RU2654364C1 - Steering system for heavy vehicles - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to transport machine building. Steering system for heavy vehicles includes a flow conditioner connected to the steering gear and to the rod cavities of the right and left cylinders of the front axle of the slewing ring, and two distribution blocks. One distribution block is connected to the steering mechanism and communicated with the rodless cavities of the right and left cylinders of the slewing ring of the front axle. Other distribution block is not connected to the steering mechanism, it is equipped with an electromagnetic control unit and is connected with the rod and rodless cavities of the right and left cylinders of slewing ring of the front axle. Control unit is connected to the electromagnetic control unit and to the sensors. Electromagnetic control unit is equipped with proportional electromagnets. Sensors measure the angles of sewing rings rotation.

EFFECT: steering system expansion of functional capabilities is achieved.

3 cl, 7 dwg

Description

The invention relates to transport machinery, in particular to hydraulic vehicle control systems, mainly mining trucks.

Known steering system for heavy vehicles [1, Mariev P.L., Egorov A.N. etc. Heavy-duty mining dump trucks. Design, technology, marketing / P.L. Mariev et al., Minsk: Integralpolygraph, 2008, pp. 124-126, fig. 2.6.1], comprising an amplifier for working fluid flow under pressure, in communication with the steering distributor and with the cavities of two single-rod cylinders.

The disadvantage of such a system is that it can be used for steering according to the steering pattern of the front steered wheels of a heavy vehicle with observance of exact parameters of the angle of rotation of these wheels from the selected design parameters of the wheelbase, which reduces the versatility of the hydraulic system and is not suitable for acceptable maneuverability of heavy heavy vehicles, for example armored vehicles or mining trucks of extra-high carrying capacity (over 450 tons), for which s requires a coordinated turn, not only the front but the rear axle.

Known more universal and effective for the maneuverability of heavy vehicles, their steering system [2, Patent RU 2488508, IPC B62D 5/06, B62D 15/00, priority 24.04.2012, published July 27, 2013]. It contains two pressure enhancers of the working fluid flow, one of which is communicated through the distributor of the steering mechanism with the cavities of two two-rod cylinders, and the other of which is communicated with the cavities of the additional two-rod cylinders through the flow divider, and two additional distributors associated with one of the rods of the additional two-rod cylinders cylinders, other rods of which are connected with pre-compressed centering threshold springs.

The disadvantage of the analogue [2] is the complexity of the design and maintenance of the steering system due to the presence of two flow amplifiers, which are fed from two hydraulic tanks through two pumping stations, as well as due to the presence of two rods in two-rod main and additional cylinders and communication their rods with additional elements of the system - two additional valves and pre-compressed centering threshold springs.

Such a steering system allows it to be used in the classic steering pattern of heavy wheels of heavy vehicles relative to their axles. However, it limits the increase in carrying capacity of heavy vehicles.

A more progressive scheme of their rotation is to control the rotation of the bridges themselves relative to each other, for example, mounted on slewing rings rotated by hydraulic cylinders.

For such a turning pattern, a steering system is known that is used for heavy vehicles [3, BelAZ 75710 dump truck. Operating Instructions 75710-3902015 RE, Zhodino, BelAZ, pp. 9-1-9-3] and adopted as a prototype of the invention . This system, unlike the analogue [2], contains not two, but one amplifier of the flow of working fluid under pressure and a smaller number of control and connecting elements. This is ensured by its original circuit, which includes one amplifier for working fluid flow under pressure, connected to the rod cavities of four cylinders of both axles, and two distributors, one of which is connected to the steering gear and connected with its outputs to rodless cavities of the right and left control cylinders by turning the turntable of the front axle of the vehicle, and the other is connected to the steering gear and communicated by its outputs with rodless cavities of the right and left cylinders control rotation of the turntable of the rear axle of the vehicle.

Both valves are equipped with solenoid valves connected to the relay control unit, which is also connected to the extreme position sensors of the turntable of the front axle of the vehicle, and with the neutral sensor of the turntable of the rear axle of the vehicle. At the same time, for the functioning of the mentioned sensors and limiting the rotation of the bridges of the mining truck, stops are specially installed in pairs, and limiters are fixed between the stops on the skeleton.

The design of the prototype system [3], although simpler than the design of the analog system [2], however, because the prototype system [3] incorporates the principle of alternating the steering axles of a heavy vehicle, it doubles the number of elements and connecting hydroline. It also complicates system maintenance.

In addition, it does not provide the possibility of simultaneous rotation of the steered axles of a heavy vehicle, which reduces its functionality, as well as the functionality for maneuverability of the vehicle itself.

The use of the above-mentioned three sensors and the accompanying rotation limiters and stops for steered axles for this principle of turning a dump truck further complicates the design and maintenance of both the steering system of this heavy vehicle and himself.

The objective of the invention is to achieve a technical result aimed at simplifying the design and maintenance of the steering system, as well as expanding its functionality when applied in ensuring the maneuverability of a heavy vehicle.

The problem for the invention is solved in that in a steering system for heavy vehicles, comprising a flow booster with a distributor for selecting the direction of flow of the working fluid under pressure, connected to the steering gear and to the rod cavities of the right and left cylinders for controlling the rotation of the front axle of the front axle , and two distributors, one of which is connected to the steering gear and connected by its outputs to the rodless cavities of the right and left control cylinders the mouth of the turntable of the front axle of a heavy vehicle, and the second is not connected to the steering mechanism, is equipped with an electromagnetic control unit and communicated with its outputs to the rod and rodless cavities of the right and left cylinders for controlling the rotation of the turntable of the rear axle of a heavy vehicle, a control device is connected to the electromagnetic control unit, which is also connected to the sensors, there are distinctive features: the electromagnetic unit The board is equipped with proportional electromagnets and the sensors are installed with the ability to measure the current rotation angles of the turntables, and a programmable controller is used as a control device, which is connected with proportional electromagnets and with sensors.

Supplying the electromagnetic control unit with proportional electromagnets will allow with sufficient accuracy to ensure the rotation of the support-rotary circle of the rear axle of a heavy vehicle in the front position.

The installation of sensors with the ability to measure the current angles of rotation of the turntables is aimed at simplifying the design and maintenance of the steering system, since it does not require mandatory application and installation, as in the prototype [3], for the operation of the sensors of the extreme and middle position of the axles of the associated limiters turning and emphasis. In this case, two sensors are sufficient instead of three.

The use of a programmable controller as a control device, which is connected with the aforementioned proportional electromagnets and with sensors, will make it possible to create a simpler principle of turning the rear axle in front position, which, in addition to simplifying the design of the system, will also provide control of the distributor that is not connected to the steering mechanism by the value of the mismatch angle, controlled by said sensors. At the same time, performance indicators for the speed and accuracy of cornering control and operational indicators of a heavy vehicle will improve, as well as expanding the ability to perform various turns (one of the bridges, two bridges in the opposite or in the same direction), which will improve the maneuverability of such a vehicle. Additional features of the invention:

- one sensor is mounted on the skeleton and connected by a linkage to the support-rotary circle of the front axle, and the second sensor is mounted on the skeleton and connected by the linkage to the support-rotary circle of its rear axle of a heavy vehicle;

- electromagnetic type sensors are used, connected by linkage mechanisms with the slewing rings of a heavy vehicle.

Together, all the distinguishing features of the invention will allow such a system to be used in a progressive turning scheme of heavy vehicles on the principle of turning the rear axle in front position with the help of easy and precise control, which ensures the creation of heavy vehicles with a carrying capacity of over 450 tons.

The invention is illustrated by illustrations, where in FIG. 1 shows, by way of example, a general view of a heavy vehicle in which the steering system of the invention can be mounted; in FIG. 2 is a diagram of the location of the bridges of such a vehicle; in FIG. 3 is a view A of FIG. 2, with a diagram of a bridge device; in FIG. 4 is a section BB in FIG. 2 to the partially illustrated slewing ring device of FIG. 3; in FIG. 5 shows a functional diagram of a steering system as applied to the axle layout of a heavy vehicle of FIG. 2; in FIG. 6 is the same as in FIG. 2, but with the rotation of one bridge of a heavy vehicle; in FIG. 7 is the same as in FIG. 6, but with the turn of its two bridges.

The device according to the invention is used for heavy vehicles and is installed, for example, on a mining dump truck (Fig. 1), having, as the propulsors of the wheel 1, the front axle PM and the rear axle ЗМ, mounted movably on the skeleton 2, on which the cargo platform 3 and the motor compartment 4 with cab 5.

Each PM and ZM bridge of a dump truck contains a rotary housing 6 with a central housing 7 connected to the onboard housings 8 on which the wheels 1 are mounted. The rotary housings 6 are equipped with a slewing ring 9 (Fig. 1-4), consisting of a fixed composite ring 10 (Fig. 3, 4), which is fixed by the studs 11 (Fig. 4) on the skeleton 2, and the movable integral ring 12, which is fixed by the studs 13 on the rotary housing 6. The movable integral ring 12 is provided with treadmills 14 contacting from above and below with rolling elements - rollers 15, rasp Proposition between them running track 16 of the fixed ring 10 of the composite.

Moreover, each supporting-rotary circle 9 is attached to the skeleton 2 and is made with the possibility of its rotation (Fig. 6, 7) to the right and left using the right cylinders 17, 18 and left cylinders 19, 20 of the system steering (Fig. 2, 5-7) of a dump truck (Fig. 1), which also includes sensors 21 and 22 (Fig. 2, 5-7), made with the function of measuring the current angle of rotation of slewing rings 9, respectively front axle PM and rear axle ZM and which are installed on these circles.

The sensors 21, 22 of the electromagnetic type are used, mounted on the skeleton 2 and connected by linkage mechanisms 23 with the rotary bodies 6 of the heavy vehicle.

The central housings 7 are connected to the rotary housings 6 through central levers 24 (Fig. 3), the shoulders of which are connected to the suspension elements 25, for example, shock absorbers and / or dampers, which are also connected to the rotary housings 6. The central housings 7 are connected to the rotary housings 6 by means of a mounting element, for example a two-shouldered articulated lever 26.

The steering system (Fig. 5) for heavy vehicles, such as a mining truck (Fig. 1), also includes a steering gear 27, a power amplifier with a distributor for selecting the direction of flow of the working fluid under pressure 28, two distributors 29, 30, which are included in the hydraulic part of the steering system, which contains (not shown) traditional elements for vehicles, for example, a hydraulic pump, a tank, pneumohydraulic accumulators, combined into a collector energy storage, filters, safety, check valves, unloading, double-line, priority and pressure reducing valves, pipelines, hoses, fittings, etc.

The distributor 29 is connected to the steering gear 27 and is connected by its outputs to the rodless cavities 31 of the right and left cylinders 17 and 19, and the flow amplifier with the distributor for selecting the direction of flow of the working fluid under pressure 28 is connected to the steering gear 27 and communicated by its outputs to the rod cavities 32 of the right and the left rotation control cylinders 17 and 19 of the slewing ring 9 of the front axle PM of a heavy vehicle. The distributor 30 is not connected to the steering gear 27, is equipped with an electromagnetic control unit 33 and is connected by its outputs to rodless and rod cavities, respectively 31 and 32 of the right and left cylinders, respectively, 18 and 20 of the steering control of the slewing ring 9 of the rear axle PM of a heavy vehicle.

A control device is connected to the electromagnetic control unit 33 of the distributor 30, which is used as a programmable controller 34, which is also connected to the sensors 21 and 22.

In the cab 5 (Fig. 1) of the vehicle is the control panel 35 (Fig. 5) by the operation of the programmable controller 34.

The control unit 33 is provided with proportional electromagnets 36 to which the programmable controller 34 is connected.

Monitoring the health of sensors 21 and 22, monitoring the electromagnetic unit 33 with proportional electromagnets 36 of the distributor 30, monitoring the state of the hydraulic part and diagnosing emergency situations is carried out using diagnostic tools (not shown) built into the steering system, with the results displayed on the electronic instrument panel in cab 5 (Fig. 1) of a heavy vehicle.

The principle of operation of the hydraulic steering system (Fig. 5) for heavy vehicles is as follows.

After starting the engine (not shown) in the engine compartment 4 (Fig. 1) of the mining truck, the flow of the working fluid is supplied to the flow amplifier with a distributor for selecting the direction of flow of the working fluid under pressure 28 and to the distributors 29 and 30 (Fig. 5), which are located in neutral position. When the truck is moving in a straight line (Fig. 2), the cylinders 17-20 (Fig. 2, 5) are also in the neutral position and they do not receive working fluid under pressure.

Initially, for example, the programmable controller 34 is configured for the rotation scheme (Fig. 6) of a heavy vehicle using only the front axle PM.

For example, when the steering wheel 27 is turned to the right, the working fluid from the flow amplifier with the distributor selects the direction of flow of the working fluid under pressure 28 (Fig. 5) enters the rod cavity 32 of the right cylinder 17, and from the distributor 29 into the rodless cavity 31 of the left cylinder 19, from the rod cavity 32 of which, as well as from the rodless cavity 31 of the right cylinder 17, the working fluid enters the drain. There is a rotation (Fig. 6) of the front axle PM heavy vehicle to the right. In this case, depending on the amount of movement of the wheel of the steering mechanism 27, a proportional change in the volume of the working fluid occurs in the aforementioned rodless and rod cavities 31, 32 of the right and left cylinders 17, 19. This causes a certain angle of rotation of the movable integral ring 12 (Fig. 3, 4 ) the slewing ring 9 on the rollers 15 relative to the stationary composite ring 10 of the front axle PM (Fig. 6), forcing it to move to the appropriate angle relative to the skeleton 2 of a heavy vehicle, providing it the required rotation.

Similarly, a heavy vehicle turns left with its PM front axle.

If it is necessary to carry out maneuvers with a smaller radius (a steeper turn), for example to the right, on the control panel 35 (Fig. 5), the programmable controller 34 is switched to the operating mode while turning the front PM and rear rear axles. As a result, when the steering mechanism 27 is turned in the selected direction, the PM front axle is rotated in the manner described above and at the same time the working fluid from the distributor 30 enters the rod cavity 32 of the right cylinder 18 and the rodless cavity 31 of the left cylinder 20, from the rod cavity 32 of which, as well as from the rodless cavity 31 of the right cylinder 18, the working fluid enters the drain. There is a rotation (Fig. 7) of the rear axle ЗМ of a heavy vehicle to the right, i.e. in the opposite direction from turning the front axle PM. In this case, the following tracking action of the system described above occurs.

Likewise, a left-hand turn of a heavy vehicle occurs due to a left turn by the PM front axle and a rear axle rotation ZM to the right.

There are other possible rotation modes (not shown), after selecting the desired mode of operation of the programmable controller 34 (Fig. 5) through the remote control 35, for example, when only the rear axle ZM is turned or the front and rear axles are rotated synchronously in the same direction.

In the cases described above for the operation of the hydraulic steering system while turning the front PM and rear axle 3M, for example, according to the circuit shown in FIG. 7, the programmable controller 34 selectively controls through the proportional electromagnets 36 of the electronic control unit 33 the distributor 30 according to the angle of the mismatch of rotations of the front and rear axles PM, ZM, controlled respectively by sensors 21 and 22 mounted on them.

In case of failure of the electronic rear axle steering control system ZM, the PM hydraulic front axle steering control system allows a heavy vehicle to move in a limited controllability mode. To ensure that the driver can turn off, if necessary, the rear axle rotation system ZM (while it is automatically set to neutral position), there is a corresponding switch on the instrument panel in cab 5 (Fig. 1).

To control the process of adjusting the steering system, based on the developed algorithm for adjusting the relative position of the PM and ZM axles after assembling a heavy vehicle and during operation, the corresponding software (not shown) was developed and installed in programmable controller 34 (Fig. 5).

Thus, this use of slewing rings 9 (Fig. 2, 3, 4) in the PM and ZM bridges of a heavy vehicle and their design described above according to the invention, ensuring its rotation by using the steering system described above, will allow:

- apply eight tires of the same size instead of the traditionally used six tires, which is aimed at increasing the carrying capacity of, for example, a mining truck up to 450 tons and above;

- to provide the ability to rotate two bridges of such a vehicle relative to its integral frame in various modes, which will significantly improve its maneuverability and reduce overall dimensions;

- improve cornering stability and improve the maneuverability of a heavy vehicle, which will increase, as a result, its carrying capacity.

The invention was implemented in the experimental design of the BELA3-75710 mining truck, which successfully passed operational tests.

Information sources

1. Mariev P.L., Egorov A.N. etc. Heavy-duty mining dump trucks. Design, technology, marketing / P.L. Mariev et al., Minsk: Integralpolygraph, 2008, pp. 124-126, fig. 2.6.1.

2. Patent RU 2488508, IPC B62D 5/06, B62D 15/00, priority 04.24.2012, published 07.27.2013.

3. BELA3-75710 dump truck. Operation manual 75710-3902015 RE, Zhodino, BELAZ, p. 9-1-9-3.

Claims (3)

1. The steering system for heavy vehicles, comprising a flow amplifier with a distributor for selecting the direction of flow of the working fluid under pressure, connected to the steering gear and the rod cavities of the right and left cylinders for controlling the rotation of the turntable of the front axle of a heavy vehicle, and two distributors , one of which is connected to the steering mechanism and connected by its outputs to the rodless cavities of the right and left cylinders for controlling the rotation of the support the ovarian circle of the front axle of a heavy vehicle, and the second is not connected to the steering mechanism, is equipped with an electromagnetic control unit and communicated with its outputs to the rod and rodless cavities of the right and left cylinders for controlling the rotation of the back-and-forth circle of the rear axle of a heavy vehicle, and with an electromagnetic block control unit connected to a control device that is also connected to sensors, characterized in that the electromagnetic control unit is equipped with tional electromagnets and sensors are installed to measure a current rotation angle slewing circles, wherein the control device as applied to a programmable controller, which is associated with proportional solenoids and sensors. 2. The system according to claim 1, characterized in that one sensor is mounted on the skeleton and connected by a linkage to a slewing ring of the front axle of a heavy vehicle, and the second sensor is mounted on the skeleton and connected by a linkage to a link-slewing circle of its rear axle . 3. The system according to claim 1, characterized in that the electromagnetic type sensors are used, connected by linkage mechanisms with the slewing rings of a heavy vehicle.

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