CN201128436Y - Self-propelled low plate heavy vehicle having independent steering and assembling function - Google Patents
Self-propelled low plate heavy vehicle having independent steering and assembling function Download PDFInfo
- Publication number
- CN201128436Y CN201128436Y CNU2007201490592U CN200720149059U CN201128436Y CN 201128436 Y CN201128436 Y CN 201128436Y CN U2007201490592 U CNU2007201490592 U CN U2007201490592U CN 200720149059 U CN200720149059 U CN 200720149059U CN 201128436 Y CN201128436 Y CN 201128436Y
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Abstract
The utility model relates to a self-propelling type low-bed heavy-duty vehicle with the function of independent steering and joining, which belongs to the transportation field. The self-propelling type low-bed heavy-duty vehicle is characterized by consisting of a hydraulic motor satellite gear steering mechanism (1), an air braking system (2), a driven axle (3), a driving axle (4), a suspension system (5), power modules (6) and a rigid vehicle frame (7); one end of the vehicle frame (7) is jointed with the power modules (6); the lower end of the vehicle frame (7) is provided with the suspension system (5); the suspension system (5) is provided with the driving axle (4) or is provided with the driven axle (3); the driven axle (3) is provided with the air braking system (2). The self-propelling type low-bed heavy-duty vehicle can realize reliable and exact steering and cause little abrasion to tyres; steering at any angle and multiple steering modes can be realized and can also be controlled independently; a flat-bed vehicle is provided with a lower loading platform, to increase the trafficability of the vehicle; the flat-bed vehicle has the function of any joining lengthways and transversely; communications is realized among the power modules of the flat-bed vehicle to achieve synchronous coordination among modules; hydraulic drive can realize infinite variable speed.
Description
Technical field:
The invention belongs to traffic and transport field, be particularly related to and a kind ofly have full wheel independent steering and in length and breadth to the low dull and stereotyped heavy goods vehicle of the self-propelled of splicing function, this car is obtaining low flat-bed simultaneously, can finish the independent steering function, carry out the multiple pattern that turns to, in narrow space, have more alerting ability and manoevreability.
Background technology:
At present, the self-propelled that is used for running such as material equipment in transportation of big part or the factory building workshop hangs down flat bed transport vehicle, the general oil cylinder pushing drawing rod linked steering that adopts, this system is made up of steering cylinder, spindle arm and pull bar etc., under the promotion of steering cylinder, realize the function that turns to of each wheel shaft by the interlock between the pull bar.This steering swivel system turn radius is big, turns to clumsiness, and the axis of each axis tire is met at a bit, does not realize the pure rolling of each tire, and is serious to wear on tyres, do not have the independent steering function.Simultaneously pull bar turns to when splicing in length and breadth, along with wheels and axis quantity in the increase of direction in length and breadth, its turning efficiency is more abominable, has had a strong impact on the performance of car load, has increased the weight of Tyte Wear, increases the maintenance cost of vehicle; And when splicing, need adjust each draw rod positions, waste time and energy.In order to make flat bed transport vehicle have more flexible property at narrow space, not only require vehicle platform can realize functions such as lifting and leveling, and require its can realize such as walk crosswise, diagonal, pivot stud, yaw or the abundant pattern that turns to such as wag the tail, finish complicated job task requirement to adapt to narrow and small factory building and camp site, this just requires the self-propelled flat truck should possess full wheel independent steering function.Transportation for main equipment or goods, need flat bed transport vehicle to have wideer longer loading platform, this just requires this vehicle should possess in length and breadth ability to any splicing, the realization of this function is had higher requirement to steering swivel system, along with the increase of module, the pull bar steering swivel system can not satisfy the requirement that turns to of self-propelled flat bed transport vehicle far away.
Summary of the invention
The objective of the invention is to make flat truck obtain lower loading platform simultaneously, and have and splice function in length and breadth in order to solve the problem that the pull bar steering swivel system exists.
A kind of low dull and stereotyped heavy goods vehicles of self-propelled with independent steering and splicing function is made up of HM Hydraulic Motor planetary steering device 1, air braking system 2, driven vehicle bridge 3, driving vehicle bridge 4, suspension 5, power plant module 6, rigid-frame 7.HM Hydraulic Motor planetary steering device 1 comprises driving planet circular system 12, HM Hydraulic Motor 13, angular encoder 14; Power plant module 6 comprises driving engine 8, controllable capacity pump 9, multichannel solenoid electric valve 10, control unit 11.One end of vehicle frame 7 splices mutually with power plant module 6; The lower end of vehicle frame 7 is equipped with suspension 5, and suspension 5 is installed and driven vehicle bridge 4 or driven vehicle bridge 3 is installed; On the driven vehicle bridge 3 air braking system 2 is installed.The canine tooth wheel disc and the vehicle frame 7 that drive planet circular system 12 are used bolt, and miniature gears is connected with HM Hydraulic Motor 13 with key, at the centre of gration setting angle coder 14 that hangs, are used for monitoring the suspension steering angle.Driving is when turning to, and control unit 11 is calculated the steering angle that each wheels needs by analysis meter after receiving the turn sign that telecommand equipment or control handle send, and this steering angle is converted into electric signal controls multichannel solenoid electric valve 10; Driving engine 8 drives controllable capacity pump 9, and the hydraulic oil that 10 controls of multichannel solenoid electric valve are carried by controllable capacity pump 9 drives HM Hydraulic Motor 13, drives planet circular system 12 then, finishes handling maneuver thereby drive suspension 5 rotations.Simultaneously, in the process that turns to, the angular encoder 14 that is installed in each suspension 5 centre of gration detects the actual steering of suspension 5 separately in real time, when deviation appears in actual steering and theoretical steering, correct in real time by control system, turn to thereby reach precisely.
When AD HOC turns to, to turn to the pattern knob to get to corresponding position, this moment, this button was with digital signal Input Control Element 11, control unit 11 sends digital signal to multichannel solenoid electric valve 10 through calculating the back, the flow and the rotating speed of multichannel solenoid electric valve 10 modulated pressure motors make each suspension 5 change special angle.Angular encoder 14 feeds back to control unit 11 to the actual steering angle of each suspension 5, and when each suspension 5 forwards the desired position to, control unit 11 sends instruction, and the locking steering position turns to thereby finish AD HOC.
When flat truck needs in length and breadth to splicing,, can realize the full wheel independent steering function of each module by revising the control program of control unit 11.
Advantage of the present utility model is: (1) flat truck adopts fluid motor-driven planet circular system steering hardware, turn to reliable, accurately, little to wear on tyres, can realize turning at any angle and the multiple pattern that turns to, and can control separately; (2) can make flat truck obtain lower loading platform, strengthen the crossing ability of vehicle; (3) this flat board vehicle has in length and breadth to any splicing function; (4) can realize communication between the power plant module of flat truck, finish the intermodule coordinate synchronization; (5) hydraulic-driven can realize stepless change, has saved traditional driving systems such as change speed gear box.
Description of drawings
Fig. 1 is the low dull and stereotyped heavy goods vehicles of self-propelled with independent steering and splicing function of the present invention
Fig. 2 is a motor planetary steering device of the present invention
Fig. 3 is a power plant module of the present invention
Fig. 4 is driving wheels of the present invention
Fig. 5 is driven wheels of the present invention and air braking system
The specific embodiment
A kind of low dull and stereotyped heavy goods vehicles of self-propelled with independent steering and splicing function is made up of HM Hydraulic Motor planetary steering device 1, air braking system 2, driven vehicle bridge 3, driving vehicle bridge 4, suspension 5, power plant module 6, rigid-frame 7.HM Hydraulic Motor planetary steering device 1 comprises driving planet circular system 12, HM Hydraulic Motor 13, angular encoder 14; Power plant module 6 comprises driving engine 8, drives controllable capacity pump 9, multichannel solenoid electric valve 10, control unit 11.One end of vehicle frame 7 splices mutually with power plant module 6; The lower end of vehicle frame 7 is equipped with suspension 5, and suspension 5 is equipped with and drives vehicle bridge 4 or driven vehicle bridge 3 is installed; On the driven vehicle bridge 3 air braking system 2 is installed.The canine tooth wheel disc and the vehicle frame 7 that drive planet circular system 12 are used bolt, and miniature gears is connected with HM Hydraulic Motor 13 with key, at the centre of gration setting angle coder 14 that hangs, are used for monitoring the suspension steering angle.Driving is when turning to, and control unit 11 is calculated the steering angle that each wheels needs by analysis meter after receiving the turn sign that telecommand equipment or control handle send, and this corner is converted into electric signal passes to multichannel solenoid electric valve 10; Driving engine 8 drives controllable capacity pump 9, and the hydraulic oil that 10 controls of multichannel solenoid electric valve are carried by controllable capacity pump 9 drives HM Hydraulic Motor 13, drives planet circular system 12 then, finishes handling maneuver thereby drive suspension 5 rotations.Simultaneously, in the process that turns to, the angular encoder 14 that is installed in each suspension 5 centre of gration detects the actual steering of suspension 5 separately in real time, when deviation appears in actual steering and theoretical steering, correct in real time by control system, turn to thereby reach precisely.
When AD HOC turns to, to turn to the pattern knob to get to corresponding position, this moment, this button was with digital signal Input Control Element 11, control unit 11 sends digital signal to multichannel solenoid electric valve 10 through calculating the back, the flow and the rotating speed of multichannel solenoid electric valve 10 modulated pressure motors make each suspension 5 change special angle.Angular encoder 14 feeds back to control unit 11 to the actual steering angle of each suspension 5, and when each suspension 5 forwards the desired position to, control unit 11 sends instruction, and the locking steering position turns to thereby finish AD HOC.
When flat truck needs in length and breadth to splicing,, can realize the full wheel independent steering function of each module by revising the control program of control unit 11.
Claims (3)
1. the low dull and stereotyped heavy goods vehicles of self-propelled with independent steering and splicing function is characterized in that self-propelled hangs down dull and stereotyped heavy goods vehicles and is made up of HM Hydraulic Motor planetary steering device (1), air braking system (2), driven vehicle bridge (3), driving vehicle bridge (4), suspension (5), power plant module (6), rigid-frame (7); One end of vehicle frame (7) splices mutually with power plant module (6); The lower end of vehicle frame (7) is equipped with suspension (5), and suspension (5) is equipped with and drives vehicle bridge (4) or driven vehicle bridge (3) is installed; Air braking system (2) is installed on the driven vehicle bridge (3).
2. a kind of according to claim 1 low dull and stereotyped heavy goods vehicles of self-propelled with independent steering and splicing function is characterized in that HM Hydraulic Motor planetary steering device (1) comprises driving planet circular system (12), HM Hydraulic Motor (13), angular encoder (14); The canine tooth wheel disc and the vehicle frame (7) that drive planet circular system (12) are used bolt, and miniature gears is connected with HM Hydraulic Motor (13) with key, at the centre of gration setting angle coder (14) that hangs, are used for monitoring the suspension steering angle.
3. a kind of as claimed in claim 1 or 2 low dull and stereotyped heavy goods vehicles of self-propelled with independent steering and splicing function is characterized in that power plant module (6) comprises driving engine (8), controllable capacity pump (9), multichannel solenoid electric valve (10), control unit (11); Control unit (11) is passed to multichannel solenoid electric valve (10) with electric signal; Driving engine (8) drives controllable capacity pump (9), and the hydraulic oil that multichannel solenoid electric valve (10) control is carried by controllable capacity pump (9) drives HM Hydraulic Motor (13), drives planet circular system (12) then, finishes handling maneuver thereby drive suspension (5) rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201490592U CN201128436Y (en) | 2007-05-09 | 2007-05-09 | Self-propelled low plate heavy vehicle having independent steering and assembling function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201490592U CN201128436Y (en) | 2007-05-09 | 2007-05-09 | Self-propelled low plate heavy vehicle having independent steering and assembling function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201128436Y true CN201128436Y (en) | 2008-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201490592U Expired - Fee Related CN201128436Y (en) | 2007-05-09 | 2007-05-09 | Self-propelled low plate heavy vehicle having independent steering and assembling function |
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| CN (1) | CN201128436Y (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101722984A (en) * | 2009-11-04 | 2010-06-09 | 威海广泰空港设备股份有限公司 | Walking and steering control device of large platform lorry |
| CN102030050A (en) * | 2010-11-29 | 2011-04-27 | 长春轨道客车股份有限公司 | Striding method of large component of vehicle body |
| CN102514519A (en) * | 2011-12-29 | 2012-06-27 | 苏州大方特种车股份有限公司 | Drilling machine transport vehicle |
| CN103561986A (en) * | 2011-03-25 | 2014-02-05 | 本田技研工业株式会社 | System and method for controlling a trailer connected to a vehicle |
| CN104608622A (en) * | 2015-01-29 | 2015-05-13 | 苏州大方特种车股份有限公司 | Electro-hydraulic combination drive carrier |
| CN106043102A (en) * | 2016-07-04 | 2016-10-26 | 上海天演建筑物移位工程股份有限公司 | Self-propelled hydraulic flatbed transportation system and method |
| CN110356491A (en) * | 2019-07-14 | 2019-10-22 | 菏泽京九特种汽车有限公司 | A kind of self-traveling module transportation vehicle drive system |
| CN111137204A (en) * | 2020-01-17 | 2020-05-12 | 广东冠粤路桥有限公司 | T-shaped long-beam short-distance transport tool and using method thereof |
| CN114275525A (en) * | 2021-12-30 | 2022-04-05 | 苏州华明智能科技有限公司 | Combined type intelligent robot |
-
2007
- 2007-05-09 CN CNU2007201490592U patent/CN201128436Y/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101722984A (en) * | 2009-11-04 | 2010-06-09 | 威海广泰空港设备股份有限公司 | Walking and steering control device of large platform lorry |
| CN101722984B (en) * | 2009-11-04 | 2012-09-26 | 威海广泰空港设备股份有限公司 | Walking and steering control device of large platform lorry |
| CN102030050A (en) * | 2010-11-29 | 2011-04-27 | 长春轨道客车股份有限公司 | Striding method of large component of vehicle body |
| CN103561986A (en) * | 2011-03-25 | 2014-02-05 | 本田技研工业株式会社 | System and method for controlling a trailer connected to a vehicle |
| CN103561986B (en) * | 2011-03-25 | 2015-04-29 | 本田技研工业株式会社 | System and method for controlling a trailer connected to a vehicle |
| CN102514519A (en) * | 2011-12-29 | 2012-06-27 | 苏州大方特种车股份有限公司 | Drilling machine transport vehicle |
| CN104608622A (en) * | 2015-01-29 | 2015-05-13 | 苏州大方特种车股份有限公司 | Electro-hydraulic combination drive carrier |
| CN104608622B (en) * | 2015-01-29 | 2017-11-07 | 苏州大方特种车股份有限公司 | Electro-hydraulic combination drive carrier |
| CN106043102A (en) * | 2016-07-04 | 2016-10-26 | 上海天演建筑物移位工程股份有限公司 | Self-propelled hydraulic flatbed transportation system and method |
| CN110356491A (en) * | 2019-07-14 | 2019-10-22 | 菏泽京九特种汽车有限公司 | A kind of self-traveling module transportation vehicle drive system |
| CN111137204A (en) * | 2020-01-17 | 2020-05-12 | 广东冠粤路桥有限公司 | T-shaped long-beam short-distance transport tool and using method thereof |
| CN114275525A (en) * | 2021-12-30 | 2022-04-05 | 苏州华明智能科技有限公司 | Combined type intelligent robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081008 Termination date: 20100509 |
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| CF01 | Termination of patent right due to non-payment of annual fee |