CN110304136A - A kind of the independent electrohydraulic steering system and method for straddle carrier wheel - Google Patents
A kind of the independent electrohydraulic steering system and method for straddle carrier wheel Download PDFInfo
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- CN110304136A CN110304136A CN201910648066.4A CN201910648066A CN110304136A CN 110304136 A CN110304136 A CN 110304136A CN 201910648066 A CN201910648066 A CN 201910648066A CN 110304136 A CN110304136 A CN 110304136A
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- straddle carrier
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 15
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 11
- 230000007306 turnover Effects 0.000 claims abstract description 8
- 239000003921 oil Substances 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 7
- 238000011897 real-time detection Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 239000000969 carrier Substances 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000002828 fuel tank Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- 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
-
- 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
- B62D5/062—Details, component parts
-
- 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
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
-
- 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
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of independent electrohydraulic steering system of straddle carrier wheel and method, which includes wheel, hydraulic pump, proportioning valve, turns to safety governor.Steering safety governor is calculated the angle that each wheel should turn over and drives hydraulic pump, while the displacement of the different control ratio valve cores according to each vehicle wheel rotation angle, changes pressure, direction and the flow of the hydraulic oil of input hydraulic pressure pump by a certain percentage.The present invention uses independent steering system, extreme enrichment steering pattern, it can be under different operating conditions, free switching steering pattern, greatly improves operating efficiency, and structure is simple, arrangement is succinct, reliable, accuracy is high, and can ensure that steering wheel rotational angle is synchronous with wheel steering in place, improves drive safety and comfort.
Description
Technical field
The present invention relates to a kind of straddle carrier control system and methods, more specifically to a kind of the only of straddle carrier wheel
Vertical electric hydraulic steering system and method.
Background technique
Straddle carrier is main force's type in container handling device, is usually undertaken by the water of wharf apron to stockyard
Flat transport and the container stack work in stockyard.Due to straddle carrier have maneuverability, high-efficient, stability is good,
The features such as wheel load is low obtains universal application.Straddle carrier operation to improve wharf apron equipment the efficiency of loading and unloading very
Favorably.Straddle carrier from the 1960s come out since, after decades of development, with container in tire type door
Formula crane is the same, becomes the key equipment in container terminal and stockyard.
Due to the raising of straddle carrier technology and the development of the relevant technologies such as hydraulic, straddle carrier presents more
Sample trend.In host configuration, single host form still occupies very big market.The straddle carrier of this form, engine arrangement
At the top of straddle carrier, control and repair it is more convenient, but mass center improve.For across Π type straddle carrier, excessively high mass center influences
The driving safety of straddle carrier.Double host straddle carriers are generally two engines and are arranged between two side door leg of door frame, by
It is lower in engine arrangement position, the centroid position of complete machine is reduced, security and stability is obviously improved, but simultaneously to maintenance
Certain difficulty is brought with control.In the kind of drive, in addition to traditional machinery and hydraulic mechanical mode, hydraulic drive and electricity
The gas kind of drive has faster development.
With the maturation of intelligent driving driving technology, the tide of automatic dock construction is started in the world, in addition to what is created
Except automatic dock, many tradition large container ports are also carrying out or are preparing automated and semi-automatic transformation.
And straddle carrier plays very important as one of harbour container means of transport in harbour container horizontal transport
Effect.Traditional straddle carrier wheel steering is connected using connecting rod, by oil cylinder pushing connecting rod, realizes that the synchronous of unilateral wheel turns to,
The steering form control is simple, but steering is in the form of a single, can only realize Ackermann steering, and it is not high to turn to precision.
Summary of the invention
It is simple for straddle carrier course changing control existing in the prior art, turn to problem in the form of a single, mesh of the invention
The independent electrohydraulic steering system and method for being to provide a kind of straddle carrier wheel.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of independent electrohydraulic steering system of straddle carrier wheel, including wheel, hydraulic pump, proportioning valve, steering security control
Device.Steering safety governor is calculated the angle that each wheel should turn over and drives hydraulic pump, while according to each wheel
The displacement of the different control ratio valve cores of rotational angle changes pressure, the side of the hydraulic oil of input hydraulic pressure pump by a certain percentage
To and flow.
Further, independent angular encoder and steering cylinder are equipped on each wheel.
Further, each steering cylinder is separately connected a ratio of turning valve, and all ratio of turning valves are all connected with
To hydraulic pump.
Further, the angle of angular encoder real-time detection vehicle wheel rotation in vehicle wheel rotation, and signal is passed to
Safety governor is turned to, safety governor is turned to and compares the actual rotational angle of wheel with target rotational angle, in real time
The displacement of adjustment ratio valve core.
Further, steering cylinder is separately connected ratio of turning valve and wheel, and high pressure liquid pressure oil enters steering cylinder promotion
Piston rod pushes vehicle wheel rotation in turn.
Further, further include turning to encoder, turn to the rotation direction and angle of encoder identification straddle carrier steering wheel,
And send data to steering safety governor.
To achieve the above object, the present invention also adopts the following technical scheme that
A kind of independent electrohydraulic forward method of straddle carrier wheel, comprising the following steps: calculated using safety governor is turned to
It obtains the angle that each wheel should turn over and drives hydraulic pump；According to the different control proportioning valve valves of each vehicle wheel rotation angle
The displacement of core；Change pressure, direction and the flow of the hydraulic oil of input hydraulic pressure pump by a certain percentage.
It further, further include manual mode, manual mode is the following steps are included: selection steering pattern；Manually control across
Transport the steering wheel rotation of vehicle；The rotation direction and angle of encoder identification straddle carrier steering wheel are turned to, and sends data to and turns
To safety governor.
It further, further include automatic mode, automatic mode is the following steps are included: selection steering pattern；By steering pattern
Selection data be transmitted to steering safety governor.
Further, further comprising the steps of: using angular encoder in vehicle wheel rotation real-time detection vehicle wheel rotation
Angle, and signal is passed into steering safety governor；Safety governor is turned to turn the actual rotational angle of wheel and target
Dynamic angle compares, and adjusts the displacement of ratio valve core in real time.
In the above-mentioned technical solutions, the present invention uses independent steering system, and extreme enrichment steering pattern can in different works
Under condition, free switching steering pattern greatly improves operating efficiency, and structure is simple, and arrangement is succinct, reliable, and accuracy is high, and
And can ensure that steering wheel rotational angle is synchronous with wheel steering in place, improve drive safety and comfort.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of straddle carrier of the present invention；
Fig. 2 is 3 kinds of steering patterns of 8 wheel straddle carriers；
Fig. 3 is 4 kinds of steering patterns of 6 wheel straddle carriers；
Fig. 4 is the flow chart of the method for the present invention；
Fig. 5 is the schematic diagram of straddle carrier tyre rotation.
Specific embodiment
Technical solution of the present invention is further illustrated with reference to the accompanying drawings and examples.
Referring to Fig.1, the present invention discloses a kind of independent electrohydraulic steering system of straddle carrier wheel 3 first, mainly includes vehicle
Wheel 3, steering cylinder 2, hydraulic pump, proportioning valve, angular encoder 1, steering safety governor, steering encoder etc., wherein every
Independent angular encoder 1 and steering cylinder 2 are equipped on one wheel 3.Each steering cylinder 2 is separately connected a steering
Proportioning valve, all ratio of turning valves are all connected to hydraulic pump.Steering cylinder 2 is separately connected ratio of turning valve and wheel 3, high pressure
Hydraulic oil, which enters steering cylinder 2, to be pushed piston rod and then wheel 3 is pushed to rotate.
When wheel 3 turns to, high pressure liquid pressure oil enters hydraulic cylinder and pushes piston rod and then wheel 3 is pushed to rotate, at this time
Angular encoder 1 detects the angle that wheel 3 rotates and transfers signals to steering safety governor.Specifically, when 3 turns of wheel
When dynamic, the angle of 1 real-time detection wheel 3 of angular encoder rotation, and signal is passed into steering safety governor, turn to safety
Controller compares the actual rotational angle of wheel 3 with target rotational angle, adjusts the displacement of ratio valve core in real time, i.e.,
The size of the valve port of proportioning valve, to realize the accurate steering of each wheel 3.
Under pilot steering mode, steering direction machine is provided with the steering encoder with torque damping.When steering wheel turns
When dynamic, the rotation direction and angle of steering wheel can be identified by turning to encoder, and transfer data to steering safety governor, be turned
The angle that each wheel 3 should turn over is obtained by calculation to safety governor, and drives hydraulic pump pump oil, turns at the same time
Safety governor changes by a certain percentage according to the displacements of the different control ratio valve cores of each 3 rotational angle of wheel
Pressure, direction and the flow of the hydraulic oil of input hydraulic pressure oil cylinder.High pressure liquid pressure oil enters hydraulic cylinder by proportioning valve and pushes liquid
The piston rod of compressing cylinder is mobile, and then rotates wheel 3.
3 kinds of steering patterns when Fig. 2 is eight wheel straddle carrier movement: the first is the Ackermann steering mode of straddle carrier,
Under this mode, the rotation center of circle of each wheel 3 of straddle carrier meets at the rotational angle of each wheel 3 on any but same axis not
Together；Second of diagonal mode for straddle carrier, in such a mode, each wheel 3 rotates same angle, enables straddle carrier edge
Straight-line travelling in a direction in front of side；The third is the truck steering pattern of straddle carrier, i.e. the wheel 3 of 2~axis of axis 4 is pressed
Certain angle is all turned over according to a certain ratio, and the wheel 3 of axis 1 remains stationary, thus to complete the Turning travel of straddle carrier.
4 kinds of steering patterns when Fig. 3 is six wheel straddle carrier movement, the first is the Ackermann steering form of straddle carrier；The
Two kinds of truck steering patterns for straddle carrier；The third is the diagonal mode of straddle carrier；The 4th kind of pivot stud for straddle carrier
(revolution) mode, i.e. straddle carrier can be realized 360 ° of pivot studs.
In addition, invention additionally discloses a kind of independent electrohydraulic forward methods of straddle carrier wheel, including following step referring to Fig. 4
It is rapid:
S1: selection driving mode first.The independent electrohydraulic forward method of straddle carrier wheel of the invention includes two kinds of driving
Mode, i.e., local manual mode and remote auto mode.
If selecting local manual mode in S1 at this time, course changing control process is as follows:
S2.1: local manual mode is selected.
S2.2: selection steering pattern (Ackermann steering, diagonal turn to, truck turns to etc.)
S2.3: after driver chooses steering pattern on control panel and steering wheel is started turning.
S2.4: the steering encoder with torque damping, which identifies steering wheel rotation direction and angle and transmits a signal to, to be turned
To controller.
S3: it turns to safety governor and the angle that each wheel should turn over is obtained by calculation.
S4: safety is turned to according to the displacement of the different control ratio valve cores of each vehicle wheel rotation angle, and then presses one
Certainty ratio changes pressure, direction and the flow of the hydraulic oil of input hydraulic pressure oil cylinder.
S5: high pressure liquid pressure oil enters hydraulic cylinder by proportioning valve and pushes the piston rod of hydraulic cylinder mobile.
S6: steering cylinder turns a wheel.
S7: at this point, angular encoder starts the angle of real-time detection vehicle wheel rotation, and signal is passed into steering safety control
Device processed turns to safety governor and compares the actual rotational angle of wheel with target rotational angle, adjusts proportioning valve in real time
The displacement of spool is the size of proportioning valve valve port, to realize the accurate steering of each wheel.
Above-mentioned process is the rotating direction control method under local manual mode, and if in S1 select remote auto mode,
Course changing control process is as follows:
S2.5: local manual mode is selected.
S2.6: selection steering pattern (Ackermann steering, diagonal turn to, truck turns to etc.), when driver chooses steering
Corner instruction (signal) is sent to steering safety governor after mode.
S3: it turns to safety governor and the angle that each wheel should turn over is obtained by calculation.
S4: safety is turned to according to the displacement of the different control ratio valve cores of each vehicle wheel rotation angle, and then presses one
Certainty ratio changes pressure, direction and the flow of the hydraulic oil of input hydraulic pressure oil cylinder.
S5: high pressure liquid pressure oil enters hydraulic cylinder by proportioning valve and pushes the piston rod of hydraulic cylinder mobile.
S6: steering cylinder turns a wheel.
S7: at this point, angular encoder starts the angle of real-time detection vehicle wheel rotation, and signal is passed into steering safety control
Device processed turns to safety governor and compares the actual rotational angle of wheel with target rotational angle, adjusts proportioning valve in real time
The displacement of spool is the size of proportioning valve valve port, to realize the accurate steering of each wheel.
Above-mentioned technical proposal is further illustrated below by one embodiment.
Fig. 5 be straddle carrier tyre rotation schematic diagram, it is hydraulic in include element have: fuel tank 1, hydraulic pump 2, turning rate
Example valve 3.1~3.8, hydraulic cylinder 4.1~4.8.When hydraulic pump works, the hydraulic oil that hydraulic pump pumps out is by being diverted peace
The proportioning valve of full controller control enters hydraulic cylinder and then pushes piston rod mobile.
Local manual mode:
After driver chooses steering pattern on control panel and steering wheel is started turning, with turning for torque damping
Pass through identification steering wheel rotational angle to encoder and transmit a signal to steering controller, steering controller controls hydraulic pump 2
Rotation, while the unlatching of proportioning valve 3.1~3.8 is controlled, the hydraulic oil pumped out through fuel tank 1 passes through proportioning valve 3.1~3.8, enters
Hydraulic cylinder 4.1~4.8 pushes piston rod, to turn a wheel.Angular encoder starts to identify the corner of wheel at this time, and
By wheel steering angle Real-time Feedback to safety governor is turned to, turns to safety governor and compare and correct each steering angle of wheel, from
And complete steering procedure.
Remote auto mode:
Corner instruction (signal) is sent to steering controller, steering controller control after driver chooses steering pattern
Hydraulic pump 2 processed rotates, while controlling the unlatching of proportioning valve 3.1~3.8, the hydraulic oil pumped out through fuel tank 1 by proportioning valve 3.1~
3.8, hydraulic cylinder 4.1~4.8 is entered, piston rod is pushed, to turn a wheel.Angular encoder starts to identify wheel at this time
Corner turn to safety governor and compare and correct each wheel turn and by wheel steering angle Real-time Feedback to safety governor is turned to
To angle, to complete steering procedure.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as the change in spirit of the invention, to embodiment described above
Change, modification will all be fallen within the scope of claims of the present invention.
Claims (10)
1. a kind of independent electrohydraulic steering system of straddle carrier wheel characterized by comprising
Wheel, proportioning valve, turns to safety governor at hydraulic pump；
The steering safety governor is calculated the angle that each wheel should turn over and drives the hydraulic pump, while basis
The difference of each vehicle wheel rotation angle controls the displacement of the ratio valve core, changes the hydraulic of input hydraulic pressure pump by a certain percentage
Pressure, direction and the flow of oil.
2. the independent electrohydraulic steering system of straddle carrier wheel as described in claim 1, which is characterized in that each described wheel
On be equipped with independent angular encoder and steering cylinder.
3. the independent electrohydraulic steering system of straddle carrier wheel as claimed in claim 2, which is characterized in that each steering cylinder
It is separately connected a ratio of turning valve, all ratio of turning valves are all connected to hydraulic pump.
4. the independent electrohydraulic steering system of straddle carrier wheel as claimed in claim 2, which is characterized in that the angular encoder
The angle of real-time detection vehicle wheel rotation in vehicle wheel rotation, and signal is passed into steering safety governor, the steering safety
Controller compares the actual rotational angle of wheel with target rotational angle, adjusts the displacement of ratio valve core in real time.
5. the independent electrohydraulic steering system of straddle carrier wheel as claimed in claim 2, which is characterized in that the steering cylinder point
Not Lian Jie ratio of turning valve and wheel, high pressure liquid pressure oil enters steering cylinder and pushes piston rod and then push vehicle wheel rotation.
6. the independent electrohydraulic steering system of straddle carrier wheel as described in claim 1, which is characterized in that further include turning to coding
Device, the rotation direction and angle for turning to encoder identification straddle carrier steering wheel, and send data to steering security control
Device.
7. a kind of independent electrohydraulic forward method of straddle carrier wheel, which comprises the following steps:
It angle that each wheel should turn over is calculated and drives hydraulic pump using safety governor is turned to；
According to the displacement of the different control ratio valve cores of each vehicle wheel rotation angle；
Change pressure, direction and the flow of the hydraulic oil of input hydraulic pressure pump by a certain percentage.
8. the independent electrohydraulic forward method of straddle carrier wheel as claimed in claim 7, which is characterized in that further include manual mould
Formula, the manual mode the following steps are included:
Select steering pattern；
Manually control the steering wheel rotation of straddle carrier；
The rotation direction and angle of encoder identification straddle carrier steering wheel are turned to, and sends data to steering safety governor.
9. the independent electrohydraulic forward method of straddle carrier wheel as claimed in claim 7, which is characterized in that further include automatic mold
Formula, the automatic mode the following steps are included:
Select steering pattern；
The selection data of steering pattern are transmitted to steering safety governor.
10. the independent electrohydraulic forward method of straddle carrier wheel as claimed in claim 7, which is characterized in that further include following step
It is rapid:
Steering safety control is passed to using the angle of angular encoder real-time detection vehicle wheel rotation in vehicle wheel rotation, and by signal
Device processed；
The steering safety governor compares the actual rotational angle of wheel with target rotational angle, adjusts ratio in real time
The displacement of valve core.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910648066.4A CN110304136A (en) | 2019-07-18 | 2019-07-18 | A kind of the independent electrohydraulic steering system and method for straddle carrier wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910648066.4A CN110304136A (en) | 2019-07-18 | 2019-07-18 | A kind of the independent electrohydraulic steering system and method for straddle carrier wheel |
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| Publication Number | Publication Date |
|---|---|
| CN110304136A true CN110304136A (en) | 2019-10-08 |
Family
ID=68080799
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910648066.4A Pending CN110304136A (en) | 2019-07-18 | 2019-07-18 | A kind of the independent electrohydraulic steering system and method for straddle carrier wheel |
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| Country | Link |
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| CN (1) | CN110304136A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071333A (en) * | 2019-12-26 | 2020-04-28 | 安徽宇锋仓储设备有限公司 | AGV four-wheel counterweight steering system |
| CN114750825A (en) * | 2022-05-25 | 2022-07-15 | 新驱动重庆智能汽车有限公司 | Full-hydraulic steer-by-wire system and method for automatic driving of vehicle |
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| CN114750825A (en) * | 2022-05-25 | 2022-07-15 | 新驱动重庆智能汽车有限公司 | Full-hydraulic steer-by-wire system and method for automatic driving of vehicle |
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Application publication date: 20191008 |