CN116494757A - Full-drive full-steering control system, control method and gear shifting control method - Google Patents

Full-drive full-steering control system, control method and gear shifting control method Download PDF

Info

Publication number
CN116494757A
CN116494757A CN202310528911.0A CN202310528911A CN116494757A CN 116494757 A CN116494757 A CN 116494757A CN 202310528911 A CN202310528911 A CN 202310528911A CN 116494757 A CN116494757 A CN 116494757A
Authority
CN
China
Prior art keywords
steering
gear shifting
full
drive axle
axle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310528911.0A
Other languages
Chinese (zh)
Inventor
秦震
马士斌
李明
罗小飞
秦健
孙国辉
刘振强
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.)
Xuzhou Xugong Special Construction Machinery Co Ltd
Original Assignee
Xuzhou Xugong Special Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xuzhou Xugong Special Construction Machinery Co Ltd filed Critical Xuzhou Xugong Special Construction Machinery Co Ltd
Priority to CN202310528911.0A priority Critical patent/CN116494757A/en
Publication of CN116494757A publication Critical patent/CN116494757A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/22—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or type of main drive shafting, e.g. cardan shaft
    • 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
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • F16H63/42—Ratio indicator devices

Abstract

The invention discloses a full-drive full-steering control system, a control method and a gear shifting control method. The mechanical box is connected with a front steering drive axle and a rear steering drive axle through universal transmission shafts to carry out full-driving force transmission; the steering gear and the switching valve are connected with the front axle and the rear axle through hydraulic pipelines to carry out full steering control; the gear shifting electromagnetic valve controls gear shifting of the mechanical box through a hydraulic pipeline; the proximity switch assembly is respectively arranged at the front and rear axle steering knuckles and the gear shifting lever of the mechanical box, so that steering centering detection and gear detection are respectively realized, and gear shifting guarantee of the steering one-key back-neutralization mechanical box is realized through a control program. The invention is suitable for various vehicles with all-wheel-drive all-steering and mechanical gear shifting boxes, and has high popularization applicability.

Description

Full-drive full-steering control system, control method and gear shifting control method
Technical Field
The invention relates to the technical field of steering driving and controlling systems of telescopic forklift trucks, in particular to a full-drive full-steering control system capable of realizing one-key return and a mechanical box gear shifting control method controlled by a proximity switch.
Background
The full-drive full-steering control system and the mechanical box gear shifting control method are commonly used in practical applications of telescopic-arm forklifts, similar engineering machinery and trucks, and along with the increasing market competition, the intelligent degree requirement of a vehicle control system is higher and higher; for how to reduce the operation requirement of the vehicle to the customer, the intelligent degree of the whole vehicle is increased, the high-efficiency feedback mechanism of the system is realized, the manufacturing cost is controlled as much as possible, and the method is a problem which needs to be considered by each whole vehicle manufacturer.
In the actual vehicle use process, a driver is required to stop and observe in the steering process of wheels of the vehicle, and the driver needs to observe from a side window of a cab for view reasons, so that the operation is inconvenient and unsafe.
Secondly, in the prior art, a piston rod of a laser detection oil cylinder is used for centering detection, and the piston rod is marked for detection; the gear detection uses the contact switch to be integrated in the reduction gearbox, the structure is complex, the cost is high, and the maintenance is inconvenient; and the gear shifting operation of the mechanical box does not have feedback of the gear shifting state after the gear shifting operation, if the gear shifting is unsuccessful, the vehicle moves forward, and gears in the mechanical box are extremely easy to damage.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a full-drive full-steering control system capable of realizing one-key-back and a mechanical box gear shifting control method controlled by a proximity switch, which is suitable for vehicle requirements of inconvenient wheel observation and gear shifting by using the mechanical box during steering.
In order to achieve the above purpose, the invention adopts the following technical scheme: a full-drive full-steering control system, comprising: the device comprises a front steering drive axle, a front universal transmission shaft, a mechanical gear shifting box, a rear universal transmission shaft, a rear steering drive axle, a proximity switch and a central controller;
the mechanical gear shifting box is connected with the front steering drive axle through a front universal transmission shaft, and is connected with the rear steering drive axle through a rear universal transmission shaft and used for full-driving force transmission;
the steering gear and the electromagnetic directional valve are respectively connected with the front steering drive axle and the rear steering drive axle through hydraulic pipelines and are used for performing full steering control;
the gear shifting electromagnetic valve is connected with gear shifting of the mechanical gear shifting box through a hydraulic pipeline;
the proximity switch includes a first proximity switch assembly,
the steering knuckles of the front steering drive axle and the rear steering drive axle are provided with first proximity switch components, and the first proximity switch components are used for centering detection of the drive axle and transmitting centering detection signals to the central controller;
the central controller is used for receiving the centering detection signal and sending a control signal to control centering or steering.
Further, the steering gear and the electromagnetic directional valve are respectively connected with the front steering drive axle and the rear steering drive axle through hydraulic pipelines, and specifically comprise: the steering gear is characterized in that a P port of the steering gear is connected with pressure oil, a T port of the steering gear is connected with a return oil tank, an L port of the steering gear is connected with a left steering oil port of a rear steering drive axle, an R port of the steering gear is connected with a right steering oil port of the rear steering drive axle in series, and two paths of oil are separated from the electromagnetic steering valve and are respectively connected with the left steering oil port and the right steering oil port of the front steering drive axle.
Further, the first proximity switch assembly includes: a first proximity switch and a first action plate,
the bridge bodies of the front steering drive axle and the rear steering drive axle are respectively provided with a group of first proximity switch assemblies, and the first proximity switches are respectively arranged on the bridge bodies of the front steering drive axle and the rear steering drive axle and are static relative to the bridge bodies;
the first action plate is connected with the steering knuckle, swings along with the steering action of the steering knuckle, and returns to the position above the first proximity switch when the steering returns to the center, so as to trigger the first proximity switch and be used for centering detection.
Further, the proximity switch still includes the second proximity switch subassembly, and the second proximity switch subassembly set up in the gear level department of mechanical gear box, the second proximity switch subassembly includes: two second proximity switches and a second action plate,
the second proximity switches are respectively arranged on the frame, a gear shifting gap is designed between the two second proximity switches, and the second proximity switches are static relative to the box body;
the second action plate is connected with the gear shifting lever, and is deflected along with the gear shifting action of the gear shifting lever, and when the gear shifting is carried out, the second action plate is positioned in a gear shifting gap of the two second proximity switches and moves, and according to the distance between the second action plate and the second proximity switches on two sides, the second proximity switch on one side is triggered and used for gear detection.
The full-drive full-steering control method is characterized by comprising the following steps of:
steering control: a steering mode signal is input to the central controller, the first proximity switch feeds back a steering angle signal, a control signal is sent to the electromagnetic directional valve to drive the steering cylinder of the front steering drive axle or the rear steering drive axle to realize a corresponding steering mode,
and (3) centering control: the central controller inputs a one-key return instruction to finish automatic return of the corresponding steering mode;
the steering mode includes: the front axle single steering mode, the front axle simultaneous steering mode and the front axle crab steering mode.
Further, the front axle single steering mode specific operation includes: the steering control method comprises the steps that a front axle steering command is input to a central controller, the central controller controls an electromagnetic reversing valve to enable a steering oil cylinder of a rear steering drive axle to move towards the middle position, the steering oil cylinder moves to drive a steering knuckle to rotate, a first action plate triggers centering detection and then locks in the middle position to be motionless, independent steering of the front steering drive axle is achieved, and meanwhile steering functions of the rear steering drive axle are canceled.
Further, the front-rear axle simultaneous steering mode specifically includes: the front and rear axle simultaneous steering command is input to the central controller, the central controller enables the steering cylinders of the front steering drive axle and the rear steering drive axle to act towards the middle position through the electromagnetic reversing valve respectively, and after the steering cylinders return to the middle position, the steering cylinders of the rear steering drive axle are controlled to act towards the direction opposite to the steering cylinders of the front steering drive axle, so that the front and rear axles are simultaneously steered, and meanwhile, a front axle steering mode and a crab steering mode are canceled.
Further, the front and rear axle crab steering mode specifically includes: the front and rear axle crab steering instructions are input to the central controller, and the central controller controls the steering cylinders of the rear steering drive axle to act in the opposite direction to the steering cylinders of the front steering drive axle by enabling the steering cylinders of the front steering drive axle and the rear steering drive axle to act in the middle position, so that the rear axle crab steering is realized, and meanwhile, the front axle steering mode and the front and rear axle simultaneous steering mode are canceled.
Further, the central controller inputs a one-key return instruction, and the automatic return of the steering mode is completed specifically includes: the central controller sends a centering instruction, the gear shifting electromagnetic valve acts to control the steering oil cylinders of the front steering drive axle and the rear steering drive axle to act, the steering oil cylinders move to drive the steering knuckle to rotate, and the first action plate triggers centering detection of the first proximity switch and then locks in the middle position to be motionless, so that the whole vehicle turns.
A gear-shifting control method comprises the steps that when a vehicle stops or slowly moves, a gear-shifting switch is used for performing gear-shifting action, a gear-shifting electromagnetic valve is operated by the gear-shifting switch, a gear-shifting lever of a mechanical gear-shifting box is hydraulically controlled by an electromagnetic valve to act, and meanwhile a gear-shifting action signal is sent to a central controller;
if the second proximity switch is triggered after the gear shift lever of the mechanical gear shift box acts, the gear shift is successful, and the vehicle is normally driven;
if the second proximity switch is not triggered after the gear shifting lever of the mechanical gear shifting box acts, the gear shifting is unsuccessful, the gear shifting electromagnetic valve is triggered to return to the neutral gear, and the gear shifting electromagnetic valve is triggered to conduct automatic gear shifting action after the interval of 2 seconds until the gear shifting is successful, and the vehicle runs normally.
The beneficial effects are that: 1. the invention can monitor the steering centering signals of the front steering drive axle and the rear steering drive axle simultaneously, give centering action feedback, and realize the automatic centering action of the tire under any mode of full-drive full-steering control through a one-key centering function; 2, when the one-key centering function is not used, whether the wheels are centered or not can be judged by centering detection feedback signals in the cab, so that a driver is prevented from observing the positions of the wheels through a cab window; 3. the current gear information is fed back immediately, whether the gear shifting is successful is judged for the gear shifting action, if the gear shifting is unsuccessful, the gear is returned to the neutral gear autonomously, and the gear is shifted autonomously once after 2S until the gear shifting is detected to be successful, the program execution is completed, the vehicle is slowly moved or stopped during the gear shifting, the normal running can be realized after the gear shifting is detected to be successful, and the damage to the gear of the mechanical reduction gearbox is avoided.
Drawings
FIG. 1 is an overall schematic of the present invention;
FIG. 2 is a steering hydraulic schematic diagram of the present invention;
FIG. 3 is a schematic illustration of the installation of a bridge steer proximity switch assembly of the present invention;
FIG. 4 is a schematic view of the proximity switch assembly installation at a shift lever of the present invention;
FIG. 5 is a flow chart of a steering control routine of the present invention;
FIG. 6 is a flowchart of a centering control procedure of the present invention;
FIG. 7 is a flowchart of a gear control procedure of the present invention;
in the figure: 1. a front steering drive axle; 2. a front universal drive shaft; 3. a mechanical gear shifting box; 4. a rear universal drive shaft; 5. a rear steering drive axle; 6. a proximity switch; 7. an electromagnetic reversing valve; 8. a diverter; 9. a shift solenoid valve; 10. and a hydraulic oil pipe.
Description of the embodiments
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on embodiments of the present invention, are within the scope of the present invention.
An embodiment as shown in fig. 1: a full-drive full-steering control system, comprising: a front steering drive axle 1, a front universal transmission shaft 2, a mechanical gear shifting box 3, a rear universal transmission shaft 4, a rear steering drive axle 5, a proximity switch 6 and a central controller 11;
the mechanical gear shifting box 3 is connected with the front steering drive axle 1 through a front universal transmission shaft 2, and the mechanical gear shifting box 3 is connected with the rear steering drive axle 5 through a rear universal transmission shaft 4 for full driving force transmission;
the steering gear 8 and the electromagnetic directional valve 7 are respectively connected with the front steering drive axle 1 and the rear steering drive axle 5 through a hydraulic pipeline 10 and are used for performing full steering control;
the gear shifting electromagnetic valve 9 is connected with gear shifting of the mechanical gear shifting box 3 through a hydraulic pipeline 10;
the proximity switch 6 comprises a first proximity switch assembly 61,
the steering knuckles of the front steering drive axle 1 and the rear steering drive axle 5 are provided with a first proximity switch assembly 61, and the first proximity switch assembly 61 is used for centering detection of the drive axles and transmitting centering detection signals to the central controller 11;
the central controller 11 is used for receiving the centering detection signal and sending a control signal to control centering or steering; the proximity switch has a trigger signal when an object is 3-5mm close to the top end.
As shown in fig. 2, the steering gear 8 and the electromagnetic directional valve 7 are respectively connected with the front steering drive axle 1 and the rear steering drive axle 5 through a hydraulic pipeline 10, and specifically include: the P port of the steering gear 8 is connected with pressure oil, the T port is connected with a return oil tank, the L port is connected with a left steering oil port of the rear steering drive axle 5, the R port is connected with a magnetic reversing valve 7 in series and is connected with a right steering oil port of the rear steering drive axle 5, and two paths of oil are separated from the magnetic reversing valve 7 and are respectively connected with the left steering oil port and the right steering oil port of the front steering drive axle 1.
As shown in fig. 3 to 4, the first proximity switch assembly 61 includes: a first proximity switch 611 and a first actuation plate 612,
the first proximity switch 611 is respectively arranged on the bridge bodies of the front steering drive axle 1 and the rear steering drive axle 5 and is static relative to the bridge bodies;
the first action plate 612 is connected with the steering knuckle, swings along with the steering action of the steering knuckle, and returns to the upper side of the first proximity switch 611 when steering back, and triggers the first proximity switch for centering detection;
the dashed line on fig. 3 is a motion indication of the motion of the actuation plate when steering, where the first actuation plate is not above the first proximity switch and does not trigger the proximity switch.
The proximity switch 6 further includes a second proximity switch assembly 62, the second proximity switch assembly 62 is disposed at a gear shift lever of the mechanical gear shift box 3, and the second proximity switch assembly 62 includes: two second proximity switches 621 and a second action plate 622,
the second proximity switches 621 are respectively arranged on the frame, a gear shifting gap is designed between the two second proximity switches 621, and the second proximity switches 621 are static relative to the box body;
the second action plate 622 is connected to a gear shift lever, and deflects along with the gear shift action of the gear shift lever, when the gear shift lever shifts, the second action plate 622 moves in a gear shift gap of the two second proximity switches 621, and according to the distance between the second action plate 622 and the second proximity switches on two sides, the second proximity switch 621 on one side is triggered for gear detection;
in fig. 4, the present position is the second action plate 1 gear position, the proximity switch on the right side is triggered, the left one dotted line is the second gear position, the left side proximity switch is triggered, the left two dotted line is the neutral gear position, and the proximity switch is not triggered.
As shown in fig. 5 to 6, a full-drive full-steering control method is characterized by comprising the following steps:
steering control: a steering mode signal is input to the central controller, the first proximity switch 611 feeds back a steering angle signal, sends out a control signal to the electromagnetic directional valve 7 to drive the steering cylinder of the front steering drive axle 1 or the rear steering drive axle 5 to realize a corresponding steering mode,
and (3) centering control: the central controller inputs a one-key return instruction to finish automatic return of the corresponding steering mode;
the steering mode includes: the front axle single steering mode, the front axle simultaneous steering mode and the front axle crab steering mode.
The front axle individual steering mode specific operation includes: the front axle steering command is input to the central controller, the central controller controls the electromagnetic directional valve 7 to enable the steering oil cylinder of the rear steering drive axle 5 to move towards the middle position, the steering oil cylinder moves to drive the steering knuckle to rotate, the first action plate 612 triggers the centering detection and then locks in the middle position to be motionless, the independent steering of the front steering drive axle 1 is realized, and meanwhile, the steering function of the rear steering drive axle 5 is canceled.
The front and rear axle simultaneous steering mode specifically includes: the front and rear axle simultaneous steering command is input to the central controller, the central controller respectively enables the steering cylinders of the front steering drive axle 1 and the rear steering drive axle 5 to act towards the middle position through the electromagnetic directional valve 7, and after the steering cylinders return to the middle position, the steering cylinders of the rear steering drive axle 5 are controlled to act towards the direction opposite to the steering cylinders of the front steering drive axle 1, so that the front and rear axle simultaneous steering is realized, and meanwhile, the front axle steering mode and the crab steering mode are canceled.
The front and rear axle crab steering mode specifically comprises the following operations: the front and rear axle crab steering instructions are input to the central controller, the central controller enables the steering cylinders of the front steering drive axle 1 and the rear steering drive axle 5 to act towards the middle position through 7, and after the steering cylinders return to the middle position, the steering cylinders of the rear steering drive axle 5 are controlled to act towards the direction opposite to the steering cylinders of the front steering drive axle 1, so that the rear axle crab steering is realized, and meanwhile, the front axle steering mode and the front and rear axle simultaneous steering mode are canceled.
The central controller inputs a one-key return instruction, and the automatic return of the steering mode is completed specifically comprises the following steps: the central controller sends a centering instruction, the gear shifting electromagnetic valve 9 acts to control the steering oil cylinders of the front steering drive axle 1 and the rear steering drive axle 5 to act, the steering oil cylinders move to drive the steering knuckle to rotate, and the first action plate 612 triggers centering detection of the first proximity switch and then locks in the middle position to be motionless, so that the whole vehicle turns.
As shown in fig. 7, in a shift control method, when a vehicle is stopped or slowly moved, a shift action is performed by a shift switch which operates a shift solenoid valve 9 to act, and the solenoid valve 9 hydraulically controls a shift lever action of a mechanical shift box 3 while transmitting a shift action signal to a central controller;
if the second proximity switch is triggered after the gear shift lever of the mechanical gear shift box 3 acts, the gear shift is successful, and the vehicle is normally driven;
if the second proximity switch is not triggered after the gear shifting lever of the mechanical gear shifting box 3 acts, the gear shifting is unsuccessful, the gear shifting electromagnetic valve 9 is triggered to return to the neutral gear, and the gear shifting electromagnetic valve 9 is triggered again to conduct automatic gear shifting action after the interval of 2s until the gear shifting is successful, and the vehicle runs normally.
The mechanical gear shifting box is respectively connected with a front steering drive axle and a rear steering drive axle through universal transmission shafts to carry out full-driving force transmission; the steering gear and the switching valve are connected with the front axle and the rear axle through hydraulic pipelines to carry out full steering control; the gear shifting electromagnetic valve controls gear shifting of the mechanical box through a hydraulic pipeline; the proximity switch assembly is respectively arranged at the steering knuckle of the front axle and the rear axle and the gear shifting lever of the mechanical box, so that steering centering detection and gear detection are respectively realized, and gear shifting guarantee of the steering one-key back-neutralization mechanical box is realized through a control program; the invention is suitable for various vehicles with all-wheel-drive all-steering and mechanical gear shifting boxes, and has high popularization applicability.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "middle", "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Claims (10)

1. A full-drive full-steering control system, comprising: the front steering drive axle (1), a front universal transmission shaft (2), a mechanical gear shifting box (3), a rear universal transmission shaft (4), a rear steering drive axle (5), a proximity switch (6) and a central controller (11);
the mechanical gear shifting box (3) is connected with the front steering drive axle (1) through a front universal transmission shaft (2), and the mechanical gear shifting box (3) is connected with the rear steering drive axle (5) through a rear universal transmission shaft (4) for full-driving force transmission;
the steering gear (8) and the electromagnetic directional valve (7) are respectively connected with the front steering drive axle (1) and the rear steering drive axle (5) through a hydraulic pipeline (10) and are used for performing full steering control;
the gear shifting electromagnetic valve (9) is connected with gear shifting of the mechanical gear shifting box (3) through a hydraulic pipeline (10);
the proximity switch (6) comprises a first proximity switch assembly (61),
the steering knuckles of the front steering drive axle (1) and the rear steering drive axle (5) are provided with first proximity switch assemblies (61), and the first proximity switch assemblies (61) are used for centering detection of the drive axles and transmitting centering detection signals to the central controller (11);
the central controller (11) is used for receiving the centering detection signal and sending a control signal to control centering or steering.
2. The full-drive full-steering control system according to claim 1, wherein the steering gear (8) and the electromagnetic directional valve (7) are respectively connected with the front steering drive axle (1) and the rear steering drive axle (5) through hydraulic pipelines (10) specifically comprises: the P port of the steering gear (8) is connected with pressure oil, the T port is connected with a return oil tank, the L port is connected with a left steering oil port of the rear steering drive axle (5), the R port is connected with an electromagnetic reversing valve (7) in series and is connected with a right steering oil port of the rear steering drive axle (5), and two paths of oil are separated from the electromagnetic reversing valve (7) and are respectively connected with the left steering oil port and the right steering oil port of the front steering drive axle (1).
3. A full drive full steering control system according to claim 1, wherein the first proximity switch assembly (61) comprises: a first proximity switch (611) and a first operation plate (612),
the first proximity switch (611) is respectively arranged on the bridge bodies of the front steering drive axle (1) and the rear steering drive axle (5) and is static relative to the bridge bodies;
the first action plate (612) is connected with the steering knuckle, and swings along with the steering action of the steering knuckle, and when the steering returns, the first action plate (612) returns to the position above the first proximity switch (611) to trigger the first proximity switch for centering detection.
4. A full drive full steering control system according to claim 1, wherein the proximity switch (6) further comprises a second proximity switch assembly (62), the second proximity switch assembly (62) being arranged at a shift lever of the mechanical shift box (3), the second proximity switch assembly (62) comprising: two second proximity switches (621) and a second operation plate (622),
the second proximity switches (621) are respectively arranged on the frame, a gear shifting gap is designed between the two second proximity switches (621), and the second proximity switches are static relative to the box body;
the second action plate (622) is connected with the gear shifting lever, and is deflected along with gear shifting action of the gear shifting lever, when gear shifting is carried out, the second action plate (622) is located in a gear shifting gap of the two second proximity switches (621) to move, and according to the distance between the second action plate (622) and the second proximity switches on two sides, the second proximity switch (621) on one side is triggered and used for gear detection.
5. A full-drive full-steering control method based on the full-drive full-steering control system according to any one of claims 3 to 4, characterized by comprising the following steps:
steering control: a steering mode signal is input to the central controller, a first proximity switch (611) feeds back a steering angle signal, a control signal is sent to an electromagnetic directional valve (7) to drive a steering cylinder of a front steering drive axle (1) or a rear steering drive axle (5) to realize a corresponding steering mode,
and (3) centering control: the central controller inputs a one-key return instruction to finish automatic return of the corresponding steering mode;
the steering mode includes: the front axle single steering mode, the front axle simultaneous steering mode and the front axle crab steering mode.
6. The full-drive full-steering control method according to claim 5, wherein the front axle single-steering mode specific operation comprises: the front axle steering command is input to the central controller, the central controller controls the electromagnetic directional valve (7) to enable the steering oil cylinder of the rear steering drive axle (5) to act towards the middle position, the steering oil cylinder moves to drive the steering knuckle to rotate, the first action plate (612) triggers the centering detection and then locks in the middle position to be motionless, the independent steering of the front steering drive axle (1) is realized, and meanwhile, the steering function of the rear steering drive axle (5) is canceled.
7. The full-drive full-steering control method according to claim 5, wherein the front-rear axle simultaneous steering mode specifically comprises: the front and rear axles simultaneously steering instructions are input to the central controller, the central controller enables steering cylinders of the front steering drive axle (1) and the rear steering drive axle (5) to act towards the middle position through the electromagnetic directional valve (7), and after the steering cylinders return to the middle position, the steering cylinders of the rear steering drive axle (5) are controlled to act towards the direction opposite to the steering cylinders of the front steering drive axle (1), so that the front and rear axles simultaneously steer, and meanwhile, a front axle steering mode and a crab steering mode are canceled.
8. The full-drive full-steering control method according to claim 5, wherein the front and rear axle crab steering mode specifically comprises: the front and rear axle crab steering instructions are input to the central controller, the central controller enables steering cylinders of the front steering drive axle (1) and the rear steering drive axle (5) to act towards the middle position through the central controller, and after the steering cylinders return to the middle position, the steering cylinders of the rear steering drive axle (5) are controlled to act towards the direction opposite to the steering cylinders of the front steering drive axle (1), so that the rear axle crab steering is realized, and meanwhile, a front axle steering mode and a front and rear axle simultaneous steering mode are canceled.
9. The method for controlling full-drive and full-steering according to claim 5, wherein the central controller inputs a one-key return instruction, and the automatic return of the steering mode is completed specifically comprises: the central controller sends a centering instruction, the gear shifting electromagnetic valve (9) acts to control steering oil cylinders of the steering drive axle (1) and the rear steering drive axle (5) to act, the steering oil cylinders move to drive the steering knuckle to rotate, and the first action plate (612) triggers centering detection and then locks in the middle position to be motionless, so that the whole vehicle turns.
10. A shift control method based on the full-drive full-steering control system according to claim 4, characterized in that,
when the vehicle is stopped or slowly moved, a gear shifting action is performed through a gear shifting switch, the gear shifting switch operates a gear shifting electromagnetic valve (9) to act, the electromagnetic valve (9) hydraulically controls a gear shifting lever of a mechanical gear shifting box (3) to act, and meanwhile a gear shifting action signal is sent to a central controller;
if the second proximity switch is triggered after the gear shift lever of the mechanical gear shift box (3) acts, the gear shift is successful, and the vehicle is normally driven;
if the second proximity switch is not triggered after the gear shifting lever of the mechanical gear shifting box (3) acts, the gear shifting is unsuccessful, the gear shifting electromagnetic valve (9) is triggered to return to the neutral gear, and the gear shifting electromagnetic valve (9) is triggered again to conduct automatic gear shifting action after the interval of 2s until the gear shifting is successful, and the vehicle runs normally.
CN202310528911.0A 2023-05-11 2023-05-11 Full-drive full-steering control system, control method and gear shifting control method Pending CN116494757A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310528911.0A CN116494757A (en) 2023-05-11 2023-05-11 Full-drive full-steering control system, control method and gear shifting control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310528911.0A CN116494757A (en) 2023-05-11 2023-05-11 Full-drive full-steering control system, control method and gear shifting control method

Publications (1)

Publication Number Publication Date
CN116494757A true CN116494757A (en) 2023-07-28

Family

ID=87322892

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310528911.0A Pending CN116494757A (en) 2023-05-11 2023-05-11 Full-drive full-steering control system, control method and gear shifting control method

Country Status (1)

Country Link
CN (1) CN116494757A (en)

Similar Documents

Publication Publication Date Title
CN201907559U (en) Six-axle automobile chassis hoisting machine and steering control system thereof
CN102019958B (en) Six-shaft automobile chassis crane and steering control system and method thereof
AU2008253242B2 (en) Three-wheel forklift truck
CN103963825A (en) Steering system and independent suspension wheel type overload vehicle
US3804190A (en) Auxiliary-powered wheel unit for dirigible wheel applications
US4638883A (en) Steering system for automotive vehicle
CN116494757A (en) Full-drive full-steering control system, control method and gear shifting control method
US4394886A (en) Steering gear with steering-arm lever
CA1240293A (en) Hydraulic steering synchronization system
CN115075330B (en) Bidirectional driving steering control system and method and excavator
JPH0344025B2 (en)
US7635036B2 (en) Device for reversing the steering movement of a steering-wheel shaft
JP2009035140A (en) Traveling system for work vehicle
JPS60261779A (en) Fully hydraulic type power steering device
CN112977600B (en) Steering system and vehicle
JP2520486Y2 (en) All-wheel steering system
JPH0627459Y2 (en) Front wheel drive switching detector for 4-wheel drive tractor
CN110053477B (en) Axle device and engineering machinery
JP3753642B2 (en) Work vehicle turning control device
KR20240020808A (en) System of automatic alignment of font and rea wheels for construction machine and method thereof
JPH076066Y2 (en) Steering device for connected vehicles
CN113386854A (en) Vehicle steering system and vehicle
JP3575959B2 (en) Work vehicle travel control device
JP2570530Y2 (en) Vehicle steering system
CN117163152A (en) Steering system and engineering vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination