CN112141207A - Electro-hydraulic power-assisted steering system and crane - Google Patents
Electro-hydraulic power-assisted steering system and crane Download PDFInfo
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- CN112141207A CN112141207A CN202011001842.0A CN202011001842A CN112141207A CN 112141207 A CN112141207 A CN 112141207A CN 202011001842 A CN202011001842 A CN 202011001842A CN 112141207 A CN112141207 A CN 112141207A
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- 239000003921 oil Substances 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
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- 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
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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- 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
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- 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
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- 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
- B62D7/20—Links, e.g. track rods
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Abstract
The invention relates to the field of engineering machinery, in particular to an electro-hydraulic power-assisted steering system and a crane, wherein the electro-hydraulic power-assisted steering system comprises a steering wheel, an electric power-assisted device and a steering gear; the electric power assisting device is positioned between a steering wheel and a steering gear, and comprises a motor, a sensor and a speed reducing mechanism, wherein the sensor comprises an angle sensor and a torque sensor; the hydraulic oil port of the output end of the steering gear is connected with the power-assisted oil cylinder through a hydraulic pipeline; the steering gear is connected with the tire through a transmission mechanism. According to the invention, the electric power assisting device is additionally arranged in front of the hydraulic variable-speed ratio steering gear, and is transmitted by the steering wheel to the electric power assisting device and then to the hydraulic variable-speed ratio steering gear, so that the electric control hydraulic power-assisted steering function of the vehicle is realized, the low-speed running operation of the vehicle is light and reliable, the high-speed running operation of the vehicle is stable, the running safety of the vehicle is ensured, and the aligning performance of the vehicle is improved.
Description
Technical Field
The invention belongs to the field of engineering machinery, and particularly relates to an electro-hydraulic power steering system and a crane.
Background
With the increasingly tense international fuel situation, the country supports the development of energy-saving emission-reducing industry with great effort, in the field of engineering machinery, the large-tonnage electric power-assisted steering technology is still in a blank state, because of the axle load and the poor driving road condition of the engineering machinery vehicle, a steering power-assisted system on the engineering machinery vehicle still adopts a transmission hydraulic power-assisted mode, the hydraulic power-assisted steering system generally comprises a hydraulic pump, an oil pipe, a pressure flow control valve, a transmission shaft, an oil storage tank and other components, the system works no matter whether the vehicle steers or not, when the large steering vehicle speed is lower, the hydraulic pump is required to output higher power to obtain larger power assistance, and the return-to-positive performance of the vehicle is poor; when the vehicle runs at a high speed, the steering wheel control force is too light and difficult to control, and the driving fatigue is easily caused by repeated correction.
From the future development trend, with the development of power battery technology, motor technology and the like, vehicles are rapidly developing towards the direction of digitization, full electrification, unmanned and intellectualization, while the traditional wheel type vehicle steering system cannot meet the future requirements, more and more novel steering systems such as an intelligent steering system, an active steering system and a steer-by-wire system are gradually emerged out of the water, and the novel steering systems are required to be expanded or upgraded by depending on the electric power steering technology.
Patent CN 104015788A discloses an engineering vehicle and an electro-hydraulic steering system thereof, wherein the engineering vehicle electro-hydraulic steering system comprises: the system comprises a sensor, a power coupler, a controller, a motor, a hydraulic power steering gear, a hydraulic pump and an oil tank; an oil inlet of the hydraulic pump is connected with an oil tank, an oil outlet of the hydraulic pump is connected with a working oil port of the hydraulic power steering gear, and an oil return port of the hydraulic power steering gear is connected with the oil tank; the output end of the motor is connected with the input end of the power coupler, and the output end of the power coupler is connected with the hydraulic power steering gear; the controller is in signal connection with the sensor and the motor; the controller includes: the steering control device comprises a receiving module, a first processing module in signal connection with the receiving module and a control module, wherein the control module is used for controlling the steering of the motor to enable the engineering vehicle to steer and return to the right when the speed of the engineering vehicle is greater than a first preset threshold value and the torque of the steering wheel is determined to be smaller than a second preset threshold value according to the sensing result. The engineering vehicle electro-hydraulic steering system provided by the invention can realize automatic correction during steering.
Patent CN 209241163U discloses a steering assist system and an electric vehicle, the steering assist system includes: the input shaft of the electro-hydraulic steering gear is connected with a steering wheel, and the output shaft of the electro-hydraulic steering gear is connected with a steering front axle; the hydraulic power-assisted mechanism and the electric power-assisted mechanism are both connected with the electro-hydraulic steering gear; the hydraulic power-assisted mechanism and the electric power-assisted mechanism are powered by the low-voltage power supply, and the low-voltage power supply is connected with a power battery of the whole vehicle through a voltage reducer. The utility model discloses a power-assisted steering system, hydraulic pressure assist drive device still can stabilize output power-assisted steering when the high voltage power supply of vehicle became invalid, and electric assist drive device carries out electric power steering helping hand when hydraulic pressure pipeline trouble, and from this, power-assisted steering system has dual redundant effect, has improved power-assisted steering system's reliability and stability greatly.
At present, in the field of engineering machinery, a simple electric power steering technology cannot meet the requirement of large axle load steering, an axle load of a multi-axle engineering machinery vehicle is large, the steering resistance moment of tires is large, a simple electric power steering system cannot meet the light steering operation requirement of the vehicle, and an independent hydraulic power steering system easily causes high-speed running deviation of the vehicle.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an electric hydraulic power steering system and a crane, wherein an electric power assisting device is additionally arranged in front of a hydraulic variable-speed ratio steering gear, and is transmitted to the electric power assisting device through a steering wheel and then reaches the hydraulic variable-speed ratio steering gear, so that the electric control hydraulic power steering function of a vehicle is realized, the low-speed running operation of the vehicle is light and reliable, the running operation of the vehicle at a high speed is stable, the running safety of the vehicle is ensured, and the aligning performance of the vehicle is improved.
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
an electro-hydraulic power steering system comprises a steering wheel, an electric power assisting device and a steering gear; the electric power assisting device is positioned between a steering wheel and a steering gear, and comprises a motor, a sensor and a speed reducing mechanism, wherein the sensor comprises an angle sensor and a torque sensor; the hydraulic oil port of the output end of the steering gear is connected with the power-assisted oil cylinder through a hydraulic pipeline; the steering gear is connected with the tire through a transmission mechanism.
Furthermore, the electro-hydraulic power-assisted steering system also comprises a controller, wherein the controller calculates the torque and the rotating speed which need to be provided by the motor through a vehicle speed signal, a torque signal and a corner signal which are transmitted by the electric power-assisted device, and controls the motor to change the torque in real time so as to change the operation torque of the steering wheel.
Further, the controller controls the speed reducing mechanism through a vehicle speed signal, a torque signal and a corner signal transmitted by the electric power assisting device, and provides the steering wheel with superimposed assistance when the vehicle speed is lower than a specific value; when the vehicle speed is higher than a specified value, a resistance force against the steering wheel manipulation force is provided.
Furthermore, the steering gear controls a high-pressure oil source of the oil pump to enter the power cylinder to push the power cylinder to extend or retract through the comprehensive action of the torque provided by the electric power assisting device and the torque of the steering wheel after the steering requirement is confirmed, so that the steering of the tire is controlled.
Further, the steering wheel is connected with the steering gear through a steering column or a steering transmission shaft.
Furthermore, the transmission mechanism comprises a steering pull rod, a steering rocker arm, a steering plumbing arm and a steering knuckle arm.
Furthermore, the steering gear is a hydraulic power-assisted double-loop steering gear or a hydraulic power-assisted single-loop steering gear.
Further, the sensor includes an angle sensor, a torque sensor and various combinations thereof.
Furthermore, the electric power assisting device controls the rotation angle of the motor through an angle sensor so as to realize the automatic aligning effect.
A crane comprising an electro-hydraulic power-assisted steering system according to any preceding claim.
Advantageous effects
The invention aims to provide a steering system of an engineering mechanical vehicle, which is characterized in that electric power assistance and hydraulic power assistance work together in the steering process of the engineering mechanical vehicle, so that when the vehicle steers at a low speed, the electric power assistance and the hydraulic power assistance act together, the operating force of a driver is reduced, the driving strength is reduced, the vehicle actively returns to the right state, and the returning right state of the vehicle is improved; when the vehicle turns at a high speed, the operating force of a driver is increased, the steering operation is stabilized, and the vehicle runs stably at a high speed; and can meet the requirements of vehicle running safety, driving comfort, sideslip compensation and the like.
The electro-hydraulic power-assisted steering system realizes that the steering wheel is operated in a cab to control the tires of the vehicle to steer according to the intention of a driver during running and the crane with the system; the comprehensive requirements of the steering control comfort and the safety of the large-axle-load engineering mechanical vehicle can be met through the combined action of the electric power assistance and the hydraulic power assistance, the power-assisted steering function of the steering wheel is realized, the low-speed driving portability of the vehicle is improved, and the floating phenomenon of the high-speed driving steering wheel is reduced;
by realizing the automatic steering wheel aligning function, the vehicle deviation amount is improved, and the straight-line driving lane keeping capacity of the vehicle is improved; improve the operational ease of driving the vehicle; the steering control stability of the vehicle during high-speed running is improved, and the high-speed steering performance of the vehicle is improved;
in the whole steering transmission mechanism, a clutch device is not arranged, so that the risk of clutch failure and vehicle runaway in mechanical steering is avoided.
Drawings
Fig. 1 is a scheme diagram of an electro-hydraulic power steering system.
1-a controller; 2, an electric power assisting device; 3-a steering wheel; 4-a diverter; 5-hydraulic pipeline; 6, a power-assisted oil cylinder; 7-knuckle arm; 8-tyre; 9-steering rocker arm; 10-a steering tie rod; 11-steering drop arm; 12-a hydraulic oil tank; 13-oil pump.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
As shown in fig. 1, an electro-hydraulic power steering system includes a steering wheel 3, an electric booster 2, and a steering gear 4;
the electric power assisting device 2 is positioned between the steering wheel 3 and the steering gear 4, and can directly and reliably change the power assisting characteristic of the steering wheel and comprehensively control the input torque and the turning angle of the steering gear; the electric power assisting device 2 comprises a motor, a sensor, a speed reducing mechanism and the like, wherein the sensor can comprise an angle sensor, a torque sensor and the like and a plurality of combination modes thereof; the electric power assisting device controls the rotation angle of the motor through the angle sensor so as to realize the automatic aligning effect.
The steering wheel 3 is connected with the steering gear 4 through a steering column or a steering transmission shaft, an oil port at the input end of the steering gear 4 is connected with an oil pump 13 and a hydraulic oil tank 12, and an oil port at the output end of the steering gear 4 is connected with the power-assisted oil cylinder 6 through a hydraulic pipeline 5, so that hydraulic power-assisted control and power-assisted action are realized; the hydraulic steering gear 4 controls a high-pressure oil source output by the oil pump device to enter the power-assisted oil cylinder to realize direct tire steering power-assisted action; the steering gear 4 is connected with a mechanical steering axle tire 8 through a transmission mechanism, the transmission mechanism comprises one or a plurality of steering pull rods 10, a steering rocker arm 9, a steering pendant arm 11, a steering knuckle arm 7 and the like, and the capability of the steering wheel for mechanically controlling the tire steering is realized. The steering gear can be a hydraulic power-assisted double-loop steering gear or a hydraulic power-assisted single-loop steering gear; the hydraulic steering gear and the steering wheel can be directly connected through a steering column or a steering transmission shaft, other mechanisms for changing the power transmission direction are not needed, the arrangement space is saved, the transmission chain of the transmission mechanism is reduced, and the risk and the fault point are reduced;
the electric hydraulic power-assisted steering system further comprises a controller 1, the controller 1 calculates the torque and the rotating speed which need to be provided by the motor through a vehicle speed signal, a torque signal, a corner signal and the like transmitted by the electric power-assisted device, and the controller 1 changes the torque in real time by controlling the motor so as to change the operation torque of the steering wheel 3.
The electric power assisting device 2 and the hydraulic power-assisted steering device 4 act together, the steering device 4 is controlled to act by detecting a steering wheel corner and a torque signal and matching with a vehicle speed signal, so that the tire steering function is realized, and the electric power assisting device can realize the purposes of low-speed light driving, high-speed stability and automatic vehicle return function on the basis of hydraulic power assisting.
When an operator controls the vehicle to run and steer in a cab, the driver controls the steering wheel 3 to rotate, at the moment, the torque sensor and the angle sensor on the electric power assisting device 2 between the steering wheel 3 and the steering gear 4 monitor the torque and the steering angle of the steering wheel in real time, the controller 1 calculates the torque and the rotating speed which need to be provided by the motor through a vehicle speed signal, a torque signal, a steering angle signal and the like, the controller 1 changes the torque in real time through controlling the motor, and then changes the magnitude of the steering torque of the steering wheel 3, and the running and steering comfort under the high-speed and low-speed working conditions of the vehicle are realized. The torque sensor and the angle sensor are both arranged between the steering wheel and the steering gear and are not independent or embedded in other components, but are arranged between the angle transmission device and the hydraulic steering gear in the prior art.
The electric power assisting device 2 provides electric power assisting effect for the vehicle, and in the steering operation process of the vehicle, in order to meet the requirement of large axle load, the steering gear controls the oil pump 13 to realize hydraulic power assisting effect. When the vehicle runs to perform steering operation, the input shaft of the steering gear 4 receives the comprehensive action of the torque provided by the electric power assisting device and the torque of the steering wheel, after the steering requirement is confirmed, the steering gear controls a high-pressure oil source of the oil pump 13 to enter a large cavity or a small cavity of the power-assisted oil cylinder to push the power-assisted oil cylinder 6 to extend or retract, so that the steering of the tire is controlled, and the steering gear can accurately control the gradual relation between the tire rotation angle and the steering wheel rotation angle and the steering purpose of an operator through mechanical structures such as a steering vertical arm 11, a steering pull rod 10, a steering rocker arm 9 and the like.
When a torque sensor in the electric power assisting device detects that the torque of the steering wheel is smaller than a certain limit value, the steering wheel is considered to be out of operation of a person; if the speed of the vehicle is not zero, the controller 1 applies a reverse signal to the motor according to an angle sensor signal in the electric power assisting device, and drives the steering wheel 3 to return to a neutral position by controlling the reverse rotation of the motor, so that the automatic return of the vehicle is realized.
By realizing the automatic steering wheel aligning function, the vehicle deviation amount is improved, and the straight-line driving lane keeping capacity of the vehicle is improved. In the whole steering transmission mechanism, a clutch device is not arranged, so that the risk of clutch failure and vehicle runaway in mechanical steering is avoided.
The electric power assisting device is additionally arranged between a vehicle steering wheel and a steering gear, and the electric power assisting device and the hydraulic power assisting steering gear act together, the steering gear is controlled to act by detecting the steering wheel angle and the torque signal and matching with a vehicle speed signal, so that the tire steering function is realized, and the electric power assisting device can realize the purposes of low-speed, light and high-speed stability of vehicle driving and the automatic vehicle aligning function on the basis of hydraulic power assisting.
The electric power assisting device detects parameters such as steering wheel turning angle and torque according to steering wheel operation input and then transmits the parameters to the controller, the controller controls the motor to operate according to the parameters and vehicle speed parameters, power assisting characteristics are provided for a steering wheel column through the speed reducing mechanism, and power assisting is provided to be superposed with the steering wheel when the vehicle speed is low, so that the steering wheel is more portable and free to operate; when the vehicle speed is higher, the resistance function opposite to the steering wheel operation force is provided, so that the steering wheel operation is slightly heavier, and the straight-line driving capability and the high-speed driving stability of the vehicle are enhanced; when the steering wheel operating force is lower than a certain value, the controller can control the motor to operate the vehicle to steer, and the automatic aligning capability of the vehicle is met. In the steering control process of the steering wheel, in order to meet the steering main force action of large axle load of the engineering mechanical vehicle, the steering gear controls the hydraulic oil flow and pressure of the oil pump device, sufficient high-pressure oil is provided for the power-assisted oil cylinder, and the power-assisted action of the power-assisted oil cylinder is controlled in real time.
Example 2
The crane comprises the electro-hydraulic power-assisted steering system, and the combined action of the electro-hydraulic power assistance and the hydraulic power assistance is simultaneously used on a crane product to control the mechanical steering action of a vehicle. The comprehensive requirements of the steering control comfort and the safety of the large-axle-load engineering mechanical vehicle can be met through the combined action of the electric power assistance and the hydraulic power assistance, the power-assisted steering function of the steering wheel is realized, the low-speed driving portability of the vehicle is improved, and the floating phenomenon of the high-speed driving steering wheel is reduced.
Claims (10)
1. An electro-hydraulic power-assisted steering system is characterized by comprising a steering wheel, an electric power-assisted device and a steering gear; the electric power assisting device is positioned between a steering wheel and a steering gear and comprises a motor, a sensor and a speed reducing mechanism; the hydraulic oil port of the output end of the steering gear is connected with the power-assisted oil cylinder through a hydraulic pipeline; the steering gear is connected with the tire through a transmission mechanism.
2. The electro-hydraulic power steering system according to claim 1, further comprising a controller, wherein the controller calculates torque and rotation speed required to be provided by the motor through a vehicle speed signal, a torque signal and a rotation angle signal transmitted by the electric power steering device, and controls the motor to change the magnitude of the torque in real time, thereby changing the magnitude of the steering torque of the steering wheel.
3. The electro-hydraulic power steering system according to claim 2, wherein the controller controls the speed reduction mechanism by a vehicle speed signal, a torque signal and a steering angle signal transmitted from the electric power steering apparatus, and provides a steering wheel with a superimposed assist force when the vehicle speed is lower than a specified value; when the vehicle speed is higher than a specified value, a resistance force against the steering wheel manipulation force is provided.
4. The electrohydraulic power steering system of claim 1, wherein the steering gear controls the high pressure oil source of the oil pump to enter the power cylinder to push the power cylinder to extend or retract after the steering demand is confirmed by the combined action of the torque provided by the electric power assisting device and the torque of the steering wheel, thereby controlling the tire to steer.
5. The electro-hydraulic power steering system of claim 1, wherein the steering wheel is coupled to the steering gear via a steering column or a steering shaft.
6. The electro-hydraulic power steering system of claim 1, wherein the transmission comprises a steering tie rod, a steering rocker arm, a steering hanger arm, and a knuckle arm.
7. The electro-hydraulic power steering system of claim 1, wherein the steering gear is a hydraulically assisted two-circuit steering gear or a hydraulically assisted single-circuit steering gear.
8. The electro-hydraulic power steering system of claim 1, wherein the sensor comprises an angle sensor, a torque sensor, and combinations thereof.
9. The electro-hydraulic power steering system according to claim 8, wherein the electric power steering apparatus controls a rotation angle of the motor by an angle sensor to achieve an auto-return effect.
10. A crane comprising an electro-hydraulic power steering system according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011001842.0A CN112141207A (en) | 2020-09-22 | 2020-09-22 | Electro-hydraulic power-assisted steering system and crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011001842.0A CN112141207A (en) | 2020-09-22 | 2020-09-22 | Electro-hydraulic power-assisted steering system and crane |
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| CN112141207A true CN112141207A (en) | 2020-12-29 |
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| CN202011001842.0A Pending CN112141207A (en) | 2020-09-22 | 2020-09-22 | Electro-hydraulic power-assisted steering system and crane |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113104095A (en) * | 2021-05-07 | 2021-07-13 | 徐州重型机械有限公司 | Double-loop integral steering gear, steering power-assisted system and crane |
| CN113147885A (en) * | 2021-05-07 | 2021-07-23 | 徐州重型机械有限公司 | Double-loop semi-integral steering gear, steering power-assisted system and crane |
| CN113147888A (en) * | 2021-04-26 | 2021-07-23 | 徐州重型机械有限公司 | Steering gear, power-assisted steering system and crane |
| CN113147891A (en) * | 2021-05-07 | 2021-07-23 | 徐州重型机械有限公司 | Single-loop integral steering gear, steering power-assisted system and crane |
| CN113479257A (en) * | 2021-08-23 | 2021-10-08 | 浙江吉利控股集团有限公司 | Steering control system and vehicle |
| CN113635967A (en) * | 2021-09-17 | 2021-11-12 | 山东蓬翔汽车有限公司 | Control method of energy-saving hydraulic power-assisted steering system of heavy-duty car |
| CN115923925A (en) * | 2023-03-13 | 2023-04-07 | 徐工集团工程机械股份有限公司 | Butt joint steering transmission mechanism, steering system, method and wheeled construction machinery |
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| CN113104095A (en) * | 2021-05-07 | 2021-07-13 | 徐州重型机械有限公司 | Double-loop integral steering gear, steering power-assisted system and crane |
| CN113147885A (en) * | 2021-05-07 | 2021-07-23 | 徐州重型机械有限公司 | Double-loop semi-integral steering gear, steering power-assisted system and crane |
| CN113147891A (en) * | 2021-05-07 | 2021-07-23 | 徐州重型机械有限公司 | Single-loop integral steering gear, steering power-assisted system and crane |
| CN113479257A (en) * | 2021-08-23 | 2021-10-08 | 浙江吉利控股集团有限公司 | Steering control system and vehicle |
| CN113635967A (en) * | 2021-09-17 | 2021-11-12 | 山东蓬翔汽车有限公司 | Control method of energy-saving hydraulic power-assisted steering system of heavy-duty car |
| CN113635967B (en) * | 2021-09-17 | 2022-04-26 | 山东蓬翔汽车有限公司 | Control method of energy-saving hydraulic power-assisted steering system of heavy-duty car |
| CN115923925A (en) * | 2023-03-13 | 2023-04-07 | 徐工集团工程机械股份有限公司 | Butt joint steering transmission mechanism, steering system, method and wheeled construction machinery |
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