WO2018102956A1 - 用于起重机械的主动转向系统及起重机械 - Google Patents

用于起重机械的主动转向系统及起重机械 Download PDF

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Publication number
WO2018102956A1
WO2018102956A1 PCT/CN2016/108519 CN2016108519W WO2018102956A1 WO 2018102956 A1 WO2018102956 A1 WO 2018102956A1 CN 2016108519 W CN2016108519 W CN 2016108519W WO 2018102956 A1 WO2018102956 A1 WO 2018102956A1
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WIPO (PCT)
Prior art keywords
steering
wheel
active
gear
hydraulic power
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PCT/CN2016/108519
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English (en)
French (fr)
Inventor
丁宏刚
陈建凯
李丽
鹿鹏程
马云旺
曹书源
Original Assignee
徐州重型机械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 徐州重型机械有限公司 filed Critical 徐州重型机械有限公司
Priority to EP16923582.7A priority Critical patent/EP3533688B1/en
Priority to US16/466,496 priority patent/US11597635B2/en
Priority to PCT/CN2016/108519 priority patent/WO2018102956A1/zh
Publication of WO2018102956A1 publication Critical patent/WO2018102956A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/20—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle specially adapted for particular type of steering gear or particular application
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
    • B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/14—Trolley or crane travel drives

Definitions

  • the invention relates to the technical field of engineering machinery, in particular to an active steering system and a lifting machine for a lifting machine.
  • the active steering system has the variable transmission ratio function of the line-controlled steering, and retains the mechanical connection between the steering wheel and the steering wheel, which ensures the safety and reliability of the steering system, and is the development direction of the steering system.
  • the active steering system includes a steering wheel a1, a steering input shaft a2, and a planetary gear mechanism a5. a steering output shaft a6, a steering a9, a steering tie rod a10, a steering motor a4 mounted on the planetary gear mechanism a5, a steering wheel angle sensor, a yaw angular velocity sensor, and a lateral acceleration sensor mounted on the steering input shaft a2.
  • the steering wheel torque sensor signal obtained by the steering wheel torque sensor a3 and the signals obtained by the rotation angle sensor, the lateral acceleration sensor and the yaw angular velocity sensor calculate the ideal gear ratio and steering angle correction of the steering system according to the steering stability of the vehicle.
  • the amount is sent to the steering motor a4 to output a control signal, and the planetary gear mechanism a5 is driven to perform the ECU of the variable ratio control and the active steering intervention control.
  • the ECU sends a power assist motor control signal to the assist motor a7 according to the steering motor feedback signal sent back from the steering motor a4, determines the assisting motor a7 assist torque and the returning control torque magnitude, and drives the front wheel a11 to turn the steering rod a10 to electrically drive the electric motor.
  • Power steering assist control positive control.
  • the rear axle lock When driving at high speed, the rear axle lock can improve the driving stability to a certain extent, but the improvement is limited, in special cases such as In rainy and snowy days, when there is a sharp turn, there is still the possibility of instability; in the case of poor wheel alignment parameters, tire pressure is not standard, and the suspension is not adjusted, the deviation will occur during straight-line driving, which requires the driver to continuously Make corrections to increase the driving burden.
  • the active steering system incorporates the electric power steering function. Due to the large steering resistance of the crane chassis, the electric power steering cannot meet the system requirements, and the arrangement takes up a large space, and the actual operation It is difficult to arrange.
  • the object of the present invention is to propose an active steering system and a lifting device for a hoisting machine to improve the ability of the hoisting machine to overcome steering resistance and to increase the range of application of the active steering system.
  • the present invention provides an active steering system for a hoisting machine including a steering wheel and a wheel, the active steering system including an active steering device, a hydraulic power steering device, and a hydraulic power steering system,
  • An active steering device is disposed between the steering wheel and the steering vertical arm of the hoisting machine to adjust a steering gear ratio between the steering wheel and the steering vertical arm according to driving conditions of the hoisting machine
  • a hydraulic power steering device is disposed between the steering wheel and the steering down arm to control the hydraulic power steering system to drive the wheel steering.
  • the active steering device is disposed between the steering wheel and the hydraulic power steering device to change a transmission ratio between an input of the steering wheel and an output of the hydraulic power steering device by the active steering device .
  • the active steering device is disposed between the hydraulic power steering device and the steering vertical arm to change an output of the hydraulic power steering device and an output of the steering vertical arm through the active steering device The transmission ratio between the two.
  • the active steering device includes a differential gear train that adjusts a steering transmission between the steering wheel and the hydraulic power steering gear by adjusting a gear ratio between an input shaft and an output shaft thereof ratio.
  • the active steering device further includes a motor
  • the differential gear train includes a planetary gear, a first gear and a second gear
  • the motor is drivingly coupled with the planetary gear through a tie rod
  • the first gear and The planet gears mesh with each other and are coupled to the steering wheel through the input shaft, the second gear meshing with the planet gear and coupled to the hydraulic power steering through the output shaft.
  • the differential gear train further includes an intermediate shaft connected between the input shaft and the first gear by two gears disposed perpendicularly to each other, such that the input shaft and the The transmission directions of the output shafts are perpendicular to each other, so that the active steering device integrates the functions of the angular actuator.
  • the motor includes a worm wheel and a worm, and the worm wheel is coupled to the tie rod, and the worm wheel drives the planetary wheel to rotate by the tie rod under the belt action of the worm.
  • the active steering system has at least a high speed running mode and a low speed running mode, in which the steering transmission between the steering wheel and the wheel is relatively small; in the low speed driving mode, The steering transmission between the steering wheel and the wheel is relatively large.
  • a rotation direction of the motor is opposite to an input direction of the steering wheel to increase an input angle of the steering wheel; and in a low speed running mode, a rotation direction of the motor The input direction of the steering wheel is the same to reduce the input angle of the steering wheel.
  • an angle sensor for measuring an input rotation angle of the steering wheel, and transmitting the input rotation angle signal of the steering wheel and the attitude signal of the hoisting machine to the An ECU that issues an instruction to the controller to control the active steering device based on the received signal.
  • a lock device is further included, the lock device is configured to lock the active steering device when the active steering device fails, so that the active steering device loses the change of the steering wheel and the wheel The role of the steering gear ratio between.
  • the present invention also provides a hoisting machine comprising the above-described active steering system for a hoisting machine.
  • the wheel includes a front wheel and a rear wheel
  • the hydraulic power steering system is for driving the front wheel steering
  • the steering of the rear wheel is driven by an electronically controlled hydraulic steering system.
  • the present invention provides an active steering device between the steering wheel and the steering vertical arm, and the active steering device can adjust the steering transmission ratio between the steering wheel and the steering vertical arm according to the driving condition of the lifting device to realize the steering wheel.
  • the active control of the steering improves the stability of the operation, the active safety and the comfort of the operation.
  • the hydraulic steering system uses the hydraulic power steering system to drive the steering of the wheel, which can improve the ability to overcome the steering resistance and can be applied to A variety of crane chassis increases the range of active steering systems.
  • FIG. 1 is a schematic diagram of an active steering system incorporating an electric power steering function in the prior art.
  • FIG. 2 is a schematic view showing the structure of an embodiment of an active steering system for a hoisting machine according to the present invention.
  • FIG 3 is a schematic structural view of an active steering device in an embodiment of an active steering system for a hoisting machine according to the present invention.
  • a1 steering wheel, a2-steering input shaft, a3-steering wheel torque sensor, a4-steering motor, a5-planetary gear mechanism, a6-steering output shaft, a7-assisted motor, a8-worm gear reduction mechanism , a9-steering machine, a10-steering tie rod, a11-wheel;
  • the hoisting machine includes a steering wheel 1 and a wheel
  • the active steering system includes an active steering device 3 and a hydraulic pressure.
  • the power steering system 6 and the hydraulic power steering system, the active steering device 3 is disposed between the steering wheel 1 and the steering vertical arm 7, and the active steering device 3 can adjust between the steering wheel 1 and the steering vertical arm 7 according to the driving condition of the lifting device.
  • the hydraulic power steering 6 is disposed between the steering wheel 1 and the steering arm 7 of the hoisting machine to control the hydraulic power steering system to drive the wheel steering.
  • the wheel steering can be driven, and at the same time, under the action of the active steering device 3, the steering of the wheel can also be realized. Active control.
  • an active steering device 3 is provided between the steering wheel 1 and the steering vertical arm 7, and the active steering device 3 is capable of adjusting the steering transmission between the steering wheel 1 and the steering vertical arm 7 according to the running condition of the hoisting machine.
  • the hoisting machine can also actively adjust the steering angle of the wheel through the active steering device 3, thereby improving the stability and active safety of the operation. And maneuver comfort.
  • the hydraulic steering system uses a hydraulic power steering system to drive the steering of the wheel, which can improve the ability to overcome the steering resistance. It can be applied to a variety of crane chassis and increase the applicable range of the active steering system.
  • the active steering device 3 may be disposed between the steering wheel 1 and the hydraulic power steering gear 6 to change the gear ratio between the input of the steering wheel 1 and the output of the hydraulic power steering gear 6 through the active steering device 3, thereby adjusting the wheel Steering to achieve active control of wheel steering.
  • the active steering device 3 can also be arranged between the hydraulic power steering gear 6 and the steering vertical arm 7 to vary the transmission between the output of the hydraulic power steering gear 6 and the output of the steering vertical arm 7 by the active steering device 3. In turn, the steering of the wheel is adjusted to achieve active control of the steering of the wheel.
  • the active steering device 3 may include a differential gear train including an input shaft 31 and an output shaft 32, and the steering wheel 1 and the hydraulic power steering are adjusted by adjusting a transmission ratio between the input shaft 31 and the output shaft 32 thereof. Steering gear ratio between the units 6.
  • the active steering device 3 further includes a motor, the differential gear train includes a planetary gear 33, a first gear and a second gear, and the motor and the planetary gear 33 pass through the tie rod.
  • 34 is drivingly coupled, the first gear meshes with the planet gears 33 and is coupled to the steering wheel 1 via an input shaft 31, the second gear meshes with the planet gears 33 and is coupled to the hydraulic power steering gear 6 via an output shaft 32.
  • the planetary gear 33 can be driven to rotate by the motor, and the rotation of the planetary gear 33 can change the gear ratio between the first gear and the second gear, thereby changing the gear ratio between the input shaft 31 and the output shaft 32, and the input shaft.
  • One end of 31 is connected to the steering wheel 1, and one end of the output shaft 32 is connected with the hydraulic power steering gear 6. Therefore, under the action of the motor, the steering transmission ratio between the steering wheel 1 and the hydraulic power steering gear 6 can be changed, and at the same time, the motor is actively controlled. It can be activated if needed, or it can be stopped when needed, ie the active steering device 3 can achieve active control.
  • the differential gear train further includes an intermediate shaft 37 which is connected between the input shaft 31 and the first gear through two gears disposed perpendicularly to each other to transmit the input shaft 31 and the output shaft 32.
  • the directions are perpendicular to each other, so that the active steering device 3 integrates the functions of the angular actuator, so that the active steering device and the angular actuator are integrated, and the two can be integrated into the same module in a specific setting, thereby saving floor space and making The overall structure is more compact.
  • the motor may employ a worm gear structure including a worm gear 36 and a worm 35 that is coupled to the tie rod 34 that drives the planet gears 33 to rotate by the tie rods 34 during the belt action of the worm gear 35.
  • a worm gear structure including a worm gear 36 and a worm 35 that is coupled to the tie rod 34 that drives the planet gears 33 to rotate by the tie rods 34 during the belt action of the worm gear 35.
  • the active steering system of the present invention can automatically adjust the steering ratio, at least having a high speed driving mode and a low speed driving mode.
  • the high speed driving mode the steering transmission between the steering wheel 1 and the wheel is relatively small, and the indirect steering ratio is small.
  • the steering transmission between the steering wheel 1 and the wheel is relatively large, which can provide a more Direct steering ratio for improved steering accuracy and flexibility.
  • the rotation direction of the motor is opposite to the input direction of the steering wheel 1 to increase the input angle of the steering wheel 1 to make the vehicle control more stable; in the low speed running mode, the rotation direction of the motor and the steering wheel 1
  • the input direction is the same to reduce the input angle of the steering wheel 1 to improve steering accuracy and flexibility.
  • the active steering system may further include an angle sensor 2, an ECU and a controller 12 for measuring the input angle of the steering wheel 1 and transmitting the input angle signal of the steering wheel 1 together with the attitude signal of the hoisting machine to the ECU.
  • the ECU issues an instruction to the controller 12 based on the received signal to control the active steering device 3.
  • the attitude signal may include a vehicle speed, a rotation angle of the wheel, a yaw rate signal of the hoisting machine, and the like.
  • the active steering system may further include an angle sensor 4 for detecting and feedback control, and the angle sensor 4 feeds back signals of the detected wheel angle, vehicle speed, yaw rate and the like to the ECU, and the ECU may according to the signal pair according to the angle sensor 2 The wheel angle calculated by the feedback signal is corrected to achieve more precise control.
  • the active steering system may further include a locking device for locking the active steering device 3 when the active steering device 3 fails, so that the active steering device 3 loses the steering ratio between the steering wheel 1 and the wheel.
  • the action of the active steering device 3 corresponds to a mechanical transmission, at which time the input shaft 31 of the active steering device 3 has the same angle of rotation as the output shaft 32.
  • the present invention also proposes a hoisting machine including an active steering system for a hoisting machine, which is active for hoisting machinery in each of the above embodiments.
  • the positive effects of the steering system also apply to the lifting machinery, which will not be described here.
  • the active steering system of the present invention can be applied to various types of hoisting machinery, especially multi-axle cranes.
  • the wheel includes a front wheel and a rear wheel, and the hydraulic power steering system is used to drive the front wheel steering, that is, the active steering.
  • the device 3 is mainly used for actively controlling the steering of the front wheel, and the steering of the rear wheel is driven by the electronically controlled hydraulic steering system. Under the action of the active steering device 3, the front wheel steering can overcome the large resistance, while the rear wheel does not need to be performed. Special settings, the general electronic steering system can easily and easily achieve steering.
  • the steering can have multiple modes, such as small turning mode, crab steering mode, etc.
  • the active steering system of the invention monitors the running attitude and feeds the vehicle attitude signal to the ECU.
  • the ECU sends a control signal to the controller through calculation to control the motor to change the front wheel angle in real time to maintain the stability of the vehicle steering.
  • the front wheel mainly combines the vehicle speed, the steering wheel angle, the wheel angle and the like to control the motor in the active steering device, thereby changing the steering transmission ratio, and the rotation angle of the wheel is coordinated by the mechanical lever system;
  • the liquid proportional system can adopt another set of independent control system.
  • the control principle is mainly to receive signals such as one-axis rotation angle and vehicle speed through the controller.
  • the rear-axis electro-hydraulic proportional controller calculates the required amount of the rear axle wheel according to the feedback signal.
  • the theoretical rotation angle, combined with the actual rotation angle of the rear axle wheel, then controls the proportional valve group to open and close to achieve the purpose of controlling the rear axle angle.
  • the active steering system includes a steering wheel 1, an angle sensor 2, an active steering device 3, an angle sensor 4, a steering transmission shaft 5, a hydraulic power steering gear 6, a steering vertical arm 7, a first steering rod 8, and a steering The rocker arm 9, the second steering rod 10, the third steering rod 11, and the controller 12.
  • the steering wheel 1 inputs a corresponding rotation angle
  • the angle sensor 2 measures the input rotation angle, and transmits the vehicle speed, the tire rotation angle signal, the yaw angular velocity signal, and the like to the ECU, and the ECU calculates according to the signals, and sends an instruction to the controller 12, and the controller 12 uses
  • the rotation speed and direction of the motor in the active steering device 3 are adjusted, and feedback control is performed by the angle sensor 4.
  • the hydraulic power steering device 6 cooperates with the steering vertical arm 7 and the steering assist cylinder on the axle to drive the wheel to rotate, and is transmitted to each wheel via the first steering rod 8, the steering rocker arm 9, the second steering rod 10 and the third steering rod 11. Reach the corresponding angle.
  • the mechanical transmission structure of the wheel steering includes a first steering rod 8, a steering rocker 9, a second steering rod 10 and a third steering rod 11, and in other embodiments, the mechanical transmission structure can also Other forms that can be known to those skilled in the art are not described herein.
  • the opening of the valve in the hydraulic power steering device 6 is changed by the active steering device 3 to adjust the pressure of the hydraulic assist system, and the wheel is rotated by the oil pressure in the hydraulic power steering system, thereby realizing the front wheel angle. Change to achieve control of the wheel angle.
  • the change of the front wheel angle of the vehicle is jointly controlled by the steering wheel 1, the motor in the active steering device 3, and the ratio between the rotation angle of the steering wheel 1 and the front wheel rotation angle is related to the rotation of the motor in the active steering device 3, and the rotation of the motor can change the Ratio to achieve variable ratio function.
  • a hydraulic power steering system and a rear axle electro-hydraulic proportional multi-mode steering system are combined, and the rotational speed and direction of the motor can be controlled according to the vehicle speed, the wheel angle, the yaw rate, the steering mode, and the like.
  • the active steering system and the hoisting machine embodiment of the present invention for a hoisting machine have at least one of the following or A variety of advantages:
  • Active control of wheel steering can be achieved by adding an active steering device between the steering wheel and the hydraulic power steering gear;
  • the active steering device includes a differential gear train, which becomes a double-degree-of-freedom drive and realizes differential output of the input shaft and the output shaft;
  • the function of the angle actuator is integrated in the active steering device, and the space occupied by the angle actuator can be reduced through integration, and the structure is more compact;
  • the active steering device includes a locking device, which can be automatically locked when the active steering control portion fails, and the safety is good;

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

一种用于起重机械的主动转向系统及起重机械，其中该起重机械包括方向盘（1）和车轮，主动转向系统包括主动转向装置（3）、液压助力转向器（6）和液压助力转向系统，主动转向装置（3）设置在方向盘（1）和起重机械的转向垂臂（7）之间，以根据起重机械的行驶工况调节方向盘（1）和转向垂臂（7）之间的转向传动比，液压助力转向器（6）设置在方向盘（1）和转向垂臂（7）之间，以控制液压助力转向系统驱动车轮转向。由于采用了液压助力转向系统对车轮的转向进行驱动，可以提高克服转向阻力的能力，能够适用于多种起重机底盘，增大了主动转向系统的适用范围。

Description

用于起重机械的主动转向系统及起重机械 技术领域
本发明涉及工程机械技术领域，尤其涉及一种用于起重机械的主动转向系统及起重机械。
背景技术
目前，全地面起重机采用的是机械液压助力转向和电液比例转向系统，机械液压助力系统因具有技术成熟、可靠性强的特点而被业内普遍采用，电液比例转向系统可以实现多轴多模式转向。但是现有的转向系统无法解决低速灵活性和高速稳定性之间的矛盾。
近代汽车转向技术经历了液压助力转向、电动助力转向、线控转向和主动转向几个阶段。主动转向系统具有线控转向的可变传动比功能，又保留着转向盘与转向轮之间的机械连接，保障了转向系统的安全性和可靠性，是转向系统的发展方向。
现有技术中有一种八轴汽车底盘起重机及其转向控制系统、方法(参见公开号为CN102030037A的专利)，其方向盘通过角传动器改变传递方向，最终将方向盘转角输出到转向器，进而控制车轮转向。该转向控制系统采用固定的转角传动比，角传动器速比不能改变，仅作为改变传递方向使用，传动比大小主要由转向器传动比决定，而转向器的传动比由转向器内部设计决定，同样也是一个定比系统。
还有一种融合电动助力转向功能的主动转向系统及控制方法(参见公开号为CN101695935A的专利)，如图1所示，该主动转向系统依次包括转向盘a1、转向输入轴a2、行星齿轮机构a5、转向输出轴a6、转向机a9、转向横拉杆a10、安装于行星齿轮机构a5上的转向电机a4、转向盘转角传感器、横摆角速度传感器以及侧向加速度传感器，装在转向输入轴a2上的转向盘转矩传感器a3获得的转向盘转矩传感器信号以及转角传感器、侧向加速度传感器和横摆角速度传感器获得的信号，根据整车的操纵稳定性计算出转向系统的理想传动比和转向角修正 量，向转向电机a4发出控制信号，驱动上述行星齿轮机构a5实施变传动比控制和主动转向干预控制的ECU。ECU根据转向电机a4发回的转向电机反馈信号，给助力电机a7发送助力电机控制信号，确定助力电机a7助力力矩和回正控制力矩大小，通过转向横拉杆a10共同驱动前轮a11转向，实施电动助力转向助力控制、回正控制。
在上述的八轴汽车底盘起重机及其转向控制系统中，采用固定的转向传动比，无法解决低速灵活性和高速稳定性的矛盾：液压助力可以使转向较轻，但在低速大转角、掉头、小场地转向等工况下，需要反复大幅度转动方向盘，转向灵活性差，易疲劳；高速行驶时，后桥锁止可以一定程度上提高行驶稳定性，但是改善程度有限，在遇到特殊情况如雨雪天、急转弯时，仍有出现失稳的可能性；在车轮定位参数不良、胎压不标准、悬架未调平等情况下，直线行驶过程中会发生跑偏，需要驾驶员不断的进行修正，增加驾驶负担。
在上述的融合电动助力转向功能的主动转向系统中，主动转向系统融合了电动助力转向功能，由于起重机底盘转向阻力大，电动助力转向满足不了系统要求，并且其布置方式占用空间较大，实际操作中布置困难。
需要说明的是，公开于本发明背景技术部分的信息仅仅旨在增加对本发明的总体背景的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域技术人员所公知的现有技术。
发明内容
本发明的目的是提出一种用于起重机械的主动转向系统及起重机械，以提高起重机械克服转向阻力的能力，增大主动转向系统的适用范围。
为实现上述目的，本发明提供了一种用于起重机械的主动转向系统，该起重机械包括方向盘和车轮，主动转向系统包括主动转向装置、液压助力转向器和液压助力转向系统，所述主动转向装置设置在所述方向盘和所述起重机械的转向垂臂之间，以根据所述起重机械的行驶工况调节所述方向盘和所述转向垂臂之间的转向传动比，所述液压助力转向器设置在所述方向盘和所述转向垂臂之间，以控制所述液压助力转向系统驱动所述车轮转向。
进一步地，所述主动转向装置设置在所述方向盘和所述液压助力转向器之间，以通过所述主动转向装置改变所述方向盘的输入与所述液压助力转向器的输出之间的传动比。
进一步地，所述主动转向装置设置在所述液压助力转向器和所述转向垂臂之间，以通过所述主动转向装置改变所述液压助力转向器的输出与所述转向垂臂的输出之间的传动比。
进一步地，所述主动转向装置包括差动轮系，所述差动轮系通过调节其输入轴与输出轴之间的传动比来调节所述方向盘和所述液压助力转向器之间的转向传动比。
进一步地，所述主动转向装置还包括电机，所述差动轮系包括行星轮、第一齿轮和第二齿轮，所述电机与所述行星轮通过系杆驱动连接，所述第一齿轮与所述行星轮相互啮合并通过所述输入轴与所述方向盘连接，所述第二齿轮与所述行星轮相互啮合并通过所述输出轴与所述液压助力转向器连接。
进一步地，所述差动轮系还包括中间轴，所述中间轴通过相互垂直设置的两个齿轮连接在所述输入轴与所述第一齿轮之间，以使得所述输入轴与所述输出轴的传递方向相互垂直，使所述主动转向装置集成角传动器的功能。
进一步地，所述电机包括蜗轮和蜗杆，所述蜗轮与所述系杆连接，所述蜗轮在所述蜗杆的带动作用下通过所述系杆驱动所述行星轮转动。
进一步地，所述主动转向系统至少具有高速行驶模式和低速行驶模式，在所述高速行驶模式下，所述方向盘与所述车轮之间的转向传动比较小；在所述低速行驶模式下，所述方向盘与所述车轮之间的转向传动比较大。
进一步地，在所述高速行驶模式下，所述电机的旋转方向与所述方向盘的输入方向相反，以增大所述方向盘的输入角度；在所述低速行驶模式下，所述电机的旋转方向与所述方向盘的输入方向相同，以减小所述方向盘的输入角度。
进一步地，还包括角度传感器、ECU和控制器，所述角度传感器用于测量所述方向盘的输入转角，并将所述方向盘的输入转角信号和所述起重机械的姿态信号一起传递至所述ECU，所述ECU根据接收的信号对所述控制器发出指令，以对所述主动转向装置进行控制。
进一步地，还包括锁止装置，所述锁止装置用于在所述主动转向装置发生故障时对所述主动转向装置进行锁定，以使所述主动转向装置失去改变所述方向盘与所述车轮之间的转向传动比的作用。
为实现上述目的，本发明还提供了一种起重机械，包括上述的用于起重机械的主动转向系统。
进一步地，所述车轮包括前轮和后轮，所述液压助力转向系统用于驱动所述前轮转向，所述后轮的转向通过电控液压转向系统来驱动。
基于上述技术方案，本发明在方向盘与转向垂臂之间设置了主动转向装置，该主动转向装置能够根据起重机械的行驶工况调节方向盘与转向垂臂之间的转向传动比，实现对车轮转向的主动控制，提高运行的稳定性、主动安全性和操纵舒适性；另外，该主动转向系统中采用了液压助力转向系统对车轮的转向进行驱动，可以提高克服转向阻力的能力，能够适用于多种起重机底盘，增大了主动转向系统的适用范围。
附图说明
图1为现有技术中融合电动助力转向功能的主动转向系统的原理图。
图2为本发明用于起重机械的主动转向系统一个实施例的结构示意图。
图3为本发明用于起重机械的主动转向系统一个实施例中主动转向装置的结构原理图。
图中：a1-转向盘，a2-转向输入轴，a3-转向盘转矩传感器，a4-转向电机，a5-行星齿轮机构，a6-转向输出轴，a7-助力电机，a8-蜗轮蜗杆减速机构，a9-转向机，a10-转向横拉杆，a11-车轮；
1-方向盘，2-角度传感器，3-主动转向装置，4-角度传感器，5-转向传动轴，6-液压助力转向器，7-转向垂臂，8-第一转向拉杆，9-转向摇臂，10-第二转向拉杆，11-第三转向拉杆，12-控制器，31-输入轴，32-输出轴，33-行星轮，34-系杆，35-蜗杆，36-蜗轮，37-中间轴。
具体实施方式
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
在本发明的描述中，需要理解的是，术语“中心”、“横向”、“纵向”、“前”、“后”、“左”、“右”、“上”、“下”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制。
如图2所示，为本发明用于起重机械的主动转向系统一个实施例的结构示意图，在该实施例中，起重机械包括方向盘1和车轮，主动转向系统包括主动转向装置3、液压助力转向器6和液压助力转向系统，主动转向装置3设置在方向盘1和转向垂臂7之间，主动转向装置3能够根据起重机械的行驶工况调节方向盘1和转向垂臂7之间的转向传动比，液压助力转向器6设置在方向盘1和起重机械的转向垂臂7之间，以控制液压助力转向系统驱动车轮转向。其中，在液压助力转向器6、转向垂臂7和液压助力转向系统中液压助力油缸的共同作用下，可以驱动车轮转向，同时，在主动转向装置3的作用下，还可以实现对车轮转向的主动控制。
在上述实施例中，在方向盘1与转向垂臂7之间设置了主动转向装置3，该主动转向装置3能够根据起重机械的行驶工况调节方向盘1与转向垂臂7之间的转向传动比，实现对车轮转向的主动控制，除了驾驶员通过方向盘1对车轮进行转向操作外，起重机械还可以通过主动转向装置3主动对车轮转向角进行调节，提高运行的稳定性、主动安全性和操纵舒适性。该主动转向系统中采用了液压助力转向系统对车轮的转向进行驱动，可以提高克服转向阻力的能力，能够适用于多种起重机底盘，增大了主动转向系统的适用范围。
具体来说，主动转向装置3可以设置在方向盘1和液压助力转向器6之间，以通过主动转向装置3改变方向盘1的输入与液压助力转向器6的输出之间的传动比，进而调节车轮的转向，实现对车轮转向的主动控制。
主动转向装置3也可以设置在液压助力转向器6和转向垂臂7之间，以通过主动转向装置3改变液压助力转向器6的输出与转向垂臂7的输出之间的传动 比，进而调节车轮的转向，实现对车轮转向的主动控制。
其中，主动转向装置3可以包括差动轮系，差动轮系中包括输入轴31与输出轴32，通过调节其输入轴31与输出轴32之间的传动比来调节方向盘1和液压助力转向器6之间的转向传动比。
作为主动转向装置3的一个具体实施例，如图3所示，主动转向装置3还包括电机，差动轮系包括行星轮33、第一齿轮和第二齿轮，电机与行星轮33通过系杆34驱动连接，第一齿轮与行星轮33相互啮合并通过输入轴31与方向盘1连接，第二齿轮与行星轮33相互啮合并通过输出轴32与液压助力转向器6连接。
这样，通过电机可以驱动行星轮33转动，行星轮33的转动可以改变第一齿轮和第二齿轮之间的传动比，从而改变其输入轴31与输出轴32之间的传动比，而输入轴31一端与方向盘1连接，输出轴32一端与液压助力转向器6连接，因此在电机的作用下，可以改变方向盘1和液压助力转向器6之间的转向传动比，同时，电机为主动控制，可以在需要的情况下启动，也可以在需要时停止，即主动转向装置3可以实现主动控制。
如图3所示，差动轮系还包括中间轴37，中间轴37通过相互垂直设置的两个齿轮连接在输入轴31与第一齿轮之间，以使得输入轴31与输出轴32的传递方向相互垂直，使主动转向装置3集成角传动器的功能，这样将主动转向装置与角传动器集成在一起，在具体设置时可以将二者集成在同一模块中，可以节省占地空间，使整体结构更加紧凑。
优选地，电机可以采用蜗轮蜗杆式结构，包括蜗轮36和蜗杆35，蜗轮36与系杆34连接，蜗轮36在蜗杆35的带动作用下通过系杆34驱动行星轮33转动。
根据行驶工况，本发明的主动转向系统可以自动调节转向传动比，至少具有高速行驶模式和低速行驶模式，在高速行驶模式下，方向盘1与车轮之间的转向传动比较小，间接的转向比使车辆操控更稳定，并保持更好的直线行驶能力；在低速行驶模式下，或者在以中速行驶在蜿蜒路面上时，方向盘1与车轮之间的转向传动比较大，可以提供一个更直接的转向比，以提高转向精准度和灵活性。
具体地，在高速行驶模式下，电机的旋转方向与方向盘1的输入方向相反，以增大方向盘1的输入角度，使车辆操控更稳定；在低速行驶模式下，电机的旋转方向与方向盘1的输入方向相同，以减小方向盘1的输入角度，提高转向精准度和灵活性。
另外，主动转向系统还可以包括角度传感器2、ECU和控制器12，角度传感器2用于测量方向盘1的输入转角，并将方向盘1的输入转角信号和起重机械的姿态信号一起传递至ECU，ECU根据接收的信号对控制器12发出指令，以对主动转向装置3进行控制。其中，姿态信号可以包括车速、车轮的转角、起重机械的横摆角速度信号等。
主动转向系统中还可以包括用于检测和反馈控制的角度传感器4，角度传感器4将检测到的车轮转角、车速、横摆角速度等信号反馈至ECU，ECU可以根据该信号对根据角度传感器2所反馈的信号所计算得出的车轮转角进行修正，从而实现更加精准的控制。
主动转向系统中还可以包括锁止装置，锁止装置用于在主动转向装置3发生故障时对主动转向装置3进行锁定，以使主动转向装置3失去改变方向盘1与车轮之间的转向传动比的作用，此时主动转向装置3相当于机械传动装置，这时主动转向装置3的输入轴31与输出轴32的转角相同。
基于以上各个实施例中的用于起重机械的主动转向系统，本发明还提出一种包括用于起重机械的主动转向系统的起重机械，上述各个实施例中用于起重机械的主动转向系统所具备的积极效果同样适用于起重机械，这里不再赘述。
本发明的主动转向系统可以应用于各类起重机械中，特别是多轴起重机，在这类起重机中，车轮包括前轮和后轮，液压助力转向系统用于驱动前轮转向，即主动转向装置3主要用于主动控制前轮的转向，后轮的转向则通过电控液压转向系统来驱动，在主动转向装置3的作用下，前轮转向可以克服较大的阻力，而后轮则无需进行专门的设置，一般的电控转向系统即可方便、轻松地实现转向。对后轮为电控液压转向的起重机而言，其转向可以有多种模式，如小转弯模式、蟹行转向模式等，在不同的模式下车速的变化必然导致车辆转向性能发生改变，通过采用本发明的主动转向系统，监测运行姿态，将车辆姿态信号反馈至ECU， ECU通过计算向控制器发出控制信号，控制电机实时改变前轮转角，维持车辆转向的稳定性。
在上述的多轴起重机中，前轮主要结合车速、方向盘转角、车轮转角等来控制主动转向装置中的电机，进而改变转向传动比，车轮的转角依靠机械杆系来实现协调；后轴的电液比例系统则可以采用另外一套独立的控制系统，其控制原理主要是通过控制器接收一轴转角、车速等信号，后轴电液比例控制器根据反馈信号，计算得出后轴车轮需要的理论转角，并结合后轴车轮的实际转角，继而控制比例阀组开启和关闭，达到控制后轴转角的目的。
下面对本发明用于起重机械的主动转向系统及起重机械的一个实施例的工作过程进行说明：
如图2所示，该主动转向系统包括方向盘1、角度传感器2、主动转向装置3、角度传感器4、转向传动轴5、液压助力转向器6、转向垂臂7、第一转向拉杆8、转向摇臂9、第二转向拉杆10、第三转向拉杆11和控制器12。
方向盘1输入相应的转角，角度传感器2测量输入转角，并和车速、轮胎转角信号、横摆角速度信号等传递至ECU，ECU根据这些信号进行计算，并向控制器12发送指令，控制器12用于调整主动转向装置3中电机的转速和方向，并通过角度传感器4进行反馈控制。液压助力转向器6与转向垂臂7、车轴上的转向助力油缸共同作用带动车轮转动，经第一转向拉杆8、转向摇臂9、第二转向拉杆10和第三转向拉杆11传递至各车轮达到相应的角度。其中，在该实施例中，车轮转向的机械传动结构包括第一转向拉杆8、转向摇臂9、第二转向拉杆10和第三转向拉杆11，在其他实施例中，该机械传动结构也可以有本领域技术人员能够获知的其他形式，这里不再赘述。
该实施例中，通过主动转向装置3来改变液压助力转向器6中阀门的开度来调节液压助力系统的压力，并通过液压助力转向系统中的油压推动车轮转动，从而实现前轮角度的变化，实现对车轮转角的控制。车辆前轮转角的变化通过方向盘1、主动转向装置3中的电机两者共同控制，方向盘1的转角和前轮转角之间的比值与主动转向装置3中电机的转动有关，电机转动可以改变该比值，从而实现变传动比功能。
该实施例中结合了液压助力转向系统和后桥电液比例多模式转向系统，电机的旋转速度及方向可以根据车速、车轮转角、横摆角速度、转向模式等进行控制。
通过对本发明用于起重机械的主动转向系统及起重机械的多个实施例的说明，可以看到本发明用于起重机械的主动转向系统及起重机械实施例至少具有以下一种或多种优点：
1、通过在方向盘和液压助力转向器之间增加一个主动转向装置，可以实现对车轮转向的主动控制功能；
2、主动转向装置中包括差动轮系，成为双自由度驱动，实现输入轴和输出轴的差速输出；
3、主动转向装置中集成了角传动器的功能，通过集成可以减少角传动器的占用空间，结构更加紧凑；
4、结合液压助力和后桥电液比例转向系统的特点，可以进行各种工况下的匹配优化控制，依据行驶工况控制电机转速及方向，自动调节车辆转向传动比；高速行驶时，间接的转向比使车辆在高速时操控更沉稳，并保持更好的直线行驶能力；反之，当车辆以低速或中速行驶在蜿蜒路面上时，该系统将提供一个更直接的转向比，以提高转向精准度和灵活性。
5、主动转向装置中包含锁止装置，在主动转向控制部分出现故障时可以自动锁住，安全性好；
6、具有继承性，可以在原有转向系统基础上直接增加主动转向装置，原有车辆改制方便易行。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (13)

  1. 一种用于起重机械的主动转向系统，该起重机械包括方向盘(1)和车轮，其特征在于，主动转向系统包括主动转向装置(3)、液压助力转向器(6)和液压助力转向系统，所述主动转向装置(3)设置在所述方向盘(1)和所述起重机械的转向垂臂(7)之间，以根据所述起重机械的行驶工况调节所述方向盘(1)和所述转向垂臂(7)之间的转向传动比，所述液压助力转向器(6)设置在所述方向盘(1)和所述转向垂臂(7)之间，以控制所述液压助力转向系统驱动所述车轮转向。
  2. 根据权利要求1所述的用于起重机械的主动转向系统，其特征在于，所述主动转向装置(3)设置在所述方向盘(1)和所述液压助力转向器(6)之间，以通过所述主动转向装置(3)改变所述方向盘(1)的输入与所述液压助力转向器(6)的输出之间的传动比。
  3. 根据权利要求1所述的用于起重机械的主动转向系统，其特征在于，所述主动转向装置(3)设置在所述液压助力转向器(6)和所述转向垂臂(7)之间，以通过所述主动转向装置(3)改变所述液压助力转向器(6)的输出与所述转向垂臂(7)的输出之间的传动比。
  4. 根据权利要求1～3任一项所述的用于起重机械的主动转向系统，其特征在于，所述主动转向装置(3)包括差动轮系，所述差动轮系通过调节其输入轴(31)与输出轴(32)之间的传动比来调节所述方向盘(1)和所述液压助力转向器(6)之间的转向传动比。
  5. 根据权利要求4所述的用于起重机械的主动转向系统，其特征在于，所述主动转向装置(3)还包括电机，所述差动轮系包括行星轮(33)、第一齿轮和第二齿轮，所述电机与所述行星轮(33)通过系杆(34)驱动连接，所述第一齿轮与所述行星轮(33)相互啮合并通过所述输入轴(31)与所述方向盘(1)连接，所述第二齿轮与所述行星轮(33)相互啮合并通过所述输出轴(32)与所述液压助力转向器(6)连接。
  6. 根据权利要求5所述的用于起重机械的主动转向系统，其特征在于，所述 差动轮系还包括中间轴(37)，所述中间轴(37)通过相互垂直设置的两个齿轮连接在所述输入轴(31)与所述第一齿轮之间，以使得所述输入轴(31)与所述输出轴(32)的传递方向相互垂直，使所述主动转向装置(3)集成角传动器的功能。
  7. 根据权利要求5所述的用于起重机械的主动转向系统，其特征在于，所述电机包括蜗轮(36)和蜗杆(35)，所述蜗轮(36)与所述系杆(34)连接，所述蜗轮(36)在所述蜗杆(35)的带动作用下通过所述系杆(34)驱动所述行星轮(33)转动。
  8. 根据权利要求5所述的用于起重机械的主动转向系统，其特征在于，所述主动转向系统至少具有高速行驶模式和低速行驶模式，在所述高速行驶模式下，所述方向盘(1)与所述车轮之间的转向传动比较小；在所述低速行驶模式下，所述方向盘(1)与所述车轮之间的转向传动比较大。
  9. 根据权利要求8所述的用于起重机械的主动转向系统，其特征在于，在所述高速行驶模式下，所述电机的旋转方向与所述方向盘(1)的输入方向相反，以增大所述方向盘(1)的输入角度；在所述低速行驶模式下，所述电机的旋转方向与所述方向盘(1)的输入方向相同，以减小所述方向盘(1)的输入角度。
  10. 根据权利要求1所述的用于起重机械的主动转向系统，其特征在于，还包括角度传感器(2)、ECU和控制器(12)，所述角度传感器(2)用于测量所述方向盘(1)的输入转角，并将所述方向盘(1)的输入转角信号和所述起重机械的姿态信号一起传递至所述ECU，所述ECU根据接收的信号对所述控制器(12)发出指令，以对所述主动转向装置(3)进行控制。
  11. 根据权利要求1所述的用于起重机械的主动转向系统，其特征在于，还包括锁止装置，所述锁止装置用于在所述主动转向装置(3)发生故障时对所述主动转向装置(3)进行锁定，以使所述主动转向装置(3)失去改变所述方向盘(1)与所述车轮之间的转向传动比的作用。
  12. 一种起重机械，其特征在于，包括如权利要求1～11任一项所述的用于起重机械的主动转向系统。
  13. 根据权利要求12所述的起重机械，其特征在于，所述车轮包括前轮和后 轮，所述液压助力转向系统用于驱动所述前轮转向，所述后轮的转向通过电控液压转向系统来驱动。
PCT/CN2016/108519 2016-12-05 2016-12-05 用于起重机械的主动转向系统及起重机械 WO2018102956A1 (zh)

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