CN203528598U - Multi-axis grouping steering device and multi-axis vehicle - Google Patents
Multi-axis grouping steering device and multi-axis vehicle Download PDFInfo
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- CN203528598U CN203528598U CN201320698967.2U CN201320698967U CN203528598U CN 203528598 U CN203528598 U CN 203528598U CN 201320698967 U CN201320698967 U CN 201320698967U CN 203528598 U CN203528598 U CN 203528598U
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Abstract
The utility model relates to a multiaxis vehicle turns to technical field, discloses a multiaxis grouping steering device and multiaxis vehicle; the multi-axle grouping steering device comprises a front steering group for controlling the steering of a front wheel set of the multi-axle vehicle and rear steering groups which are in one-to-one correspondence with rear wheel sets of the multi-axle vehicle, and each rear steering group controls the steering of a corresponding rear wheel set; the front steering group comprises a steering rod system driven by a steering wheel of the multi-axle vehicle and a front hydraulic power-assisted system for assisting the steering rod system to act; each rear steering group comprises a steering rod system and a rear hydraulic power assisting system. The steering rod systems of the front steering group and the steering rod systems of the rear steering groups are independently controlled, the front hydraulic power-assisted system of the front steering group and the rear hydraulic power-assisted systems of the rear steering groups are also independently controlled, various steering modes of the multi-axle vehicle can be realized when the front steering group and the rear steering groups are controlled, and the flexibility and the safety of the multi-axle vehicle during steering can be improved.
Description
Technical Field
The utility model relates to a multiaxis vehicle turns to technical field, in particular to multiaxis is divided and is turned to device and multiaxis vehicle.
Background
Along with the improvement of the requirements of various fields on the bearing capacity of the vehicle, the multi-axle vehicle is more and more widely applied.
The maneuverability of a multi-axle vehicle is an important factor in measuring the performance of a multi-axle vehicle, particularly the flexibility and safety of the multi-axle vehicle when steering.
How to provide a multi-axle group steering device capable of improving flexibility and safety when a multi-axle vehicle is steered is one of the technical problems that the technical personnel in the field need to solve urgently.
SUMMERY OF THE UTILITY MODEL
The utility model provides a multiaxis is divided into groups and is turned to device and multiaxis vehicle, this multiaxis is divided into groups and is turned to device and can mention flexibility and security when the multiaxis vehicle turns to.
In order to achieve the above purpose, the utility model provides the following technical scheme:
a multi-axle grouping steering device of a multi-axle vehicle comprises a front steering group for controlling the steering of a front wheel set of the multi-axle vehicle and rear steering groups corresponding to rear wheel sets of the multi-axle vehicle one by one, wherein each rear steering group controls the steering of one corresponding rear wheel set;
the front steering group comprises a steering rod system driven by a steering wheel of the multi-axle vehicle and a front hydraulic power-assisted system for assisting the steering rod system to act, and the front hydraulic power-assisted system comprises a front steering pump, a steering control valve and a front hydraulic power-assisted oil cylinder group which are sequentially connected;
each group of rear steering groups comprises a steering rod system and a rear hydraulic power-assisted system, and the rear hydraulic power-assisted system comprises a rear steering pump, an electro-hydraulic steering control valve group, a rear hydraulic power-assisted oil cylinder group, a centering oil cylinder and a centering oil cylinder control valve; the rear steering pump, the electro-hydraulic steering control valve group and the rear hydraulic power-assisted cylinder group are sequentially connected, the centering cylinder control valve and the centering cylinder are sequentially connected to a centering branch, the oil inlet end of the centering branch is communicated with the oil supply port of the rear steering pump, and the oil outlet end of the centering branch is communicated with the oil return pipeline of the rear hydraulic power-assisted system.
In the steering process of the multi-axle vehicle with the multi-axle group steering device, a steering wheel of the multi-axle vehicle drives and controls a steering rod system in a front steering group steered by a front wheel group, and simultaneously, a valve core of a steering control valve in a front hydraulic power-assisted system of the front steering group is driven to act through the steering wheel so as to control the power-assisted direction of a front hydraulic power-assisted cylinder group in the front hydraulic power-assisted system, and the steering rod system in the front steering group ensures that the delay in steering between steering axles on all wheel shafts in the front wheel group is small and the reliability is high; meanwhile, the opening degree of a valve core of an electro-hydraulic steering control valve group in a rear hydraulic power-assisted system in the rear steering group is adjusted according to required steering mode information so as to control the power-assisted direction of a rear hydraulic power-assisted cylinder group in the rear hydraulic power-assisted system, meanwhile, a steering rod system of each rear steering group can ensure that the delay during steering between steering axles on each wheel shaft in the rear wheel group is small and the reliability is higher, and meanwhile, the steering rod system between each rear steering group is provided by the rear hydraulic power-assisted system in the rear steering group; therefore, in the multi-axle group steering device, the steering rod system of the front steering group and the steering rod systems of the rear steering groups are independently controlled, the front hydraulic power-assisted system of the front steering group and the rear hydraulic power-assisted systems of the rear steering groups are also independently controlled, and when the front steering group and the rear steering groups are controlled, various steering modes of the multi-axle vehicle can be realized, such as the steering modes of the front wheel group and the rear wheel group for steering in the same direction, the front wheel group and the rear wheel group for steering in the opposite direction, the same-track steering, the crab-shaped steering and the like, so that the flexibility of the multi-axle vehicle during steering is improved.
The multi-axle grouping steering device can enable the front wheel set and each rear wheel set in the multi-axle vehicle to be controlled independently, improves the flexibility of the multi-axle vehicle during steering, and the front steering set of the front wheel set and the rear steering set of each rear wheel set are provided with the steering rod systems.
Therefore, the utility model provides a multiaxis is divided into groups and is turned to device can improve flexibility and security when the multiaxis vehicle turns to.
Preferably, in order to further improve the safety of the multi-axle vehicle during steering, the front steering pump is a fixed displacement pump, and a speed regulating valve is connected between the front steering pump and the steering control valve; an overflow branch with an overflow valve is arranged between the front steering pump and the speed regulating valve, and an emergency valve and an emergency branch with an emergency pump are arranged between the speed regulating valve and the steering control valve and connected with the emergency valve.
Preferably, in the front hydraulic power assisting system:
the front hydraulic power-assisted oil cylinder group comprises a first oil way, a second oil way and a plurality of pairs of power-assisted oil cylinders which correspond to the wheel shafts in the front wheel group one by one; along the walking direction of the multi-axle vehicle, two boosting oil cylinders of each pair of boosting oil cylinders are respectively installed at the left end and the right end of a corresponding axle, wherein a rod cavity of the boosting oil cylinder at the right end of the axle is communicated with a first oil way, a rodless cavity of the boosting oil cylinder at the left end of the axle is communicated with a second oil way, and the rod cavity of the boosting oil cylinder at the left end of the axle is communicated with the second oil way, and the rodless cavity of the boosting oil cylinder at the left end of the axle is communicated:
the steering control valve is an H-shaped three-position four-way valve, a first oil port is communicated with an oil supply oil path of the front steering pump, a second oil port is communicated with an oil return pipeline, a third oil port is communicated with the second oil path, and a fourth oil port is communicated with the first oil path; and a valve core of the steering control valve is in transmission connection with a steering wheel.
Preferably, the rear steering pump is a constant pressure pump, and an energy accumulator is arranged between the rear steering pump and the electro-hydraulic steering control valve bank.
Preferably, in the rear hydraulic power assisting system:
the rear hydraulic power-assisted oil cylinder group comprises a third oil way, a fourth oil way and a plurality of pairs of power-assisted oil cylinders which correspond to the wheel shafts in the rear wheel group one by one; along the walking direction of the multi-shaft vehicle, two boosting oil cylinders of each pair of boosting oil cylinders are respectively arranged at the left end and the right end of a corresponding wheel axle, wherein a rod cavity of the boosting oil cylinder at the right end of the wheel axle is communicated with a third oil way, a rodless cavity of the boosting oil cylinder at the right end of the wheel axle is communicated with a fourth oil way, a rod cavity of the boosting oil cylinder at the left end of the wheel axle is communicated with the fourth oil way, and a rodless cavity of the boosting oil cylinder at the left end of the;
the electro-hydraulic steering control valve group comprises an O-shaped three-position four-way valve and a two-position four-way valve; a first oil port of the three-position four-way valve is communicated with an oil supply oil path of the rear steering pump, a second oil port of the three-position four-way valve is communicated with an oil return pipeline, a third oil port of the three-position four-way valve is communicated with the third oil path, and a fourth oil port of the three-position four-way valve is communicated with a fourth oil path; a first oil port of the two-position four-way valve is communicated with a third oil port of the three-position four-way valve, a second oil port of the two-position four-way valve is communicated with a fourth oil port of the three-position four-way valve, and the third oil port and the fourth oil port of the two-position four-way valve are both communicated with an oil return pipeline; when the two-position four-way valve is electrified, the first oil port, the second oil port, the third oil port and the fourth oil port are fully closed;
and overflow branches with overflow valves are arranged on the two oil paths.
Preferably, in the front hydraulic power assist system, an oil filter is arranged between the front steering pump and the steering control valve; in the rear hydraulic power-assisted system, an oil filter is arranged between the rear steering pump and the electro-hydraulic steering control valve group, and an oil return filter is arranged in an oil return pipeline of the rear hydraulic power-assisted system.
Preferably, in order to facilitate replacement and maintenance of the electro-hydraulic steering control valve group, the rear hydraulic power cylinder group and the like in the rear steering group, in the rear hydraulic power system:
and a stop branch with a manual stop valve is also arranged between the oil inlet and the oil outlet of the electro-hydraulic steering control valve bank.
Preferably, in order to improve stability and reliability of steering control for each rear wheel set, the multi-axle group steering apparatus further includes:
a steering module that defines the multi-axis vehicle steering mode information;
a front angle sensor for detecting wheel steering angle information in a front wheel set of the multi-axle vehicle;
a rear angle sensor for detecting wheel steering angle information in a rear wheel set of the multi-axle vehicle;
a vehicle speed signal sensor that detects travel speed information of the multi-axis vehicle;
and the controller is used for receiving the information detected by the front angle sensor, the rear angle sensor and the vehicle speed signal sensor and the steering mode information of the steering module and controlling the action of the electro-hydraulic steering control valve group according to the information.
The utility model also provides a multi-axle vehicle, which comprises a group of front wheel sets and at least one group of rear wheel sets, wherein the front wheel sets comprise at least two axles, and each group of the rear wheel sets comprise at least two axles; the multi-axis group steering device further comprises any one of the multi-axis group steering devices provided in the technical scheme. The multi-axle vehicle has higher flexibility and safety when steering.
Preferably, the multi-axle vehicle is a multi-axle wheeled crane.
Drawings
Fig. 1 is a schematic view of a vehicle chassis structure of a multi-axle vehicle provided by the present invention;
fig. 2 is a schematic structural diagram of a steering linkage in the multi-axle group steering apparatus provided by the present invention;
fig. 3 is a schematic diagram of a front hydraulic power assisting system and a rear hydraulic power assisting system in the multi-axis group steering apparatus provided by the present invention;
fig. 4 is a schematic view of a control principle of a rear hydraulic power assisting system in the multi-axle group steering device.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the scope of the present invention.
The embodiment of the utility model provides a multiaxis is divided into groups and is turned to device and a multiaxis vehicle that has above-mentioned multiaxis and divides into groups to turn to device.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of a vehicle chassis structure of a multi-axle vehicle according to the present invention; fig. 2 is a schematic structural diagram of a steering linkage in the multi-axle group steering apparatus provided by the present invention.
The multi-axle vehicle comprises a group of front wheel sets 1 and at least one group of rear wheel sets 2, wherein the front wheel sets 1 comprise at least two wheel axles 13, and two ends of each wheel axle 13 are provided with steering axles 14; each group of rear wheel sets 2 comprises at least two wheel shafts 23, and two ends of each wheel shaft 23 are provided with steering axles 24; above-mentioned multiaxis vehicle still includes the embodiment of the utility model provides a multiaxis is turned to device in groups. The steering rod system in the front steering group for controlling the steering of the front wheel set 1 in the multi-axis group steering device can reduce the steering delay of the steering axle 14 on each wheel shaft 13 in the front wheel set 1, and provides power for the steering of the front wheel set 1 through the front hydraulic power-assisted system in the front steering group; in addition, the steering rod system in the rear steering group for controlling the steering of the rear wheel set 2 in the multi-shaft group steering device can reduce the steering delay of the steering axle 24 on each wheel shaft 23 in the rear wheel set, and provides power for the steering of the rear wheel set 2 through the rear hydraulic power assisting system; meanwhile, the front hydraulic power assisting system and the rear hydraulic power assisting system are independently controlled, so that the multi-axle vehicle has multiple steering modes, and is flexible in steering and high in safety. In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention are further described in detail by the following embodiments.
Referring to fig. 1, fig. 2 and fig. 3, fig. 3 is a schematic diagram of a front hydraulic power assisting system and a rear hydraulic power assisting system in a multi-axle group steering apparatus according to the present invention.
As shown in fig. 1, the multi-axle group steering apparatus for multi-axle vehicle provided by the embodiment of the present invention comprises a front steering group for controlling the steering of the front wheel set 1 of the multi-axle vehicle, and a rear steering group corresponding to the rear wheel set 2 of the multi-axle vehicle one by one, wherein each rear steering group controls the steering of a corresponding rear wheel set 2; wherein,
as shown in fig. 1, 2 and 3, the front steering group includes a steering rod system 11 driven by a steering wheel of the multi-axle vehicle, and a front hydraulic power assist system for assisting the steering rod system 11 in operating, and the front hydraulic power assist system includes a front steering pump 51, a steering control valve 52 and a front hydraulic power assist cylinder group 53 connected in this order; the steering control valve 52 is provided in the steering engine 3;
each group of the rear steering groups comprises a steering rod system 21 and a rear hydraulic power-assisted system, and the rear hydraulic power-assisted system comprises a rear steering pump 61, an electro-hydraulic steering control valve group 62, a rear hydraulic power-assisted cylinder group 63, a centering cylinder 642 and a centering cylinder control valve 641; the rear steering pump 61, the electro-hydraulic steering control valve group 62 and the rear hydraulic power-assisted cylinder group 63 are sequentially connected, the centering cylinder control valve 641 and the centering cylinder 642 are sequentially connected to a centering branch, the oil inlet end of the centering branch is communicated with the oil supply port of the rear steering pump 61, and the oil outlet end of the centering branch is communicated with the oil return pipeline 69 of the rear hydraulic power-assisted system.
In the steering process of the multi-axle vehicle with the multi-axle grouping steering device, a driver rotates a steering wheel of the multi-axle vehicle and drives an angle transmission device 4 in transmission connection with a steering rod system 11 in a front steering group for controlling the front wheel set 1 to steer to rotate, so that the steering rod system 11 in the front steering group is driven to act; the angle drive device 4 also drives the valve body of the steering control valve 52 in the front hydraulic power assist system through a drive shaft or the like to control the power assist direction of the front hydraulic power assist cylinder group 53 in the front hydraulic power assist system, and the steering rod system 11 in the front steering group causes a small delay in steering between the steering axles 14 on the respective wheel shafts 13 in the front wheel group, and is highly reliable; meanwhile, the opening degree of a valve core of an electro-hydraulic steering control valve group 62 in a rear hydraulic power-assisted system of a rear steering group is adjusted according to a steering mode selected by a driver so as to control the power-assisted direction of a rear hydraulic power-assisted cylinder group 63 in the rear hydraulic power-assisted system, meanwhile, a steering rod system 21 of each rear steering group can ensure that the delay in steering between steering axles 24 on each wheel shaft 23 in the rear wheel group is small and the reliability is high, meanwhile, the steering rod system 21 between each rear steering group is provided by the rear hydraulic power-assisted system in the rear steering group, therefore, in the multi-shaft grouped steering device, the steering rod system 11 of a front steering group and the steering rod system 21 of each rear steering group are independently controlled, the front hydraulic power-assisted system of the front steering group and the rear hydraulic power-assisted systems of each rear steering group are also independently controlled, and a plurality of steering modes of the vehicle can be realized when the front steering group and each rear steering group are controlled, if the front wheel set 1 and the rear wheel set 2 steer in the same direction, the front wheel set 1 and the rear wheel set 2 steer in the opposite direction, the same track steer and the crab steer and other steering modes, the flexibility of the multi-axle vehicle during steering is improved.
Moreover, the front steering set of the front wheel set 1 and the rear steering set of each rear wheel set 2 are provided with steering linkage systems, when the front wheel set 1 and each rear wheel set 2 steer, the delay of steering axle 14 of each wheel shaft 13 in the front wheel set 1 and the delay of steering axle 24 of each wheel shaft 23 in the rear wheel set 2 when steering are small, the stability and the reliability of the multi-axle vehicle when steering are improved, and further the safety of the multi-axle vehicle when steering is improved.
Therefore, the utility model provides a multiaxis is divided into groups and is turned to device can improve flexibility and security when the multiaxis vehicle turns to.
Referring to fig. 3, in order to further improve the safety of the multi-axle vehicle during steering, the front steering pump 51 is a fixed displacement pump, and a speed control valve 58 is connected between the front steering pump 51 and the steering control valve 52; an overflow branch with an overflow valve 54 is arranged between the front steering pump 51 and the speed regulating valve 58, and an emergency branch with an emergency pump 55 connected with the emergency valve 56 and arranged between the speed regulating valve 58 and the steering control valve 52 is provided with an emergency valve 56.
The front steering pump 51 is a fixed displacement pump, and a speed regulating valve 58 is arranged between the front steering pump 51 and the steering control valve 52 so as to control the pump oil amount in the oil path of the fixed displacement pump to the front hydraulic power-assisted system in unit time; when the oil pumping amount of the front steering pump 51 exceeds the rated amount and the oil pressure in the oil circuit of the front hydraulic power-assisted system is larger than the set pressure value of the overflow valve 54, the overflow valve 54 is conducted, and the oil is guided into the oil tank 7 through an overflow branch; when the oil pumping amount of the front steering pump 51 is insufficient, the emergency pump 55 pumps oil in an oil path of the front hydraulic power-assisted system together with the front steering pump 51 through the emergency valve 56, so that the safety of the front steering set in steering control of the front wheel set 1 is improved.
Referring to fig. 3 in conjunction with fig. 1, on the basis of the above preferred embodiment, in an embodiment, in the above front hydraulic power assisting system:
the front hydraulic power cylinder group 53 includes a first oil passage 531, a second oil passage 532, and a plurality of pairs of power cylinders corresponding one-to-one to the wheel shafts 13 in the front wheel set 1 of the multi-axle vehicle; in the traveling direction of the multi-axle vehicle, as shown in the direction a in fig. 1, two power cylinders of each pair of power cylinders are respectively installed at the left and right ends of the corresponding axle 13, wherein the rod cavity of the power cylinder 121 at the right end of the axle 13 is communicated with the first oil passage 531, the rod-free cavity is communicated with the second oil passage 532, the rod cavity of the power cylinder 122 at the left end of the axle 13 is communicated with the second oil passage 532, and the rod-free cavity is communicated with the first oil passage 531;
a steering control valve 52 in the front hydraulic power-assisted system is an H-shaped three-position four-way valve, a first oil port of the steering control valve 52 is communicated with an oil supply oil path of a front steering pump 51, a second oil port is communicated with an oil return pipeline, a third oil port is communicated with a second oil path 532, and a fourth oil port is communicated with a first oil path 531; the spool of the steering control valve 52 is drivingly connected to the steering wheel of the multi-axle vehicle. The steering control valve 52 is an H-shaped three-position four-way valve, and when a valve core of the three-position four-way valve is in a middle position, a first oil port, a second oil port, a third oil port and a fourth oil port of the three-position four-way valve are communicated; when the valve core of the three-position four-way valve is in the left position, the first oil port is communicated with the fourth oil port, and the second oil port is communicated with the third oil port; when the valve core of the three-position four-way valve is in the right position, the first oil port is communicated with the third oil port, and the second oil port is communicated with the fourth oil port, so that the power assisting directions of the power assisting oil cylinders in the front hydraulic power assisting oil cylinder group 53 are adjusted.
In a preferred embodiment, in order to increase the response speed of each rear steering group in steering control of the steering axle 24 provided to the wheel shaft 23 of each rear wheel set 2, the rear steering pump 61 is a constant pressure pump, and an accumulator 65 is provided between the rear steering pump 61 and the electro-hydraulic steering control valve group 62.
When the rear steering pump 61 adopts a constant pressure pump, the energy-saving effect of the rear hydraulic power-assisted system is obvious, and the energy accumulator 65 can keep high pressure in the oil path of the rear hydraulic power-assisted system all the time, so that the steering axle 24 in the rear wheel set 2 has a faster response speed when steering.
Referring to fig. 3 in conjunction with fig. 1, on the basis of the above preferred embodiment, in an embodiment, in the above rear hydraulic power assisting system:
the rear hydraulic power cylinder group 63 includes a third oil path 631, a fourth oil path 632, and a plurality of pairs of power cylinders corresponding to the axles 24 in the rear wheel set 2 one by one; in the traveling direction of the multi-axle vehicle, as shown in the direction a in fig. 1, two power cylinders of each pair of power cylinders are respectively installed at the left and right ends of the corresponding axle 23, wherein the rod cavity of the power cylinder 221 at the right end of the axle 23 is communicated with the third oil path 631, the rod-free cavity is communicated with the fourth oil path 632, the rod cavity of the power cylinder 222 at the left end of the axle 23 is communicated with the fourth oil path 632, and the rod-free cavity is communicated with the third oil path 631;
the electro-hydraulic steering control valve bank 62 includes an O-type three-position four-way valve 621 and a two-position four-way valve 622; a first oil port of the three-position four-way valve 621 is communicated with an oil supply oil path 68 of the rear steering pump 61, a second oil port is communicated with an oil return line 69, a third oil port is communicated with a fourth oil path 632, and the fourth oil port is communicated with a third oil path 631; a first oil port of two-position four-way valve 622 is communicated with a third oil port of three-position four-way valve 621, a second oil port of two-position four-way valve 622 is communicated with a fourth oil port of three-position four-way valve 621, and the third oil port and the fourth oil port of two-position four-way valve 622 are both communicated with oil return pipeline 69; when the two-position four-way valve 622 is not powered, the first oil port is communicated with the third oil port, the second oil port is communicated with the fourth oil port, and when the two-position four-way valve 622 is powered, the first oil port, the second oil port, the third oil port and the fourth oil port are fully closed;
meanwhile, an overflow branch having an overflow valve 624 is provided to the third oil passage 631, and an overflow branch having an overflow valve 623 is provided to the fourth oil passage 632.
Preferably, in order to facilitate replacement and maintenance of the electro-hydraulic steering control valve group 62, the rear hydraulic power cylinder group 63 and the like in the rear steering group, in the rear hydraulic power system:
a stop branch with a manual stop valve 66 is also arranged between the oil inlet and the oil outlet of the electro-hydraulic steering control valve group 62.
When the cut-off branch is conducted, the rear hydraulic power assisting system can quickly release pressure, and the safety during operations such as maintenance, replacement and the like is ensured.
Preferably, in the front hydraulic power-assisted system, an oil filter 57 is arranged between the front steering pump 51 and the steering control valve 52; in the rear hydraulic power assist system, an oil filter 67 is provided between the rear steering pump 61 and the electro-hydraulic steering control valve group 62, and an oil return filter 691 is provided in an oil return line 69 of the rear hydraulic power assist system. Thereby ensuring the cleanness of the pressure oil in the oil paths of the front hydraulic power-assisted system and the rear hydraulic power-assisted system.
On the basis of the above embodiments, referring to fig. 4, in order to improve stability and reliability of steering control for each rear wheel set 2, the multi-axle group steering apparatus further includes:
a steering module 83 defining multi-axis vehicle steering mode information;
a front angle sensor 81 that detects steering angle information of a steering axle 14 in a front wheel group 1 of the multi-axle vehicle;
a rear angle sensor 82 that detects steering angle information of the steering axle 24 in the rear wheel group 2 of the multi-axle vehicle;
a vehicle speed signal sensor 84 that detects travel speed information of the multi-axis vehicle;
and a controller 85 for receiving the information detected by the front angle sensor 81, the rear angle sensor 82 and the vehicle speed signal sensor 84 and the steering mode information of the steering module 83 and controlling the operation of the electro-hydraulic steering control valve group 62 according to the information.
The front angle sensor 81 detects the rotation angle information of a steering axle 14 in the front wheel set 1, the vehicle speed signal sensor 84 detects the vehicle speed information of the multi-axle vehicle, and the steering module 83 provides steering mode information after selecting a steering mode; after receiving the signals, the controller 85 outputs an electric signal for controlling the opening degree of the valve core in the electro-hydraulic steering control valve bank 62 through calculation, and pressure oil of the rear steering pump 61 enters the rear hydraulic power-assisted cylinder group 63 through the electro-hydraulic steering control valve bank 62, so that the steering of each steering axle 24 in the rear wheel group 2 is controlled. The real time steering angle of the steer axle 24 is sensed by the rear angle sensor 82 and fed back to the controller 85 to form a closed loop control of the steering angle of the steer axle 24 in the rear wheel set 2.
In a preferred embodiment, the embodiment of the present invention provides a multi-axle wheeled crane for multi-axle vehicles.
It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A multi-axle grouping steering device of a multi-axle vehicle comprises a front steering group for controlling the steering of a front wheel set of the multi-axle vehicle and rear steering groups corresponding to rear wheel sets of the multi-axle vehicle one by one, wherein each rear steering group controls the steering of one corresponding rear wheel set; the method is characterized in that:
the front steering group comprises a steering rod system driven by a steering wheel of the multi-axle vehicle and a front hydraulic power-assisted system for assisting the steering rod system to act, and the front hydraulic power-assisted system comprises a front steering pump, a steering control valve and a front hydraulic power-assisted oil cylinder group which are sequentially connected;
each group of rear steering groups comprises a steering rod system and a rear hydraulic power-assisted system, and the rear hydraulic power-assisted system comprises a rear steering pump, an electro-hydraulic steering control valve group, a rear hydraulic power-assisted oil cylinder group, a centering oil cylinder and a centering oil cylinder control valve; the rear steering pump, the electro-hydraulic steering control valve group and the rear hydraulic power-assisted cylinder group are sequentially connected, the centering cylinder control valve and the centering cylinder are sequentially connected to a centering branch, the oil inlet end of the centering branch is communicated with the oil supply port of the rear steering pump, and the oil outlet end of the centering branch is communicated with the oil return pipeline of the rear hydraulic power-assisted system.
2. The multi-shaft group steering device according to claim 1, wherein the front steering pump is a fixed displacement pump, and a speed regulating valve is connected between the front steering pump and the steering control valve; an overflow branch with an overflow valve is arranged between the front steering pump and the speed regulating valve, and an emergency valve and an emergency branch with an emergency pump are arranged between the speed regulating valve and the steering control valve and connected with the emergency valve.
3. The multi-axis packet steering device of claim 2, wherein in the front hydraulic assist system:
the front hydraulic power-assisted oil cylinder group comprises a first oil way, a second oil way and a plurality of pairs of power-assisted oil cylinders which correspond to the wheel shafts in the front wheel group one by one; along the walking direction of the multi-axle vehicle, two boosting oil cylinders of each pair of boosting oil cylinders are respectively installed at the left end and the right end of a corresponding axle, wherein a rod cavity of the boosting oil cylinder at the right end of the axle is communicated with a first oil way, a rodless cavity of the boosting oil cylinder at the left end of the axle is communicated with a second oil way, and the rod cavity of the boosting oil cylinder at the left end of the axle is communicated with the second oil way, and the rodless cavity of the boosting oil cylinder at the left end of the axle is communicated:
the steering control valve is an H-shaped three-position four-way valve, a first oil port is communicated with an oil supply oil path of the front steering pump, a second oil port is communicated with an oil return pipeline, a third oil port is communicated with the second oil path, and a fourth oil port is communicated with the first oil path; and a valve core of the steering control valve is in transmission connection with a steering wheel.
4. The multi-axle group steering device according to claim 1, wherein the rear steering pump is a constant pressure pump and an accumulator is provided between the rear steering pump and the electro-hydraulic steering control valve group.
5. The multi-axis packet steering device of claim 4, wherein in the rear hydraulic assist system:
the rear hydraulic power-assisted oil cylinder group comprises a third oil way, a fourth oil way and a plurality of pairs of power-assisted oil cylinders which correspond to the wheel shafts in the rear wheel group one by one; along the walking direction of the multi-shaft vehicle, two boosting oil cylinders of each pair of boosting oil cylinders are respectively arranged at the left end and the right end of a corresponding wheel axle, wherein a rod cavity of the boosting oil cylinder at the right end of the wheel axle is communicated with a third oil way, a rodless cavity of the boosting oil cylinder at the right end of the wheel axle is communicated with a fourth oil way, a rod cavity of the boosting oil cylinder at the left end of the wheel axle is communicated with the fourth oil way, and a rodless cavity of the boosting oil cylinder at the left end of the;
the electro-hydraulic steering control valve group comprises an O-shaped three-position four-way valve and a two-position four-way valve; a first oil port of the three-position four-way valve is communicated with an oil supply oil path of the rear steering pump, a second oil port of the three-position four-way valve is communicated with an oil return pipeline, a third oil port of the three-position four-way valve is communicated with the third oil path, and a fourth oil port of the three-position four-way valve is communicated with a fourth oil path; a first oil port of the two-position four-way valve is communicated with a third oil port of the three-position four-way valve, a second oil port of the two-position four-way valve is communicated with a fourth oil port of the three-position four-way valve, and the third oil port and the fourth oil port of the two-position four-way valve are both communicated with an oil return pipeline; when the two-position four-way valve is electrified, the first oil port, the second oil port, the third oil port and the fourth oil port are fully closed;
and overflow branches with overflow valves are arranged on the two oil paths.
6. The multi-axis packet steering device of claim 5, wherein in the rear hydraulic assist system:
and a stop branch with a manual stop valve is also arranged between the oil inlet and the oil outlet of the electro-hydraulic steering control valve bank.
7. The multi-axle group steering apparatus according to claim 1, wherein an oil filter is provided between the front steering pump and the steering control valve in the front hydraulic assist system; in the rear hydraulic power-assisted system, an oil filter is arranged between the rear steering pump and the electro-hydraulic steering control valve group, and an oil return filter is arranged in an oil return pipeline of the rear hydraulic power-assisted system.
8. The multi-axis packet steering device according to any one of claims 1 to 7, further comprising:
a steering module that defines the multi-axis vehicle steering mode information;
a front angle sensor for detecting wheel steering angle information in a front wheel set of the multi-axle vehicle;
a rear angle sensor for detecting wheel steering angle information in a rear wheel set of the multi-axle vehicle;
a vehicle speed signal sensor that detects travel speed information of the multi-axis vehicle;
and the controller is used for receiving the information detected by the front angle sensor, the rear angle sensor and the vehicle speed signal sensor and the steering mode information of the steering module and controlling the action of the electro-hydraulic steering control valve group according to the information.
9. A multi-axle vehicle comprising a set of front wheel sets comprising at least two axles and at least one set of rear wheel sets, each set of rear wheel sets comprising at least two axles; the multi-axis packet steering device according to any one of claims 1 to 8, further comprising a multi-axis packet steering device.
10. Multiaxis vehicle as claimed in claim 9, characterized in that the multiaxis vehicle is a multiaxis wheel crane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320698967.2U CN203528598U (en) | 2013-11-07 | 2013-11-07 | Multi-axis grouping steering device and multi-axis vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320698967.2U CN203528598U (en) | 2013-11-07 | 2013-11-07 | Multi-axis grouping steering device and multi-axis vehicle |
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| CN203528598U true CN203528598U (en) | 2014-04-09 |
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| CN201320698967.2U Expired - Lifetime CN203528598U (en) | 2013-11-07 | 2013-11-07 | Multi-axis grouping steering device and multi-axis vehicle |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104015797A (en) * | 2014-06-20 | 2014-09-03 | 徐州重型机械有限公司 | Gadding car |
| CN104176119A (en) * | 2014-08-19 | 2014-12-03 | 徐州重型机械有限公司 | Steering system and crane |
| CN104443027A (en) * | 2014-12-09 | 2015-03-25 | 湖北航天技术研究院特种车辆技术中心 | Multi-axle vehicle steering method and system |
| CN104608819A (en) * | 2014-12-04 | 2015-05-13 | 中联重科股份有限公司 | Multi-axle steering system for multi-axle vehicle and multi-axle vehicle |
| CN106114615A (en) * | 2016-06-28 | 2016-11-16 | 潍柴动力股份有限公司 | A kind of hydraulic steering system |
| CN106494502A (en) * | 2016-11-04 | 2017-03-15 | 北京航天发射技术研究所 | Packet steering |
| CN106627754A (en) * | 2016-12-30 | 2017-05-10 | 中联重科股份有限公司 | Centering oil cylinder control system and method, electro-hydraulic control steering system and engineering vehicle |
| CN106882263A (en) * | 2017-03-01 | 2017-06-23 | 汤广禹 | A kind of new automobile steering support device |
| CN109253118A (en) * | 2018-10-29 | 2019-01-22 | 北京航天发射技术研究所 | A kind of automatic switchover constant pressure oil source device based on pressure judgement |
| CN109466628A (en) * | 2018-11-22 | 2019-03-15 | 中车株洲电力机车有限公司 | A kind of more piece marshalling vehicle |
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- 2013-11-07 CN CN201320698967.2U patent/CN203528598U/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104015797A (en) * | 2014-06-20 | 2014-09-03 | 徐州重型机械有限公司 | Gadding car |
| CN104176119A (en) * | 2014-08-19 | 2014-12-03 | 徐州重型机械有限公司 | Steering system and crane |
| CN104608819A (en) * | 2014-12-04 | 2015-05-13 | 中联重科股份有限公司 | Multi-axle steering system for multi-axle vehicle and multi-axle vehicle |
| CN104443027A (en) * | 2014-12-09 | 2015-03-25 | 湖北航天技术研究院特种车辆技术中心 | Multi-axle vehicle steering method and system |
| CN106114615B (en) * | 2016-06-28 | 2019-02-12 | 潍柴动力股份有限公司 | A kind of hydraulic steering system |
| CN106114615A (en) * | 2016-06-28 | 2016-11-16 | 潍柴动力股份有限公司 | A kind of hydraulic steering system |
| CN106494502A (en) * | 2016-11-04 | 2017-03-15 | 北京航天发射技术研究所 | Packet steering |
| CN106627754A (en) * | 2016-12-30 | 2017-05-10 | 中联重科股份有限公司 | Centering oil cylinder control system and method, electro-hydraulic control steering system and engineering vehicle |
| CN106882263A (en) * | 2017-03-01 | 2017-06-23 | 汤广禹 | A kind of new automobile steering support device |
| CN109253118A (en) * | 2018-10-29 | 2019-01-22 | 北京航天发射技术研究所 | A kind of automatic switchover constant pressure oil source device based on pressure judgement |
| CN109466628A (en) * | 2018-11-22 | 2019-03-15 | 中车株洲电力机车有限公司 | A kind of more piece marshalling vehicle |
| CN112623643A (en) * | 2021-01-26 | 2021-04-09 | 中国矿业大学 | Tensioning system of belt conveyor |
| CN112623643B (en) * | 2021-01-26 | 2021-08-24 | 中国矿业大学 | Tensioning system of belt conveyor |
| CN113815723A (en) * | 2021-10-19 | 2021-12-21 | 陕西重型汽车有限公司 | Multi-shaft automobile steering control system and control method thereof |
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