CN113147885B - Double-loop semi-integral steering gear, steering power-assisted system and crane - Google Patents
Double-loop semi-integral steering gear, steering power-assisted system and crane Download PDFInfo
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- CN113147885B CN113147885B CN202110492900.2A CN202110492900A CN113147885B CN 113147885 B CN113147885 B CN 113147885B CN 202110492900 A CN202110492900 A CN 202110492900A CN 113147885 B CN113147885 B CN 113147885B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
- B62D3/10—Steering gears mechanical of worm type with worm engaging in sector or roller 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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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
- B62D5/065—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 specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a double-loop semi-integral steering gear, a steering power-assisted system and a crane, wherein the steering gear comprises a shell, an input shaft device and a steering screw rod, a piston is connected in the shell in a sliding manner, and teeth on the bottom surface of the piston are meshed with a sector in the shell; the steering screw is in threaded connection with the screw hole of the piston, one end of the input shaft device is connected with one end of the steering screw, the other end of the input shaft device is positioned outside the shell, the input shaft device positioned in the shell is connected with the speed reducing device, and the speed reducing device is connected with an external motor; the motor transmits electric power-assisted torque to the steering screw according to the torque signal of the steering wheel and a vehicle speed signal of a vehicle; the application can meet the requirement of large axle load steering power assistance and solves the problem of poor control feeling.
Description
Technical Field
The invention relates to the technical field of crane steering gears, in particular to a double-loop semi-integral steering gear, a steering power-assisted system and a crane.
Background
At present, a steering device used in a steering power-assisted system of a chassis of a hoisting mechanical vehicle is mainly a hydraulic power-assisted steering device, and the mode of combining mechanical steering control and hydraulic power assistance is adopted, so that the function of providing auxiliary power for steering by hydraulic power assistance can be realized, the steering operation of the vehicle is lighter compared with mechanical steering, the driving strength of a driver is reduced, and the steering controllability of the vehicle is improved.
The hydraulic power-assisted steering devices used at present mainly comprise two types, namely a rotary valve type integral steering device and a slide valve type semi-integral steering device, and the rotary valve type integral steering device and the slide valve type semi-integral steering device can be divided into a single-loop structural form and a double-loop structural form, and the two structural forms are distinguished, so that different power-assisted characteristics are mainly realized, the hydraulic power-assisted steering devices are used for matching hoisting machinery vehicles with different axle loads, and steering control and driving road feel are realized.
However, the power-assisted characteristic of the hydraulic power-assisted steering gear is that different power-assisted pressures are generated according to the displacement of a valve core in the steering gear, so that the steering power is realized, the power-assisted characteristic cannot be adjusted and fed back in real time, the steering wheel has large moment and large driving strength when a vehicle runs in situ and at low speed; when the vehicle runs at high speed, the moment of the steering wheel is too small, the road feel of the vehicle is not strong, and the running stability is poor. In addition, although the hydraulic power steering gear can play a certain steering and aligning role, the aligning capability is limited, the residual angle of the steering wheel is large, and the driving operation feeling is poor.
Although the existing mode that the input shaft of the single-loop integral steering gear is used as a motor rotor is compact in structure, the manufacturing difficulty is high, and the cost is high. Meanwhile, the steering gear is not combined with a steering oil cylinder in the application process, is only suitable for a single-shaft steering vehicle, and limits the application and popularization of the steering gear on a multi-shaft steering vehicle.
Disclosure of Invention
The invention aims to provide a double-loop semi-integral steering gear, a steering power-assisted system and a crane, and aims to solve the problems of high difficulty and poor operation feeling of large-axle-load steering power-assisted caused by single hydraulic power-assisted or electric power-assisted in the prior art.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a double-loop semi-integral steering gear comprises a shell, an input shaft device and a steering screw rod, wherein a piston is connected in the shell in a sliding mode, a screw hole penetrating through the piston is formed in the piston along the sliding direction, and bottom surface teeth of the piston are meshed with a sector in the shell;
the steering screw comprises a middle connecting section and two end connecting sections of a middle thread section, the two end connecting sections are both in sliding connection with the shell, the middle thread section is in threaded connection with a screw hole of the piston, a disc spring for controlling the steering screw to reset is connected to the middle connecting section, hydraulic oil ports are arranged at the joints of the shell and the two end connecting sections, and the hydraulic oil ports are used for providing steering power-assisted hydraulic oil for the vehicle;
one end of the input shaft device is connected with one end of the steering screw rod, the other end of the input shaft device is positioned outside the shell, the input shaft device positioned in the shell is connected with a speed reducing device, and the speed reducing device is connected with an external motor;
and the motor transmits the electric power-assisted torque to the steering screw rod through a speed reducing device according to the torque signal of the steering wheel and the vehicle speed signal of the vehicle.
Further, the input shaft device is an input shaft, and the speed reduction device is connected to the input shaft.
Furthermore, the input shaft device comprises an input shaft, an input shaft torsion bar and an intermediate shaft, wherein one end of the intermediate shaft is connected with the steering screw rod through a spline sleeve, and the other end of the intermediate shaft is connected with the input shaft through the input shaft torsion bar; the speed reducing device is connected with the intermediate shaft;
the torque sensor is connected with the input shaft and is in signal connection with the motor, and the torque sensor is used for detecting the rotation angle difference of two ends of the input shaft when a torsion bar deforms and calculating the torque signal of the steering wheel according to the rotation angle difference.
Furthermore, the periphery of the input shaft device is provided with a steering wheel limiting device.
Further, the speed reduction device is a worm and gear device, the worm and gear device comprises a worm and a worm gear connected to the input shaft device, one end of the worm is meshed with the worm gear, and the other end of the worm penetrates out of the shell and is connected with the motor.
Further, the motor is configured to input a same-direction power to the reduction device to superimpose the manipulation assistance of the steering wheel when a vehicle speed signal of the vehicle is less than a preset threshold; and when the vehicle speed signal of the vehicle is greater than or equal to a preset threshold value, inputting reverse power to the speed reducing device so as to increase the operation resistance of the steering wheel.
Furthermore, an angle sensor in signal connection with the motor is arranged on the input shaft, and the angle sensor is used for detecting a corner signal of the input shaft and transmitting the corner signal to the motor;
the motor is configured to input reverse power to the speed reduction device to return the steering wheel to a neutral position when the torque sensor detects that the torque signal is smaller than a preset threshold value and the running speed of the vehicle is not zero.
The invention also discloses a steering power-assisted system, which comprises a steering wheel, a steering axle, a steering oil cylinder and any one of the steering gears, wherein the steering wheel is connected with the input shaft device;
the sector is connected with the steering axle through a steering rod system, a large cavity and a small cavity of the steering oil cylinder are respectively communicated with two working oil ports of the hydraulic oil port, and the steering oil cylinder is used for controlling the steering axle to rotate.
Furthermore, the steering rod system comprises a steering pull rod and a steering rocker arm, one end of the steering pull rod is connected with the sector, the other end of the steering pull rod is connected with the steering rocker arm, and the steering rocker arm is connected with the steering axle.
Furthermore, the working end of the steering oil cylinder is connected with the steering axle through a steering knuckle arm.
The controller is in signal connection with the motor, and sends a control command to the motor according to a torque signal of a steering wheel and a vehicle speed signal of a vehicle.
And the torque sensor is arranged on the input shaft device or independently arranged outside the steering gear, and is used for detecting the rotation angle difference of two ends of the input shaft device when the input shaft device deforms, calculating a torque signal of a steering wheel according to the rotation angle difference and sending the torque signal to the controller.
The invention also discloses a crane which comprises the steering power-assisted system.
According to the technical scheme, the embodiment of the invention at least has the following effects:
the utility model provides a steering gear, set up decelerator and the motor that links to each other with decelerator on the input shaft device, in operation, the motor acquires the angle difference on the input shaft device, calculate the effect moment on the steering wheel according to the angle difference, or the motor acquires the torque signal on the input shaft device through other devices, and then acquires the effect moment on the steering wheel, the motor is according to the moment signal and the speed signal control decelerator work of steering wheel, moment is exerted in decelerator work to the input shaft device, the steering wheel who connects on the input shaft device provides the helping hand characteristic. When the vehicle speed is lower, the power assisting device is provided to be superposed with the steering wheel, so that the steering wheel is more portable and free to operate; when the vehicle speed is higher, the resistance action opposite to the steering wheel operation force is provided, the steering wheel operation is slightly heavier, the straight-line driving capability and the high-speed driving stability of the vehicle are enhanced, and the operation feeling of a driver is improved.
In the process of steering control of the steering wheel control input shaft device, in order to meet the steering power-assisted effect of large axle load of the engineering mechanical vehicle, the comprehensive requirements of the steering control comfort and the safety of the engineering mechanical vehicle with large axle load are met by combining electric power assistance and hydraulic power assistance. The input shaft device drives the steering screw to rotate, the sector and the piston are kept still due to the fact that external force is large, the steering screw can move in the shell, along with the movement of the steering screw, a hydraulic oil port at the joint of the shell and the screw is conducted to control the steering axle to steer through the steering oil cylinder, hydraulic power assisting is achieved, meanwhile, the motor controls the speed reducing device to assist according to the calculation result of the torque sensor and a vehicle speed signal, and the motor and the speed reducing device act together to achieve the steering power assisting effect of large axle load.
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, a reverse signal is applied to the motor according to an angle sensor signal in the electric power assisting device, and the steering wheel is driven to return to the middle position by controlling the reverse rotation of the motor, so that the automatic aligning of the vehicle is realized.
The electric power assisting device 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 flow and pressure to realize hydraulic power assisting effect. When a vehicle runs to perform steering operation, the input shaft of the steering gear receives the comprehensive action of the torque provided by the electric power assisting device and the torque of a steering wheel, after the steering requirement is confirmed, the steering gear controls a high-pressure oil source of the oil pump device to enter a large cavity or a small cavity of the power-assisted oil cylinder to push the power-assisted oil cylinder 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 corner and the steering wheel corner and the steering purpose of an operator through mechanical structures such as a steering vertical arm, a steering pull rod, a steering rocker arm and the like.
The shell adopts a sectional design, so that the steering gear is convenient to manufacture, and the manufacturing cost is reduced; the electric power-assisted function and the double-loop slide valve type semi-integral steering gear are integrated, so that the space can be optimized, the space occupancy rate is reduced, the space utilization rate is improved, and the application range is expanded.
Drawings
FIG. 1 is a schematic view of a diverter according to an embodiment of the present invention;
FIG. 2 is another schematic structural view of a diverter according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a crane according to an embodiment of the present invention;
FIG. 4 is a schematic view of another structure of a crane according to an embodiment of the present invention.
Wherein: 1. a steering wheel; 2. a diverter; 3. a steering tie rod; 4. a steering rocker arm; 5. A steering axle; 6. a steering cylinder; 7. a knuckle arm; 8. a power source; 9. a hydraulic pump; 10. a filter; 11. an oil tank; 12. a steering transmission shaft; 13. an angle driver; 14. a controller; 21. an input shaft; 22. an input shaft torsion bar; 23. a torque sensor; 24. a turbine; 25. an intermediate shaft; 26. a steering screw; 27T1, oil return port one; 27T2 and a second oil return port; 28. a housing; 29. a disc spring; 210. a piston; 211. a toothed fan; 212B1, a first working oil port I; 213A1 and a second first working oil port; 213A2, a first second working oil port; 212B2 and a second working oil port II; 214P1 and a first oil inlet; 214P2 and a second oil inlet; 215. a steering wheel limiting device; 216. a worm.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the field of engineering machinery, a pure electric power-assisted steering technology cannot meet the requirement of large axle load steering, and the driving comfort and safety are considered to be 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 invention discloses a double-circuit semi-integral steering gear with an electric power-assisted function, which has a structure shown in figure 1 and comprises a shell 28, an input shaft device and a steering screw rod 26. The housing 28 is a multi-section housing, which facilitates assembly of the input shaft device piston 210 and the steering screw 26, and the like, and the multi-section housing is easy to manufacture, thereby reducing the manufacturing cost and assembly difficulty of the whole steering gear.
A piston 210 is slidably connected to the right end of the housing 28, and the piston 210 is provided with a screw hole penetrating the piston 210 in the sliding direction, and the teeth of the bottom surface of the piston 210 are engaged with the toothed sectors 211 in the housing 28. The steering screw 26 is designed in an integrated manner, so that the torsional strength of the steering screw 26 is ensured. This application will turn to screw 26 segmentation description, turn to screw 26 and include end connection section, intermediate junction section, middle screw thread section and end connection section from a left side to the right side in proper order, the end connection section at both ends all with casing 28 sliding connection, middle screw thread section threaded connection is connected with the control on the intermediate junction section and turns to the dish spring 29 that screw 26 resets in the screw of piston 210. Specifically, as shown in fig. 1, the disc spring 29 for resetting is sleeved on the middle connecting section and distributed on two sides of the large shaft shoulder of the middle connecting section, and the disc spring 29 is fixed by the housing to be axially positioned. In use, external power controls the steering screw 26 to move to the right, the steering screw applies a force to the disc spring 29, and when external power is removed, the steering screw 26 is reset under the action of the disc spring 29. Similarly, external power controls the steering screw 26 to move to the left, which applies a force to the disc spring 29, and when the external power is removed, the steering screw 26 is reset by the disc spring 29.
The joint of the housing 28 and the two end connection sections is provided with a hydraulic oil port, and the hydraulic oil port at each end comprises an oil inlet, an oil return port and two working oil ports. The left end is marked as a first hydraulic oil port, and the right end is marked as a second hydraulic oil port. The first hydraulic port includes (oil inlet one 214P1, oil return one 27T1, first working oil port two 213a1 and first working oil port one 212B 1). The second hydraulic oil port comprises (a second oil inlet 214P2, a second oil return port 27T2, a first second working oil port 213A2 and a second working oil port 212B 2).
The working processes of the hydraulic oil ports at the left end and the right end are the same, and the left end is used for illustration in the application. The first oil inlet 214P1 and the first oil return 27T1 are used for being communicated with an external oil tank, and the second first working oil port 213A1 and the first working oil port 212B1 are respectively connected to a cylinder for assisting the steering of the axle. Specifically, an oil groove is formed in the periphery of the end connection section of the steering screw 26, and after the steering screw 26 moves leftwards or rightwards, the oil groove and the hydraulic oil port in the steering screw 26 are communicated, so that the whole hydraulic oil path is circulated. The steering screw 26 moves rightwards, hydraulic oil in the oil tank enters a first working oil port I212B 1 through an oil inlet I214P 1 and enters a large cavity of the oil cylinder through the first working oil port I, and hydraulic oil in the small cavity of the oil cylinder flows back to an oil return port I27T 1 through a first working oil port II 213A1 to complete hydraulic oil circulation and control axle steering. The steering screw 26 moves leftwards, hydraulic oil in the oil tank enters the second first working oil port 213A1 through the first oil inlet 214P1 and enters the small cavity of the oil cylinder through the second working oil port, and the hydraulic oil in the large cavity of the oil cylinder flows back to the oil return port through the first working oil port 212B1 to complete hydraulic oil circulation and control the axle to steer towards the other direction.
One end of the input shaft assembly is connected to one end of the steering screw 26 and the other end of the input shaft assembly is located outside the housing 28, the reduction gear assembly and the torque sensor 23 are connected to the input shaft assembly located inside the housing 28, and the reduction gear assembly is connected to an external motor.
The torque sensor 23 functions to measure the torque applied to the steering wheel, and the torque sensor 23 may be in the form of an input shaft device that calculates the steering wheel torque by calculating the difference in the rotation angle between the two ends of the input shaft torsion bar 22. The torque sensor can also be integrated outside the steering gear 2, the torque of the steering wheel can be directly measured, and the torque signals acquired by the torque sensor 23 are transmitted to the motor.
When the steering wheel speed-reducing device works, the torque sensor acquires a rotation angle difference on the input shaft device, an acting torque on the steering wheel is calculated according to the rotation angle difference, the motor controls the speed-reducing device to work according to the acting torque of the steering wheel and a vehicle speed signal, and the speed-reducing device applies torque to the input shaft device to provide a power-assisting characteristic for the steering wheel connected to the input shaft device. When the vehicle speed is lower, the power assisting device is provided to be superposed with the steering wheel, so that the steering wheel is more portable and free to operate; when the vehicle speed is higher, the resistance action opposite to the steering wheel operation force is provided, the steering wheel operation is slightly heavier, and the straight-line driving capability and the high-speed driving stability of the vehicle are enhanced.
The low and high speed of the vehicle are set according to the conventional use, if the limit of the low speed and the high speed is set to be 10 kilometers per hour, and the vehicle speed is less than 10 kilometers per hour, the same-direction superposition assistance is provided, so that the steering wheel is lighter and more free to operate, and the direction resistance is provided when the speed is more than or equal to 10 kilometers per hour, so that the steering wheel is slightly heavier to operate.
In the process of steering control of the steering wheel control input shaft device, in order to meet the steering power-assisted effect of large axle load of the engineering mechanical vehicle, the comprehensive requirements of the steering control comfort and the safety of the engineering mechanical vehicle with large axle load are met by combining electric power assistance and hydraulic power assistance. The input shaft device drives the steering screw rod to rotate, the sector and the piston are kept still due to the fact that external force is large, the steering screw rod can move in the shell, along with the movement of the steering screw rod, a hydraulic oil port at the joint of the shell and the screw rod is conducted to achieve hydraulic control of the steering oil cylinder to work, hydraulic power assisting is achieved, and electric power assisting carries out power assisting according to the calculation result of the torque sensor and a vehicle speed signal. The electric power assistance and the hydraulic power assistance are combined, and the electric power assistance and the hydraulic power assistance jointly act to realize the steering power assistance effect of large axle load.
In some embodiments, the input shaft arrangement is configured as shown in FIG. 2, and includes an input shaft 21, an input shaft torsion bar 22, and an intermediate shaft 25. The input shaft 21 and the intermediate shaft 25 are connected through an input shaft torsion bar 22, the input shaft torsion bar 22 is fixed with the input shaft 21 and the intermediate shaft 25 through pins, and the torque sensor 23 and the turbine 24 are nested in a valve box penetrating through the intermediate shaft 25.
In some embodiments, the speed reduction device is a worm gear device, the worm gear device comprises a worm gear 24 and a worm 216, the worm gear 24 is fixedly connected to the periphery of the intermediate shaft 25, one end of the worm 216 is meshed with the worm gear 24 through teeth, the other end of the worm 216 penetrates out of the shell 28 to be connected with a motor, the torque sensor transmits an electric signal and does not rotate along with the input shaft, and the worm gear device and the intermediate shaft synchronously rotate.
In some embodiments, the speed reducing device can also be other speed reducing transmission mechanisms for changing the speed ratio and the moment direction.
In some embodiments, the input shaft assembly is configured as shown in FIG. 2, and includes only one input shaft 21, with one end of the input shaft 21 being located outside the housing 28 and the other end being directly connected to the steering screw 26. With this design, the input shaft assembly directly connects the reduction gear assembly to the input shaft assembly, and further connects the worm gear assembly to the input shaft 21. The torque of the external steering wheel and the torque of the motor are both applied to the input shaft 21, so that the power steering is realized, and the functions of enhancing the straight-line driving capability and the high-speed driving stability of the vehicle and the like are realized.
In some embodiments, a steering wheel stop 215 is also coupled to the input shaft assembly. The steering wheel stop 215 is mounted on the input shaft assembly and may be provided by any conventional means. When the steering wheel is stressed, the steering wheel turns to the left or the right, the limit of one direction can turn for three turns at most, and when the steering wheel is not stressed by external moment, the steering wheel limiting device 215 enables the steering wheel to be located at the middle position.
In a further embodiment of the present application, an angle sensor is further connected to the input shaft device, the angle sensor may be external or may be mounted in a valve box concentric with the input shaft together with the torque sensor, and the angle sensor is used for monitoring the steering angle of the input shaft device. 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, a reverse signal is applied to the motor according to an angle sensor signal in the electric power assisting device, and the input shaft device is driven to reversely rotate by controlling the reverse rotation of the motor, so that the steering wheel is controlled to return to the middle position, and the automatic correction of the vehicle is realized.
Based on the steering gear designed by the invention, the invention also provides a power-assisted steering system with the steering gear, as shown in figure 3, the power-assisted steering system comprises a steering wheel 1, a steering axle 5, a steering oil cylinder 6 and the steering gear 2 designed by the invention, the steering wheel 1 is connected with an input shaft device, an oil inlet is communicated with an oil tank 11 through a hydraulic pump 9, and an oil outlet is communicated with the oil tank 11. The sector 211 is connected with the steering axle 5 through a steering rod system, a large cavity and a small cavity of the steering oil cylinder 6 are respectively communicated with the two working oil ports, and the steering oil cylinder 6 is used for controlling the steering axle 5 to rotate.
The power steering system further comprises a controller 14, wherein the controller 14 is in signal connection with the motor and a torque sensor 23, and the torque sensor 23 is arranged on the input shaft device or independently arranged outside the steering gear 2. The controller 14 is used for acquiring signals of the torque sensor 23 and controlling the motor to work according to the torque signals acquired by the torque sensor.
In the power steering system, the controller 14 is further connected to a vehicle speed unit, the vehicle speed unit acquires a vehicle speed signal of the vehicle and transmits the signal to the controller 14, and the controller 14 controls the motor according to the vehicle speed signal. The vehicle speed unit may also be integrated into the controller 14, and the controller 14 may have the capability of acquiring a vehicle speed signal.
In some embodiments, the working end of the steering cylinder 6 is connected to the steering axle 5 through a knuckle arm 7, and the operation of the steering cylinder 6 controls the operation of the steering axle 5, so as to realize hydraulic power assistance.
The steering rod system comprises a steering pull rod 3 and a steering rocker arm 4, one end of the steering pull rod 3 is connected with the sector 211, the other end of the steering pull rod 3 is connected with the steering rocker arm 4, and the steering rocker arm 4 is connected with the steering axle 5.
The sensor in the electric power assisting device detects parameters such as steering wheel rotation angle and torque according to the operation input of the steering wheel and then transmits the parameters to the controller 14, the controller 14 controls the motor to operate according to the parameters and vehicle speed parameters, the power assisting characteristic is provided for the steering column of the steering wheel through the speed reducing device, and when the vehicle speed is low, the power assisting device is provided to be overlapped with the steering wheel, 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 14 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 a steering wheel, in order to meet the steering power-assisted effect of large axle load of an engineering mechanical vehicle, a steering device controls the flow and pressure of hydraulic oil according to system requirements, sufficient high-pressure oil is provided for a power-assisted oil cylinder, and the power-assisted effect of the power-assisted oil cylinder is controlled in real time.
The invention provides two forms of power steering systems, as shown in fig. 3 and 4, respectively, and the arrangement forms of the steering gears of the two forms are different. The position of the steering gear 2 is not limited to be horizontally arranged, and various installation angles and space changes can be carried out; the steering gear and the steering wheel can also be connected through a steering transmission shaft 12 and an angle transmission device 13, and the steering gear can also be directly connected with the steering wheel.
As shown in fig. 3 and 4, an oil inlet of the steering gear is communicated with an oil tank 11 through a hydraulic pump 9, and the hydraulic pump 9 is connected with a power source 8 for providing power for the hydraulic pump. The oil outlet is communicated with the oil tank 11, and a filter 10 is arranged between the oil outlet and the oil tank, so that the cleanliness of hydraulic oil entering the oil tank 11 is guaranteed. The sector 211 is connected with the steering axle 5 through a steering rod system (a steering pull rod 3 and a steering rocker arm 4), a large cavity and a small cavity of the steering oil cylinder 6 are respectively communicated with the two working oil ports, and the steering oil cylinder 6 is used for controlling the steering axle 5 to rotate.
The rotation angle of a steering wheel 1 is transmitted to a double-loop semi-integral steering gear 2 with electric power assistance through an angle transmission device 13, and the mechanical steering is transmitted to tires connected with a steering axle 5 through a steering pull rod 3 and a steering rocker arm 4. The hydraulic boosting is transmitted to a steering oil cylinder 6 through a pipeline, and the steering force is provided to overcome the tire resistance moment and drive the tire to steer.
The steering gear is installed in the frame anterior segment, turns to the rocking arm and can arrange in the frame side, also can arrange in frame ground, and steering cylinder can fix on the axle, also can be fixed in bottom surface under the frame.
The steering assist system of the present invention has at least the following functions.
Steering hydraulic boosting action: the electric power assisting device 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 flow and pressure to realize hydraulic power assisting effect. When the vehicle runs to perform steering operation, the input shaft 21 of the steering gear 2 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 hydraulic pump 9 to enter a large cavity or a small cavity of the steering oil cylinder 6 to push the steering oil cylinder 6 to extend or retract, so that the steering of the tire is controlled, and the steering gear 2 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 knuckle arm 7, a steering pull rod 3, a steering rocker arm 4 and the like.
The vehicle realizes automatic correction: 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 applies a reverse signal to the motor according to an angle sensor signal in the electric power assisting device, and the steering wheel is driven to return to the middle position by controlling the reverse rotation of the motor, so that the automatic correction of the vehicle is realized.
The invention has at least the following advantages: by combining the electric power assistance and the hydraulic power assistance, the comprehensive requirements of the steering control comfort and the safety of the large-axle-load engineering mechanical vehicle can be met, the steering wheel power assistance function 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.
The electric power-assisted function and the double-loop slide valve type semi-integral steering gear are integrated, so that the space can be optimized, the space occupancy rate is reduced, the space utilization rate is improved, and the application range is expanded.
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.
The steering gear can be a fixed-speed-ratio steering gear and can also be a variable-speed-ratio steering gear. The two loops of the steering gear work independently without mutual influence, namely hydraulic oil ports at the steering screw rods at two ends in the steering gear 2 are independent, and if the oil port at one end is blocked or fails, the oil port at the other end can complete the function of steering power assistance by combining a steering oil cylinder and electric power assistance.
Based on the power steering system of this application, this application still provides a hoist, and this hoist has any kind of form of above-mentioned power steering system, and this hoist also has this power steering system's advantage.
It will be appreciated by those skilled in the art that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (13)
1. A double-circuit semi-integral steering gear is characterized by comprising a shell (28), an input shaft device and a steering screw rod (26), wherein a piston (210) is connected in the shell (28) in a sliding mode, a screw hole penetrating through the piston (210) is formed in the piston (210) along the sliding direction, and bottom face teeth of the piston (210) are meshed with a sector (211) in the shell (28);
the steering screw rod (26) sequentially comprises an end connecting section, a middle threaded section and an end connecting section from left to right, the end connecting sections at two ends are slidably connected with the shell (28), the middle threaded section is in threaded connection with a screw hole of the piston (210), and the middle connecting section is connected with a disc spring (29) for controlling the steering screw rod (26) to reset; the disc springs (29) are distributed on two sides of the large shaft shoulder of the middle connecting section, and the disc springs (29) are fixed through the shell (28) for axial positioning; the connecting part of the shell (28) and the two end connecting sections is provided with a hydraulic oil port, the hydraulic oil port at each end comprises an oil inlet, an oil return port and two working oil ports, and the hydraulic oil ports are used for providing hydraulic oil for steering assistance to the vehicle;
one end of the input shaft device is connected with one end of the steering screw rod (26), the other end of the input shaft device is positioned outside the shell (28), the input shaft device positioned in the shell (28) is connected with a speed reducing device, and the speed reducing device is connected with an external motor;
the motor transmits electric power-assisted torque to the steering screw (26) through a speed reduction device according to a torque signal of a steering wheel and a vehicle speed signal of a vehicle.
2. The dual circuit semi-integral steering gear according to claim 1, wherein the input shaft means is an input shaft (21), and the reduction means is connected to the input shaft (21).
3. The dual circuit semi-integral steering gear according to claim 1, wherein the input shaft means comprises an input shaft (21), an input shaft torsion bar (22) and an intermediate shaft (25), one end of the intermediate shaft (25) being connected to the steering screw (26) through a spline housing, the other end of the intermediate shaft (25) being connected to the input shaft (21) through the input shaft torsion bar (22); the reduction gear is connected with the intermediate shaft (25);
the input shaft (21) is connected with a torque sensor (23) in signal connection with the motor, and the torque sensor (23) is used for detecting the rotation angle difference of two ends when the input shaft torsion bar (22) deforms and calculating the torque signal of the steering wheel according to the rotation angle difference.
4. A dual circuit semi-integral steering gear according to claim 2 or 3, wherein the outer periphery of the input shaft means is provided with a steering wheel stop means (215).
5. The dual circuit semi-integral diverter according to any one of claims 2 or 3, characterized in that the speed reduction means is a worm gear and worm means comprising a worm (216) and a worm gear (24) connected to the input shaft means, one end of the worm (216) being engaged with the worm gear and the other end being connected to the motor by penetrating out of the housing (28).
6. The dual circuit semi-integral steering gear according to claim 3, wherein the motor is configured to input a same-direction power to the speed reduction device to superimpose the steering assist force of the steering wheel when a vehicle speed signal of the vehicle is less than a preset threshold; and when the vehicle speed signal of the vehicle is greater than or equal to a preset threshold value, inputting reverse power to the speed reducing device so as to increase the operation resistance of the steering wheel.
7. The double-circuit semi-integral steering gear according to claim 3 or 6, characterized in that an angle sensor connected with the motor signal is arranged on the input shaft (21), and the angle sensor is used for detecting a rotation angle signal of the input shaft (21) and transmitting the rotation angle signal to the motor;
the motor is configured to input reverse power to the speed reduction device to return the steering wheel to a neutral position when the torque sensor (23) detects that the torque signal is smaller than a preset threshold value and the running speed of the vehicle is not zero.
8. A power-assisted steering system is characterized by comprising a steering wheel (1), a steering axle (5), a steering oil cylinder (6) and the steering gear (2) of any one of claims 1 to 7, wherein the steering wheel (1) is connected with an input shaft device, an oil inlet of a hydraulic oil port is communicated with an oil tank (11) through a hydraulic pump (9), and an oil outlet of the hydraulic oil port is communicated with the oil tank (11);
the sector (211) is connected with the steering axle (5) through a steering rod system, a large cavity and a small cavity of the steering oil cylinder (6) are respectively communicated with two working oil ports of the hydraulic oil port, and the steering oil cylinder (6) is used for controlling the steering axle (5) to rotate.
9. The power steering system according to claim 8, characterized in that the steering rod system comprises a steering tie rod (3) and a steering rocker (4), one end of the steering tie rod (3) is connected with the sector (211) and the other end is connected with the steering rocker (4), and the steering rocker (4) is connected with the steering axle (5).
10. The power steering system according to claim 8, characterized in that the working end of the steering cylinder (6) is connected to the steering axle (5) via a knuckle arm (7).
11. The power steering system according to claim 8, further comprising a controller (14), wherein the controller (14) is in signal connection with the motor, and the controller (14) sends a control command to the motor according to a torque signal of a steering wheel and a vehicle speed signal of the vehicle.
12. The power steering system according to claim 11, further comprising a torque sensor (23) in signal connection with the controller (14), wherein the torque sensor (23) is disposed on the input shaft device or independently disposed outside the steering gear (2), and the torque sensor (23) is configured to detect a difference in rotation angle between both ends of the input shaft device when the input shaft device is deformed, calculate a torque signal of the steering wheel according to the difference in rotation angle, and transmit the torque signal to the controller (14).
13. A crane comprising a steering assist system as claimed in any one of claims 8 to 12.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110492900.2A CN113147885B (en) | 2021-05-07 | 2021-05-07 | Double-loop semi-integral steering gear, steering power-assisted system and crane |
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| CN202110492900.2A CN113147885B (en) | 2021-05-07 | 2021-05-07 | Double-loop semi-integral steering gear, steering power-assisted system and crane |
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| CN113147885B true CN113147885B (en) | 2022-08-05 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011116058A1 (en) * | 2011-10-18 | 2013-04-18 | Thyssenkrupp Presta Ag | Electromechanical vehicle steering |
| CN203318493U (en) * | 2013-06-20 | 2013-12-04 | 山东先河悦新机电股份有限公司 | Circulating ball type electric power-assisted steering gear |
| CN203739970U (en) * | 2013-11-15 | 2014-07-30 | 天津德科汽车部件有限公司 | Circulating ball type electric power steering gear adopting novel sensor |
| CN104401388A (en) * | 2014-10-23 | 2015-03-11 | 北京奥特尼克科技有限公司 | Intelligent electro-hydraulic steering system |
| CN104709344B (en) * | 2014-11-28 | 2017-04-12 | 徐州重型机械有限公司 | Semi-integral type hydraulic power-assisted multi-axle steering system and control method thereof |
| JP2018070117A (en) * | 2016-11-04 | 2018-05-10 | 株式会社ジェイテクト | Steering device |
| CN109625081B (en) * | 2018-12-27 | 2021-10-26 | 沙市久隆汽车动力转向器有限公司 | Intelligent hybrid power steering gear applied to commercial vehicle |
| CN112141207A (en) * | 2020-09-22 | 2020-12-29 | 徐州重型机械有限公司 | Electro-hydraulic power-assisted steering system and crane |
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