CN116443095A - Steering control system of automobile crane, whole automobile control system and automobile crane - Google Patents

Abstract

The invention relates to the field of automobile cranes, and discloses an automobile crane steering control system, an entire automobile control system and an automobile crane. The automobile crane steering control system comprises an electrohydraulic steering system, and comprises a digital steering wheel, a steering controller, a steering control valve bank, a front wheel steering power-assisted cylinder corresponding to a front wheel axle, a front wheel steering angle sensor for detecting the angle of a front wheel, a rear wheel steering power-assisted cylinder corresponding to a rear wheel axle and a rear wheel steering angle sensor for detecting the angle of a rear wheel, wherein the digital steering wheel, the steering control valve bank, the front wheel steering angle sensor and the rear wheel steering angle sensor are all in signal connection with the steering controller, and the front wheel steering power-assisted cylinder and the rear wheel steering power-assisted cylinder are all in signal connection with the steering control valve bank through oil paths; the control device is arranged in the hoisting operation room and is in signal connection with the steering controller, and the control device is used for sending wheel steering signals to the steering controller. The crane can be moved for a short distance, or the crane can be moved conveniently during lifting, and the working efficiency is high.

Description

Steering control system of automobile crane, whole automobile control system and automobile crane

Technical Field

The invention relates to the technical field of automobile cranes, in particular to an automobile crane steering control system, an entire automobile control system and an automobile crane.

Background

The automobile crane is a crane installed on a common automobile chassis or a special automobile chassis, a driving cab and a lifting operation room of the automobile crane are arranged separately, and the supporting legs are required to extend out to keep stable during operation. Currently, when an operator works in a lifting operation room, the operator needs to enter the cab to operate or otherwise arrange the operator to perform a traveling operation in order to move the crane for a short distance to replace a site or to move the crane while hanging. Resulting in reduced work efficiency and poor operation convenience.

Disclosure of Invention

In view of the above, the present invention provides a steering control system for an automobile crane, so as to solve the problem that an operator needs to enter a cab to operate or otherwise arrange an operator to perform a driving operation when he wants to move the crane for a short distance to replace a site or to lift the crane.

The invention provides an automobile crane steering control system, which comprises an electrohydraulic steering system, a digital steering wheel, a steering controller, a steering control valve group, a front wheel steering power-assisted cylinder arranged corresponding to a front wheel bridge, a front wheel steering angle sensor used for detecting the angle of a front wheel, a rear wheel steering power-assisted cylinder arranged corresponding to a rear wheel bridge and a rear wheel steering angle sensor used for detecting the angle of a rear wheel, wherein the digital steering wheel, the steering control valve group, the front wheel steering angle sensor and the rear wheel steering angle sensor are all in signal connection with the steering controller, and the front wheel steering power-assisted cylinder and the rear wheel steering power-assisted cylinder are all connected with the steering control valve group through oil ways;

the control device is suitable for being arranged in the lifting operation room, is in signal connection with the steering controller, and sends wheel steering signals to the steering controller through the control device. Through setting up controlling means in jack-up control room, can be convenient for the operator directly operate controlling means in jack-up control room, turn to the controller through controlling means and send the wheel to turn to the signal, need not to change the driver's cabin and operate, the operation is very convenient.

The front wheel steering and the rear wheel steering of the invention are controlled by electrohydraulic control, and mechanical steering transmission components such as steering columns, angle steerers, steering transmission shafts, steerers, steering pull rods, steering vertical arms, steering rocker arms and the like of the traditional front wheel steering system are eliminated, so that the structure is simplified and the operation reliability is high. The rotating angle of the digital steering wheel is directly transmitted to a steering controller, and the steering controller controls a front-wheel steering power-assisted oil cylinder to push front wheels to steer according to an angle input signal of the steering wheel, wherein the front-wheel steering angle is detected by a front-wheel steering angle sensor and transmits a front-wheel steering angle signal to the steering controller; when the steering controller receives a rear wheel steering signal sent by the control device, the rear wheel steering power-assisted cylinder is controlled according to the front wheel steering angle to push the rear wheel to generate a corresponding steering angle, the rear wheel steering angle signal is fed back to the steering controller, and after the steering controller controls the rear wheel steering angle to reach a target value (according with the Ackerman steering principle), the crane can be controlled to travel to a target position in the lifting operation room, and particularly, the short-distance transition operation is very convenient. In the normal operation process of the automobile crane, an operator operates the suspension arm in the lifting operation room to carry out lifting operation, and as the wheel steering can directly send a wheel steering signal to the steering controller in the lifting operation room, the operator does not need to go to the cab to operate the digital steering wheel to drive the automobile crane, so that the operation of moving the automobile crane for a short distance to replace a site or lifting is very convenient, the operation efficiency is high, and the operation convenience is good. Because the mechanical steering connecting rod is not limited, each axle wheel can obtain larger-angle steering, the turning radius is reduced, and the vehicle maneuverability is improved; the wheels of each axle can obtain more accurate corner coordination, reduce the steering abrasion of the tires and prolong the service life of the tires.

In an alternative embodiment, the operating device is an operating handle, a key or a touch screen. Various types of control devices can be arranged, and specific selection can be carried out according to actual conditions.

In an alternative embodiment, the vehicle steering system further comprises a remote controller, wherein the remote controller is in signal connection with the steering controller, and the remote controller is used for sending wheel steering signals to the steering controller. As another control device, the rear wheel steering signal can be sent to the steering controller more flexibly through the remote controller, the remote controller can be operated in a hoisting operation room, the remote controller can be operated on the ground, and the operation mode is more flexible.

In an alternative embodiment, the digital steering wheel has a steering wheel angle sensor built in, which is in signal connection with the steering controller. When the digital steering wheel rotates, the steering wheel angle sensor can send the rotating angle of the digital steering wheel to the steering controller in real time, and the steering controller controls the rotating angle of the wheels according to the rotating angle of the digital steering wheel.

In an alternative embodiment, the hydraulic control valve further comprises a hydraulic oil tank and an oil pump, wherein the outlet end of the oil pump is connected with the steering control valve group, and the inlet end of the oil pump is connected with the hydraulic oil tank. Hydraulic power is provided for front wheel steering and rear wheel steering through a hydraulic oil tank and an oil pump.

In a second aspect, the present invention further provides a whole vehicle control system of an automobile crane, including:

a get-on controller;

the chassis controller is in signal connection with the boarding controller;

an engine controller;

according to the steering control system of the automobile crane, the steering controller and the engine controller are connected with the chassis controller through signals, and the steering controller is connected to the CAN bus of the whole automobile through signals. When the steering controller receives the wheel steering signals, the chassis controller receives the chassis starting signals and enters a chassis running mode to carry out running and steering transition operation, and the operation is simple and convenient.

In an alternative embodiment, the system further comprises a chassis sensor, a suspension controller and a gearbox controller, wherein the chassis sensor, the suspension controller and the gearbox controller are respectively connected with the chassis controller in a signal mode. Thereby realizing the control of chassis such as gear box gear, suspension locking and landing leg extension.

In an alternative embodiment, the system further comprises a display device and a boarding sensor, wherein the display device and the boarding sensor are respectively connected with the boarding controller in a signal mode.

In a third aspect, the present invention also provides an automobile crane, comprising:

a crane chassis device;

the crane loading device is arranged above the crane chassis device;

the whole vehicle control system of the automobile crane is characterized in that the chassis controller is used for controlling the chassis device of the crane, and the loading controller is used for controlling the loading device of the crane;

the digital steering wheel is arranged in the cab, and the cab is positioned at the front end of the crane chassis device;

and the lifting operation chamber is arranged above the crane chassis device and is positioned at one side of the crane loading device.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a control principle of a steering control system of an automobile crane according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a control principle of a whole control system of an automobile crane according to an embodiment of the invention;

fig. 3 is a schematic structural diagram of an automobile crane according to an embodiment of the invention.

Reference numerals illustrate:

1. a crane chassis device; 101. a chassis controller; 102. a chassis sensor; 103. an engine controller; 104. a steering controller; 105. a suspension controller; 106. a gearbox controller; 107. a remote controller; 108. a display; 2. a crane loading device; 201. a get-on controller; 202. a control device; 203. a display device; 204. a warning system; 205. a get-on sensor; 100. a cab; 200. a lifting operation chamber; 300. an electro-hydraulic steering system; 301. a digital steering wheel; 302. a front wheel axle; 303. a front wheel steering angle sensor; 304. front wheel steering power-assisted oil cylinder; 305. rear wheel steering power-assisted oil cylinder; 306. a rear wheel steering angle sensor; 307. a rear wheel axle; 308. an oil pump; 309. a hydraulic oil tank; 310. steering control valve group.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The existing automobile crane, especially the all-terrain crane, when an operator wants to move the crane for a short distance to replace a site or to move the crane during lifting when working in a lifting operation room, the operator must enter the cab to operate, or in addition, the operator is arranged to enter the cab to operate, so that the working efficiency is low, and the operation convenience of the operator is poor.

Embodiments of the present invention are described below with reference to fig. 1 to 3.

According to an embodiment of the present invention, in one aspect, there is provided a steering control system for an automobile crane, which mainly includes an electrohydraulic steering system 300 and a control device 202, as shown in fig. 1, wherein a dotted line represents signal connection, and a solid line represents oil path connection.

Specifically, the electro-hydraulic steering system 300 includes a digital steering wheel 301, a steering controller 104, a steering control valve group 310, a front-wheel steering assist cylinder 304 provided corresponding to a front wheel axle 302, a front-wheel steering assist cylinder 305 provided corresponding to a rear wheel axle 307, and a rear-wheel steering assist cylinder 306 provided corresponding to a rear wheel axle 307, wherein the digital steering wheel 301, the steering control valve group 310, the front-wheel steering assist cylinder 303, and the rear-wheel steering assist cylinder 306 are all in signal connection with the steering controller 104, and the front-wheel steering assist cylinder 304 and the rear-wheel steering assist cylinder 305 are all in signal connection with the steering control valve group 310 through oil passages.

The handling device 202 is arranged in the lifting operation room 200, so that the handling device can send operation instructions in the lifting operation room 200. The steering device 202 is in signal connection with the steering controller 104, and an operation command such as a wheel steering signal is transmitted to the steering controller 104 through the steering device 202. By arranging the control device 202 in the lifting operation room 200, operators can conveniently and directly operate the control device 202 in the lifting operation room 200, and the control device 202 sends wheel steering signals to the steering controller 104, so that the operator does not need to replace the steering controller 100 to operate, and the operation is very convenient.

In the present embodiment, the truck crane includes at least one front wheel axle 302 and at least two rear wheel axles 307, at least one pair of front wheels are mounted at both ends of each front wheel axle 302, at least one pair of rear wheels are mounted at both ends of each rear wheel axle 307, that is, one front wheel axle 302 may be provided with one pair of front wheels or two pairs of front wheels, two rear wheel axles 307 may be provided with one pair of rear wheels or two pairs of rear wheels, three rear wheel axles 307 may be provided with one pair of rear wheels or two pairs of rear wheels, and the like, and the specific form of the truck crane of the present embodiment is not excessively limited.

According to the embodiment of the invention, the front wheel steering and the rear wheel steering are all controlled electrohydraulically through the electrohydraulic steering system 300, mechanical steering transmission components such as steering columns, angle steers, steering transmission shafts, steers, steering pull rods, steering vertical arms, steering rocker arms and the like of the traditional front wheel steering system are eliminated, and as the mechanical steering connecting rods are not limited, the wheels of each axle can obtain larger-angle steering, the turning radius is reduced, and the vehicle maneuverability is improved; the wheels of each axle can obtain more accurate corner coordination, reduce the steering abrasion of the tires and prolong the service life of the tires.

In the cab 100, the digital steering wheel 301 is rotated, the angle signal of rotation of the digital steering wheel 301 is directly transmitted to the steering controller 104, the steering controller 104 controls the steering control valve group 310 to be opened, hydraulic oil enters the front-wheel steering cylinder 304 to push the front wheels to steer, the front-wheel steering angle is detected by the front-wheel steering angle sensor 303, and the front-wheel steering angle signal is transmitted to the steering controller 104. When the steering controller 104 receives a rear wheel steering signal sent by the control device 202, the steering control valve group 310 is controlled to be opened, the steering controller 104 controls the rear wheel steering power-assisted cylinder 305 to push the rear wheel to generate a corresponding steering angle according to the front wheel steering angle, the rear wheel steering angle signal is fed back to the steering controller 104, and after the rear wheel steering angle is judged to be coordinated with the front wheel steering angle (according with the ackerman steering principle), the crane is controlled to carry out running steering. Similarly, the crane truck can be controlled to travel to a target position, particularly a short-distance transfer operation, by the control device 202 in the hoisting operation room 200, which is very convenient.

It should be noted that, because the digital steering wheel 301 and the electro-hydraulic steering system 300 are adopted to replace the traditional mechanical steering structure, the steering angle of the digital steering wheel 301 is directly fed back to the steering controller 104, steering can be more accurate through electro-hydraulic control steering, and more steering modes suitable for different occasions can be set.

During normal operation of the truck crane, an operator operates the boom in the hoisting operation room 200 to carry out hoisting operation, and as the whole truck steering can directly send a wheel steering signal to the steering controller 104 in the hoisting operation room 200, the wheel steering is controlled, and the vehicle is controlled to carry out steering running. Therefore, the digital steering wheel 301 is not required to be operated to drive the automobile crane by going to the cab 100, so that the automobile crane is very convenient to replace a place or move in a lifting manner when the automobile crane is required to be moved in a short distance, the operation efficiency is high, and the operation convenience is good.

Specifically, the control device 202 may be an operation handle, a key or a touch screen, which has a simple structure and convenient operation, and may also be a plurality of combinations of the operation handle, the key and the touch screen. Of course, the control device 202 may take other forms, which are not specifically limited herein.

In another embodiment, the steering control system of the truck crane may further include a remote controller 107, where the remote controller 107 is in signal connection with the steering controller 104, and the remote controller 107 sends operation instructions such as a wheel steering signal to the steering controller 104 through the remote controller 107, and as another control device 202, the remote controller 107 may send a rear wheel steering signal to the steering controller 104 more flexibly, so that the remote controller 107 may be operated in the crane operating room 200, or the remote controller 107 may be operated on the ground, and the operation mode is more flexible.

In one embodiment, digital steering wheel 301 has a steering wheel angle sensor built into it that is in signal communication with steering controller 104. When the digital steering wheel 301 rotates, the steering wheel angle sensor can send the rotating angle of the digital steering wheel 301 to the steering controller 104 in real time, and the steering controller 104 controls the wheel rotating angle according to the rotating angle of the digital steering wheel 301.

In one embodiment, the hydraulic oil tank 309 and the oil pump 308 are further included, an outlet end of the oil pump 308 is connected to the steering control valve group 310, and an inlet end of the oil pump 308 is connected to the hydraulic oil tank 309. Hydraulic power is supplied to front-wheel steering and rear-wheel steering through a hydraulic tank 309 and an oil pump 308.

In a second aspect, as shown in fig. 2, the invention further provides a whole truck control system of the truck crane, which specifically comprises a loading controller 201, a chassis controller 101, an engine controller 103 and the truck crane steering control system.

Specifically, the chassis controller 101 is in signal connection with the boarding controller 201, and the steering controller 104 and the engine controller 103 are both in signal connection with the chassis controller 101. When the steering controller 104 receives the wheel steering signal, the chassis controller 101 receives the chassis enable signal and enters a chassis travel mode, at which time the get-on mode is disabled. When the operation of the control device 202 is switched to the chassis running mode, signals such as running steering and the like can be sent out through the operation of the control device 202, the chassis controller 101 receives the signals to control the running and steering of the vehicle, and the transfer operation is performed, so that the control mode is simple and reliable.

In a specific embodiment, the system further comprises a chassis sensor 102, a suspension controller 105 and a gearbox controller 106, wherein the chassis sensor 102, the suspension controller 105 and the gearbox controller 106 are respectively in signal connection with the chassis controller 101. Thereby realizing the control of chassis such as gear box gear, suspension locking, landing leg expansion and contraction, etc.

In addition, a display 108 in signal connection with the chassis controller 101 may be provided for visually displaying the operational status of the chassis.

In a specific embodiment, the device further comprises a display device 203 and an on-board sensor 205, wherein the display device 203 may be a display screen, and the display device 203 and the on-board sensor 205 are respectively connected with the on-board controller 201 in a signal manner and are used for displaying the operation state of the on-board controller 201 and the operation state of the chassis through the signal connection between the chassis controller 101 and the on-board controller 201. An alarm system connected to the boarding controller 201 may also be provided for a prompting function at the time of erroneous operation.

In a third aspect, as shown in fig. 3, the present invention further provides an automobile crane, which includes a crane chassis device 1, a crane loading device 2, an automobile crane whole control system, a cab 100 and a crane operating room 200.

The crane loading device 2 is arranged above the crane chassis device 1, the chassis controller 101 is used for controlling the crane chassis device 1, the loading controller 201 is used for controlling the crane loading device 2, the crane loading device 2 and the crane chassis device 1 alternatively work, when the crane chassis device 1 works, the crane loading device 2 is locked through the loading controller 201, and when the crane loading device 2 works, the crane chassis device 1 is locked through the chassis controller 101.

The digital steering wheel 301 is arranged in the cab 100, and the cab 100 is positioned at the front end of the crane chassis device 1; the lifting operation room 200 is arranged above the crane chassis device 1 and on one side of the crane loading device 2, and the above-mentioned control device 202 is arranged in the lifting operation room 200, so that the wheels are conveniently operated to turn in the lifting operation room 200 and the crane is conveniently driven, the crane is conveniently controlled to turn in a short distance and lift the crane, the convenience of operation turning is realized, and the operation efficiency is improved.

In the state of the truck crane, the boom is used for lifting the weight, and the chassis support leg of the truck crane is supported on the ground. When the crane needs to be transferred in a short distance in a lifting state, the chassis support legs are required to be retracted first, and then the running steering operation of the automobile crane is required.

The specific operation process of the embodiment of the invention is as follows:

first, an initial state of steering of the automobile crane is set, when the wheels of the axle of the whole automobile face forward, the front wheel steering angle sensor 303 and the rear wheel steering angle sensor 306 are calibrated at zero degrees, and the digital steering wheel 301 at the moment is also calibrated at zero degrees. When the digital steering wheel 301 is turned, a steering wheel angle sensor built in the digital steering wheel 301 transmits a turning angle signal thereof to the steering controller 104. The steering controller 104 controls the steering control valve group 310 to supply oil to the hydraulic cylinders to push wheels to steer according to a set steering control program. The steering angle sensor (front steering angle sensor 303, rear steering angle sensor 306) transmits a wheel turning angle signal to the steering controller 104 in real time, and the steering control valve group 310 controls the oil supply amounts to the wheel steering cylinders (front steering cylinder 304, rear steering cylinder 305) of the front wheel axle 302 and rear wheel axle 307 according to the wheel position conditions. Thus, the wheels of the whole vehicle can steer according to the set steering program.

The electrohydraulic steering system 300 can conveniently realize remote steering control of the vehicle, steering operation is not limited by space limitation of a mechanical steering mode, steering resistance can not be fed back to the steering wheel, and steering operation force of the steering wheel can be effectively reduced. According to the invention, the control device 202 (an operation handle, keys or a touch screen) is arranged in the lifting operation room 200, and the crane chassis running and steering operation in the lifting operation room 200 is realized through the communication interconnection of the boarding controller 201 and the chassis controller 101, so that the operation of functions such as chassis landing leg extension and retraction is realized, and the operation efficiency is improved.

By setting the steering program, the electro-hydraulic steering system 300 can realize various steering modes, such as a highway driving steering mode, an all-wheel steering mode, a crab steering mode, and the like. Because the mechanical steering connecting rod is not limited, each axle wheel can obtain larger-angle steering, the turning radius is reduced, and the vehicle maneuverability is improved; the wheels of each axle can obtain more accurate corner coordination, reduce the steering abrasion of the tires and prolong the service life of the tires.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims (9)

1. A truck crane steering control system, comprising:

the electro-hydraulic steering system (300) comprises a digital steering wheel (301), a steering controller (104), a steering control valve group (310), a front-wheel steering power-assisted cylinder (304) arranged corresponding to a front-wheel axle (302), a front-wheel steering power-assisted cylinder (303) used for detecting the angle of a front wheel, a rear-wheel steering power-assisted cylinder (305) arranged corresponding to a rear-wheel axle (307) and a rear-wheel steering power-assisted cylinder (306) used for detecting the angle of a rear wheel, wherein the digital steering wheel (301), the steering control valve group (310), the front-wheel steering power-assisted cylinder (303) and the rear-wheel steering power-assisted cylinder (305) are in signal connection with the steering controller (104), and the front-wheel steering power-assisted cylinder (304) and the rear-wheel steering power-assisted cylinder (305) are connected with the steering control valve group (310) through oil ways;

-a steering device (202), the steering device (202) being adapted to be arranged in a lifting operation room (200), the steering device (202) being in signal connection with the steering controller (104), a wheel steering signal being sent to the steering controller (104) by means of the steering device (202).

2. The truck crane steering control system of claim 1 wherein the steering device (202) is an operating handle, a key or a touch screen.

3. The truck crane steering control system of claim 1 further comprising a remote control (107), the remote control (107) being in signal connection with the steering controller (104), the remote control (107) transmitting wheel steering signals to the steering controller (104).

4. The truck crane steering control system according to claim 1, wherein the digital steering wheel (301) is built-in with a steering wheel angle sensor, which is in signal connection with the steering controller (104).

5. The truck crane steering control system according to claim 1, further comprising a hydraulic oil tank (309) and an oil pump (308), an outlet end of the oil pump (308) being connected to the steering control valve group (310), an inlet end of the oil pump (308) being connected to the hydraulic oil tank (309).

6. An automobile crane whole control system, characterized by comprising:

a boarding controller (201);

the chassis controller (101) is in signal connection with the boarding controller (201);

an engine controller (103);

the truck crane steering control system of any one of claims 1 to 5, the steering controller (104) and the engine controller (103) being in signal connection with the chassis controller (101), the steering controller (104) being in signal connection with a CAN bus of the whole truck.

7. The truck control system of claim 6 further comprising a chassis sensor (102), a suspension controller (105) and a gearbox controller (106), the chassis sensor (102), the suspension controller (105) and the gearbox controller (106) being in signal connection with the chassis controller (101), respectively.

8. The truck crane whole truck control system according to claim 6, further comprising a display device (203) and a boarding sensor (205), wherein the display device (203) and the boarding sensor (205) are respectively in signal connection with the boarding controller (201).

9. An automobile crane, comprising:

a crane chassis device (1);

the crane loading device (2) is arranged above the crane chassis device (1);

the whole car crane control system as claimed in any one of claims 6 to 8, the chassis controller (101) being for controlling the crane chassis device (1), the boarding controller (201) being for controlling the crane boarding device (2);

a cab (100), wherein the digital steering wheel (301) is arranged in the cab (100), and the cab (100) is positioned at the front end of the crane chassis device (1);

and the lifting operation chamber (200) is arranged above the crane chassis device (1) and is positioned on one side of the crane loading device (2).