CN2347806Y

CN2347806Y - Universal walking full-hydraulic driven loading chassis

Info

Publication number: CN2347806Y
Application number: CN 98236103
Authority: CN
Inventors: 沈迪森; 肖乐; 廖湘辉; 蒋冰华
Original assignee: Construction Science Inst Gezhouba Co ltd
Current assignee: Construction Science Inst Gezhouba Co ltd
Priority date: 1998-07-17
Filing date: 1998-07-17
Publication date: 1999-11-10
Anticipated expiration: 2008-07-17

Abstract

The utility model relates to a universal walking full-hydraulic driven loading chassis, comprising a steering control device, a programmable controller which is used for receiving the signals of a sensor and sends out control instruction by the comparison with a predetermined value and a combined solenoid valve which is connected with the steering control device and the programmable controller; the utility model makes that the steering angles of four wheels are formed into various kinds of different dynamic combination by a set of steering control devices and a driving device; therefore, the whole chassis can realize the running mode of direct movement, crabbing mode, pirouette mode, etc. and the utility model can flexibly move towards any direction; the universal walking full-hydraulic driven loading chassis can be used as a load chassis of a crane, a fork lift truck, an indoor truck, a tool car, etc. The utility model has the advantage of flexible work in narrow fields.

Description

Universal walking full hydraulic drive load-carrying chassis

It is the wheel flutters that can turn to that the utility model belongs to all wheels, the vehicle load chassis that especially a kind of front and back wheel all can turn to, international classification number B60K17/34, B60K17/358.

The four-wheel load-carrying chassis of prior art is representative with automobile, fork truck, is steeraxle with propons or back axle, and deflection angle is less than 50 °, and running mode is limited to craspedodrome, is suitable for travelling on highway.When narrow sitework, tune and lateral displacement be difficulty relatively.And often need all kinds of handling machineries can in narrow place, carry out operation in the real work, stack, build in the hydroelectric project large-scale template dismounting in the position in storehouse etc. as the goods in the warehouse.

The purpose of this utility model provides a kind of hydraulic control load-carrying chassis that can move and do the universal walking of cast to any direction flexibly.

The purpose of this utility model is achieved in that a kind of universal walking full hydraulic drive load-carrying chassis, comprise steering apparatus 6, accept the signal of sensor 12 and with the predetermined value comparison, send the Programmable Logic Controller 7 of control command, with steering apparatus 6, Programmable Logic Controller 7 bonded assembly multifunctional electromagnetic valves 8, it is characterized in that wheel 5 is wheel flutter, its deflection angle be about more than 90 °, wheel 5 is provided with vertical axis 10 upper fixed by supporting fork 1 top steering gear 2; Turn to driver train to be made up of position transduser 12, double-piston hydraulic cylinder 3, tooth bar 4, steering gear 2, double-piston hydraulic cylinder 3 is connected with multifunctional electromagnetic valves 8, and tooth bar 4 is fixed on the piston rod 11 of double-piston hydraulic cylinder 3, and steering gear 2 is meshed with tooth bar 4.Double piston cylinder 3 cylinder interior are symmetrical arranged two two boom pistons, are furnished with three hydraulic fluid ports in left, center, right on the cylinder body, and two pistons are done synchronous in the same way, incorgruous being synchronized with the movement.When two rear wheels 5 are locked in midway location, two front-wheels are the craspedodrome mode when doing to turn to synchronously in the same way under the manipulation of steering apparatus 6; When doing under four manipulations of wheel at steering apparatus is crab every trade car mode when turning to synchronously in the same way; When taking turns when the angle is 90 °, the chassis is a side travel; When the deflection angle of four wheels was locked in the tangent position of four-wheel distribution circle respectively, whole chassis was made the cast state.Between the wheel 5 turn to synchronized relation be by turn to driver train pass through machinery and the hydraulic circuit mode guarantee.

Because adopting, the utility model turns to control and actuating device, four wheels are wheel flutter, turn to controlling and driving mechanism to make the deflection angle of four wheels form several different dynamic combined, thereby make whole chassis realize walking manners such as craspedodrome, crab row, cast, can move flexibly to any direction, be configured in hoisting crane, fork truck etc. mechanically can be worked in narrow place flexibly.

Below in conjunction with drawings and Examples the utility model is further described.

Fig. 1 is a structural representation of the present utility model.

Fig. 2 is that the A of Fig. 1 is to scheme drawing.

Fig. 3 is the principle schematic of Fig. 1.

Fig. 4 is the principle schematic of Fig. 1.

Fig. 5 is the principle schematic of Fig. 1.

Fig. 6 is control principle figure of the present utility model.

Among the figure 1, the supporting fork, 2, steering gear, 3, the double-piston hydraulic cylinder, 4, tooth bar, 5, wheel, 6, steering apparatus, 7, Programmable Logic Controller, 8, electromagnetic valve group, 9, vehicle frame, 10, vertical axis, 11, piston rod, 12, position transduser.

Programmable Logic Controller adopts SR-21 in the utility model, and position transduser adopts APS-12A-4N.

As shown in Figure 1, four wheels that constitute this chassis comprise and turn to drive wheel and turn to free gear to be wheel flutter, about the deflection angle of each wheel all surpasses 90 °.In order to reach big like this deflection angle, a kind of fork structure 1 with vertical axis has been adopted in the suspension between wheel and the vehicle frame, in the upper fixed of vertical axis 10 steering gear 2 is arranged.As shown in Figure 2, turn to driver train by double-piston hydraulic cylinder 3, be fixed in the tooth bar 4 on the piston rod 11, the steering gear 2 that is meshed with tooth bar constitutes.

As shown in Figure 3, when two trailing wheels 5 were locked in midway location, two front-wheels (by means of turning to driver train) done to turn to synchronously in the same way under the manipulation of steering apparatus 6, whole chassis can realize being similar to the same " craspedodrome " running mode of common car chassis.Travel direction can dynamically change.

As shown in Figure 4, when (by means of turning to driver train) under four manipulations of wheel at steering apparatus all done to turn to synchronously in the same way, whole chassis can realize that " crab row " is diagonal and walks crosswise running mode, and the chassis can be to all directions translation.When being in " crab row " running mode, travel direction can dynamically change equally.

As shown in Figure 5, when the deflection angle of four wheels was locked in the tangent position of four-wheel distribution circle respectively, whole chassis can realize cast.

Under which kind of situation, select which kind of running mode, set by " driving states select switch " by chaufeur.This setting is actually and inputs to 7 one instructions of Programmable Logic Controller, decides the on off mode of each electromagnetic valve 8 in the hydraulic efficiency pressure system then according to this instruction, thus the action of control hydraulic steering cylinder 3.

On the chassis of the present utility model on propons and the back axle synchronized relation that turns to of two steered wheels be to guarantee by double-piston hydraulic cylinder 3 with special construction.The inner symmetry of this hydraulic actuating cylinder has been placed two two boom pistons, is furnished with three hydraulic fluid ports in left, center, right on the cylinder barrel, and two pistons can be synchronized with the movement and incorgruous being synchronized with the movement; The synchronized relation of going forward between the back axle in chassis of the present utility model that turns to is guaranteed by the synchronous oil circuit of series connection.

For eliminating the dynamic steering synchronous error between each wheel, the present invention is equipped with angle position sensor 12 on the vertical axis of each wheel support fork 1, the signal of Programmable Logic Controller receiving sensor also compares with default error limit, when finding to be proofreaied and correct when overproof.Annexation such as Fig. 6 between Programmable Logic Controller 7, sensor, driving states select switch, electromagnetic valve group more than 8 persons.

For satisfying the requirement to the chassis weight capacity of hoisting crane, fork truck one class machinery, solid rigidity tire has been adopted on chassis of the present invention, and can select propons or back axle as drive axle arbitrarily.

Claims

1, a kind of universal walking full hydraulic drive load-carrying chassis, it comprises steering apparatus (6), the signal of receiving sensor (12) and with the predetermined value comparison, send the Programmable Logic Controller (7) of control command, with steering apparatus (6), Programmable Logic Controller (7) bonded assembly multifunctional electromagnetic valves (8), it is characterized in that: wheel (5) is wheel flutter, its deflection angle be about more than 90 °, wheel (5) is provided with vertical axis (10) upper fixed by supporting fork (1) top steering gear (2); Turn to driver train to form by position transduser (12), double-piston hydraulic cylinder (3), tooth bar (4), steering gear (2), double-piston hydraulic cylinder (3) is connected with multifunctional electromagnetic valves (8), tooth bar (4) is fixed on the piston rod (11) of double-piston hydraulic cylinder (3), and steering gear (2) is meshed with tooth bar (4).

2, universal walking full hydraulic drive load-carrying according to claim 1 chassis, it is characterized in that: double piston cylinder (3) cylinder interior is symmetrical arranged two two boom pistons, be furnished with three hydraulic fluid ports in left, center, right on the cylinder body, two pistons are done synchronous in the same way, incorgruous being synchronized with the movement.