realize the switching of the working state of the emergency steering electromagnetic valve, the controller comprises an emergency turning switching signal port; and the controller sends a switching signal to the emergency steering electromagnetic valve through the emergency turning switching signal port.
Preferably, in order to reduce the speed of the whole machine in time when the steering system breaks down, the controller comprises a deceleration signal port, the whole road roller is provided with a whole vehicle speed controller, and the controller sends a deceleration signal to the whole vehicle speed controller through the deceleration signal port.
A control method for a steering system of a road roller, comprising the steps of:
the method comprises the following steps that firstly, a system is started, after the whole machine is started, a controller carries out system self-checking, the second step is carried out when the system works normally, and the third step is carried out when the system has faults;
step two, the electric control steering system works, the controller energizes the emergency steering electromagnetic valve, and the electric control steering proportional valve is connected to a main oil supply path of the hydraulic steering system through the emergency steering electromagnetic valve; the controller converts the rotating angle of the steering gear measured by the steering angle sensor into the telescopic length of the piston rod of the steering oil cylinder according to the relation between the rotating angle of the steering gear and the hinged point position, the controller controls the telescopic length of the piston rod of the steering oil cylinder by controlling the current of the electric control steering proportional valve, the piston rod telescopic amount sensor monitors the telescopic amount of the piston rod of the steering oil cylinder, and when the telescopic amount of the piston rod of the steering oil cylinder reaches a set value, the electric control steering proportional valve is powered off, and steering is completed;
step three, the emergency steering system works, when the steering system breaks down, the controller sends a deceleration signal to the speed controller of the whole vehicle through a deceleration signal port, the emergency steering electromagnetic valve is powered off, the mechanical steering valve is connected to a main oil supply way of the hydraulic steering system through the emergency steering electromagnetic valve, the steering gear directly controls the mechanical steering valve to complete emergency steering through a mechanical connection mode, and the whole vehicle stops for fault maintenance; returning to the first step after the fault is eliminated;
step four, stopping the self-checking, finish the operation before stopping the body system to carry on the self-checking, when there is a steering system trouble, the system alarms and reminds and overhauls; when there is no fault, the system shuts down automatically.
Has the beneficial effects that: the invention controls the opening of the electric control steering proportional valve through the controller according to the steering gear angle signal detected by the steering angle sensor, and controls the stretching length of the piston rod of the steering oil cylinder turning left or right through the signals sent to the electric control steering proportional valve through the left steering signal port and the right steering signal port, so that the front frame and the rear frame form a relative swinging angle, then the controller controls the opening of the electric control steering proportional valve through the steering oil cylinder state signal received by the oil cylinder state signal port and detected by the piston rod stretching amount sensor, further the steering angle of the whole machine and the steering wheel rotating angle are kept synchronous, and an emergency steering electromagnetic valve and a mechanical steering valve are also arranged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of a steering system for a road roller according to the invention;
FIG. 2 is a block diagram of the hydraulic steering system of the present invention;
FIG. 3 is a circuit diagram of the controller of the present invention;
FIG. 4 is a flow chart of a control method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1, a steering system of a road roller comprises a hydraulic steering system 3 and a steering gear 4 which are arranged between a front frame 1 and a rear frame 2 which are hinged with each other, wherein the steering gear 4 controls the relative swing angle of the front frame 1 and the rear frame 2 through the hydraulic steering system 3; the hydraulic steering system 3 comprises a steering oil cylinder 31 and an electric control steering proportional valve 32, and the electric control steering proportional valve 32 controls the telescopic motion of the steering oil cylinder 31; the steering oil cylinder 31 is provided with a piston rod stretching amount sensor 33, the steering machine 4 is provided with a steering angle sensor 41, a controller 5 is arranged between the hydraulic steering system 3 and the steering machine 4, and the controller 5 controls the opening degree of the electric control steering proportional valve 32 according to signals of the steering angle sensor 41 and the piston rod stretching amount sensor 33.
When an operator starts the system, the steering gear 4 is rotated, the steering angle sensor 41 sends a steering angle signal of the steering gear 4 to a steering gear steering angle signal port of the controller 5, the controller 5 sends the steering angle signal to the electric control steering proportional valve 32 through a left steering signal port or a right steering signal port, so that the expansion and contraction of the piston rod of the steering oil cylinder 31 are controlled, the movement direction of the whole machine is controlled, and after the expansion and contraction amount of the piston rod reaches a set value, the controller 5 receives the state of the steering oil cylinder 31 measured by the piston rod expansion and contraction amount sensor 33 through an oil cylinder state signal port to control the electric control steering proportional valve 32 to be powered off, so that the steering of the whole machine is completed. The invention not only realizes the synchronization of the steering angle of the whole steering machine and the steering angle of the steering gear box 4, but also improves the response speed of the steering system, reduces the operation difficulty of an operator, and improves the sensitivity of the whole steering machine in an emergency situation because of the existence of the steering system with high response speed, thereby avoiding serious accidents.
As shown in fig. 2, in order to prevent a serious accident caused by a failure of the steering system and further improve the steering reliability, the hydraulic steering system 3 includes a mechanical steering valve 34 and an emergency steering solenoid valve 35 which are connected in parallel with the electric control steering proportional valve 32, the mechanical steering valve 34 is mechanically connected with the steering gear 4, the emergency steering solenoid valve 35 is a two-position three-way solenoid valve and is in control connection with the controller 5, and a main oil supply path of the hydraulic steering system 3 is respectively communicated with the electric control steering proportional valve 32 and the mechanical steering valve 34 through the emergency steering solenoid valve 35.
When the steering system breaks down, the controller 5 sends a deceleration signal to the speed controller 5 of the whole machine through a deceleration signal port, the emergency steering electromagnetic valve 35 is powered off, the steering system is switched to a mechanical mode, the mechanical steering valve 34 is connected to a main oil supply way, an operator directly controls the mechanical steering valve 34 through the steering gear 4 to complete emergency steering, and the emergency steering is stopped for timely fault maintenance, so that accidents caused by the fact that the steering system breaks down are avoided, the risk of accidents when the whole machine breaks down is reduced, and meanwhile, the safety of the operator and the public is guaranteed.
As shown in fig. 3, in order to supply power to the steering angle sensor 41 and the piston rod expansion amount sensor 33, the controller 5 includes a sensor power input port, a sensor ground port; the controller 5 supplies power to the steering angle sensor 41 and the piston rod expansion sensor 33 through a sensor power input port and a sensor ground port, respectively.
In order to control the steering oil cylinder 31 through the electric control steering proportional valve 32 so as to control the left turn or the right turn of the whole machine, the controller 5 comprises a left turn signal port and a right turn signal port; the controller 5 sends control signals to the electrically controlled steering proportional valve 32 through the left-turn signal port and the right-turn signal port, respectively.
In order to accurately obtain the steering angle of the steering gear 4 in real time, the controller 5 comprises a steering gear steering angle signal port; the controller 5 receives a steering angle signal of the steering gear 4 measured by the steering angle sensor 41 through a steering angle signal port of the steering gear.
In order to accurately obtain the state of the steering cylinder 31 in real time, the controller 5 includes a cylinder state signal port; the controller 5 receives a steering cylinder 31 state signal measured by a piston rod expansion and contraction amount sensor 33 through a cylinder state signal port.
In order to realize the switching of the working state of the emergency steering electromagnetic valve 35, the controller 5 comprises an emergency turning switching signal port; and the controller 5 sends a switching signal to the emergency steering electromagnetic valve 35 through an emergency turning switching signal port.
In order to reduce the speed of the whole machine in time when a steering system breaks down, the controller 5 comprises a speed reduction signal port, the whole road roller is provided with a whole vehicle speed controller, and the controller 5 sends a speed reduction signal to the whole vehicle speed controller through the speed reduction signal port.
As shown in fig. 4, a method for controlling a steering system of a road roller comprises the following steps:
step one, starting a system, after the whole machine is started, carrying out system self-checking by a controller 5, entering a step two when the system works normally, and entering a step three when the system has a fault;
step two, the electric control steering system works, the controller 5 energizes the emergency steering electromagnetic valve 35, and the electric control steering proportional valve 32 is connected to a main oil supply way of the hydraulic steering system 3 through the emergency steering electromagnetic valve 35; the controller 5 converts the rotating angle of the steering gear 4 measured by the steering angle sensor 41 and the relation of the hinged point position into the telescopic length of the piston rod of the steering oil cylinder 31, the controller 5 controls the telescopic length of the piston rod of the steering oil cylinder 31 by controlling the current of the electric control steering proportional valve 32, the piston rod telescopic amount sensor 33 monitors the telescopic amount of the piston rod of the steering oil cylinder 31, and when the telescopic amount of the piston rod of the steering oil cylinder 31 reaches a set value, the electric control steering proportional valve 32 is powered off, and the steering is completed;
step three, the emergency steering system works, when the steering system breaks down, the controller 5 sends a deceleration signal to the speed controller of the whole vehicle through a deceleration signal port, meanwhile, the emergency steering electromagnetic valve 35 is powered off, the mechanical steering valve 34 is connected to a main oil supply way of the hydraulic steering system 3 through the emergency steering electromagnetic valve 35, the steering gear 4 directly controls the mechanical steering valve 34 to complete emergency steering through a mechanical connection mode, and the whole vehicle stops for fault maintenance; returning to the step one after the fault is eliminated;
step four, stopping the self-checking, finish the operation before stopping the body system to carry on the self-checking, when there is a steering system trouble, the system alarms and reminds and overhauls; when there is no fault, the system shuts down automatically.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. A steering system of a road roller comprises a hydraulic steering system (3) and a steering gear (4) which are arranged between a front frame (1) and a rear frame (2) which are hinged with each other, wherein the steering gear (4) controls the relative swing angle of the front frame (1) and the rear frame (2) through the hydraulic steering system (3); the method is characterized in that: the hydraulic steering system (3) comprises a steering oil cylinder (31) and an electric control steering proportional valve (32), and the electric control steering proportional valve (32) controls the steering oil cylinder (31) to stretch and retract; the steering system is characterized in that a piston rod stretching quantity sensor (33) is arranged on the steering oil cylinder (31), a steering angle sensor (41) is arranged on the steering machine (4), a controller (5) is arranged between the hydraulic steering system (3) and the steering machine (4), and the controller (5) controls the opening degree of the electric control steering proportional valve (32) according to signals of the steering angle sensor (41) and the piston rod stretching quantity sensor (33).
2. The road roller steering system of claim 1, wherein: the hydraulic steering system (3) comprises a mechanical steering valve (34) and an emergency steering electromagnetic valve (35) which are connected with the electric control steering proportional valve (32) in parallel, the mechanical steering valve (34) is mechanically connected with the steering gear (4), the emergency steering electromagnetic valve (35) is a two-position three-way electromagnetic valve and is in control connection with the controller (5), and a main oil supply path of the hydraulic steering system (3) is respectively communicated with the electric control steering proportional valve (32) and the mechanical steering valve (34) through the emergency steering electromagnetic valve (35).
3. The road roller steering system of claim 2, wherein: the controller (5) comprises a sensor power supply input port and a sensor grounding port; the controller (5) supplies power to the steering angle sensor (41) and the piston rod stretching amount sensor (33) through the sensor power supply input port and the sensor grounding port respectively.
4. A road roller steering system according to claim 3, wherein: the controller (5) comprises a left-turn signal port and a right-turn signal port; and the controller (5) respectively sends control signals to the electric control steering proportional valve (32) through the left-turn signal port and the right-turn signal port.
5. The road roller steering system of claim 4, wherein: the controller (5) comprises a steering angle signal port of a steering gear; the controller (5) receives a steering angle signal of the steering gear measured by the steering angle sensor (41) through a steering angle signal port of the steering gear.
6. The road roller steering system of claim 5, wherein: the controller (5) comprises an oil cylinder state signal port; and the controller (5) receives an oil cylinder state signal measured by the piston rod stretching amount sensor (33) through an oil cylinder state signal port.
7. The road roller steering system of claim 6, wherein: the controller (5) comprises an emergency turn-around switching signal port; and the controller (5) sends a switching signal to the emergency steering electromagnetic valve (35) through an emergency turning switching signal port.
8. The road roller steering system of claim 7, wherein: the controller (5) comprises a deceleration signal port, the whole road roller is provided with a whole vehicle speed controller, and the controller (5) sends a deceleration signal to the whole vehicle speed controller through the deceleration signal port.
9. A method of controlling a steering system for a road roller according to claim 8, comprising the steps of:
step one, starting a system, after the whole machine is started, carrying out system self-check by a controller (5), entering a step two when the system works normally, and entering a step three when the system has a fault;
step two, the electric control steering system works, the controller (5) energizes the emergency steering electromagnetic valve (35), and the electric control steering proportional valve (32) is connected to a main oil supply way of the hydraulic steering system (3) through the emergency steering electromagnetic valve (35); the controller (5) converts the relation between the rotating angle of the steering gear (4) and the hinged point position measured by the steering angle sensor (41) into the telescopic length of the piston rod of the steering oil cylinder (31), the controller (5) controls the telescopic length of the piston rod of the steering oil cylinder (31) by controlling the current of the electric control steering proportional valve (32), the piston rod telescopic amount sensor (33) monitors the telescopic amount of the piston rod of the steering oil cylinder (31), and when the telescopic amount of the piston rod of the steering oil cylinder (31) reaches a set value, the electric control steering proportional valve (32) is powered off, and steering is finished;
step three, the emergency steering system works, when the steering system breaks down, the controller (5) sends a deceleration signal to the speed controller of the whole vehicle through a deceleration signal port, the emergency steering electromagnetic valve (35) is powered off, the mechanical steering valve (34) is connected to a main oil supply way of the hydraulic steering system (3) through the emergency steering electromagnetic valve (35), the steering gear (4) directly controls the mechanical steering valve (34) to complete emergency steering through a mechanical connection mode, and the whole vehicle stops for fault maintenance; returning to the step one after the fault is eliminated;
step four, stopping the self-checking, finish the operation before stopping the body system to carry on the self-checking, when there is a steering system trouble, the system alarms and reminds and overhauls; when there is no fault, the system shuts down automatically.
CN202210888194.8A 2022-07-26 2022-07-26 Steering system of road roller and control method thereof Pending CN115320705A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210888194.8A CN115320705A (en) 2022-07-26 2022-07-26 Steering system of road roller and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210888194.8A CN115320705A (en) 2022-07-26 2022-07-26 Steering system of road roller and control method thereof

Publications (1)

Publication Number Publication Date
CN115320705A true CN115320705A (en) 2022-11-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210888194.8A Pending CN115320705A (en) 2022-07-26 2022-07-26 Steering system of road roller and control method thereof

Country Status (1)

Country Link
CN (1) CN115320705A (en)

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