CN112606903B - Mechanical-electrical-hydraulic integrated control crawler tractor steering system - Google Patents
Mechanical-electrical-hydraulic integrated control crawler tractor steering system Download PDFInfo
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- CN112606903B CN112606903B CN202110097457.9A CN202110097457A CN112606903B CN 112606903 B CN112606903 B CN 112606903B CN 202110097457 A CN202110097457 A CN 202110097457A CN 112606903 B CN112606903 B CN 112606903B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/005—Hydraulic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/006—Mechanical control systems
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The utility model provides a mechanical-electrical-hydraulic integrated control's track tractor a steering system, this scheme is optimized through whole system, realizes a machinery, automatically controlled, hydraulic pressure inter combination's a steering system that integrates, specifically does: the steering controller is connected with the encoder and the steering valve through a wire harness, the encoder converts the rotation angle and the rotation direction of the steering wheel into a CAN bus signal and transmits the CAN bus signal to the steering controller, the steering controller identifies the CAN signal output by the encoder, outputs a control signal to an electric control assembly of the steering valve, controls the action of a built-in valve core of the steering valve, and further controls the output direction of pressure oil and the pressure of the output pressure oil. The automatic auxiliary steering brake can be realized without the need of stepping a brake pedal by a driver in the steering process, the fatigue of the driver is reduced, and the operation comfort is good; and secondly, the steering controller is electrically and hydraulically associated with the steering wheel, a rod connecting mechanism does not exist, the arrangement space is saved, and the whole machine arrangement is easy.
Description
Technical Field
The invention relates to the technical field of steering control of tracked vehicles, in particular to a tracked tractor steering system with electromechanical and hydraulic integrated control.
Background
The traditional crawler tractor turns to and cuts off one side of crawler power through turning to the clutch to supplementary with the braking, realize the speed difference of both sides crawler, accomplish and turn to. The steering clutch operating device is divided into two types, namely a mechanical type and a hydraulic type. The mechanical type adopts a lever mechanism to operate a dry type steering clutch, and particularly, the separation and combination of a left steering clutch and a right steering clutch are operated by operating left and right pull rods distributed in front of a driver, and the left and right brake pedals are assisted to be stepped by feet to finish the steering action. The wet type steering clutch is pushed by a built-in oil cylinder in a hydraulic mode, specifically, a left rocker arm and a right rocker arm of a steering valve are operated by operating a left pull rod and a right pull rod which are distributed in front of a driver, so that the action of a valve core of the steering valve is controlled, the steering valve controls high-pressure oil to enter and return to the built-in oil cylinder, the built-in oil cylinder pushes the steering clutch to realize the separation of the steering clutch, and meanwhile, the left brake pedal and the right brake pedal are assisted to be stepped on by feet, so that the steering action is completed.
During steering, the steering clutch is in two states: firstly, the steering pull rod is completely pulled open, the steering clutch is completely separated, the slow-speed side crawler is braked, and the turning radius is 0.5 times of the track gauge; and secondly, brakes on two sides are completely released, a steering clutch on the slow speed side is partially or completely separated, steering torque is generated by the difference value of the driving force of the tracks on the high and low speed sides of the main machine, and the turning radius of the steering torque is automatically adaptive to the resisting torque of the tracks on the two sides (the driving torque is equal to the resisting torque of the tracks on the two sides in the same direction).
In summary, the operation modes of the mechanical steering and the hydraulic steering are realized by controlling the steering rod to control the separation of the steering clutch by the driver, in order to realize the smaller-radius steering, the driver often needs to step on the brake pedal to assist the steering, and the whole steering process needs to use both hands and feet. In driving work, the crawler tractor performs steering operation very frequently. The steering mechanism has large stroke of the operating pull rod, the lever mechanism is difficult to arrange and fix on the whole machine, the lever stroke is inconvenient to adjust, and meanwhile, the steering mechanism has low operating efficiency, is heavy and laborious to operate, is easy to cause driving fatigue after long-time and high-frequency operation, and is difficult to realize driving automation. Of course, steering wheel steering mechanisms employing differential steering systems have also been employed on tracked vehicles, but such approaches are costly and complex.
Therefore, there is a need for a steering system for a crawler tractor based on a steering clutch, which retains the original wet steering clutch, eliminates left and right steering rods, adds a steering wheel and a self-centering mechanism thereof, adds an encoder to obtain the steering angle information of the steering wheel, adds a steering system controller, adds a two-way proportional pressure regulating valve, adds a brake linkage cylinder, and the like. The hydraulic steering of the steering wheel of the traditional crawler tractor is realized. The rotation angle of the steering wheel and the separation degree of the steering clutch are in a certain proportional relation, namely, along with the increase of the steering angle of the steering wheel, the output pressure of the proportional pressure regulating valve is increased, the steering clutch slowly starts to be separated, the separation speed is related to the pressure establishment speed, after the steering clutch is completely separated, the brake automatically starts to act, and the steering is assisted.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an electromechanical and hydraulic integrated control crawler tractor steering system, which realizes an integrated steering system with mechanical, electric control and hydraulic combination through the optimization of an integral system, can automatically brake and assist steering without a driver stepping on a brake pedal in the steering process, reduces the fatigue of the driver and has good operation comfort; and secondly, the steering controller is electrically and hydraulically associated with the steering wheel, a rod connecting mechanism does not exist, the arrangement space is saved, and the whole machine arrangement is easy.
The technical scheme adopted by the invention is as follows: a caterpillar tractor steering system with electromechanical and hydraulic integrated control comprises a hydraulic oil tank, a gear pump, a high-pressure oil filter, a steering valve, a steering controller, an encoder, a steering self-centering mechanism, a steering wheel, a left steering clutch oil cylinder, a left braking linkage cylinder, a right steering clutch oil cylinder and a right braking linkage cylinder;
an oil inlet of the gear pump is connected with a hydraulic oil tank, pressure oil output by the gear pump enters a steering valve after being filtered by a high-pressure oil filter, the output of the steering valve is divided into two paths, wherein one path enters a left steering clutch oil cylinder and a left braking linkage cylinder, and the other path enters a right steering clutch oil cylinder and a right braking linkage cylinder;
the steering wheel is connected to the upper end of a mandrel of the steering self-centering mechanism through a connecting sleeve, and the lower end of the mandrel of the steering self-centering mechanism is connected with a rotating shaft of the encoder through a coupler;
the steering controller is connected with the encoder and the steering valve through a wire harness, the encoder converts the rotation angle and the rotation direction of the steering wheel into a CAN bus signal and transmits the CAN bus signal to the steering controller, the steering controller identifies the CAN signal output by the encoder, outputs a control signal to an electric control assembly of the steering valve, controls the action of a built-in valve core of the steering valve, and further controls the output direction of pressure oil and the pressure of the output pressure oil.
The steering control device is characterized in that the steering valve comprises a left electromagnetic directional valve L and a right electromagnetic directional valve R, the left electromagnetic directional valve L and the right electromagnetic directional valve R are respectively connected with the steering controller through a wire harness, and the steering controller controls the left electromagnetic directional valve L or the right electromagnetic directional valve R to act according to a signal received by the steering wheel in the rotating direction so as to adjust the output direction of the pressure oil.
Further optimize, the diverter valve still be equipped with a proportion overflow solenoid valve, proportion overflow solenoid valve connect in parallel between the oil feed branch road and the oil return branch road be connected with the diverter valve and connect steering controller through the pencil, steering controller exports the control current of equidimension not to proportion overflow solenoid valve according to the size of the corner signal who receives, proportion overflow solenoid valve is according to the size that obtains the electric current, adjusts the size that enters into the hydraulic oil pressure of diverter valve.
The first oil outlet of the left electromagnetic reversing valve L is connected with the oil inlet of the left steering clutch oil cylinder and the oil inlet of the left brake linkage cylinder respectively, and the second oil outlet of the right electromagnetic reversing valve R is connected with the oil inlet of the right steering clutch oil cylinder and the oil inlet of the right brake linkage cylinder respectively; and an oil return port of the steering valve, an oil return port of the left brake linkage cylinder and an oil return port of the right brake linkage cylinder are connected with a hydraulic oil tank.
And further optimizing, the steering controller identifies and converts the CAN signal output by the encoder, outputs current and voltage signals to the steering valve, controls the action of a built-in valve core of the steering valve, and further controls whether the pressure oil enters the left steering clutch oil cylinder or the right steering clutch oil cylinder and the pressure of the pressure oil entering the specified oil cylinder, so as to realize steering.
Preferably, the hydraulic oil tank is fixed on the right side of the cab bottom plate, the gear pump is installed in the engine gear chamber, and the high-pressure oil filter is installed on the left side of the engine.
Preferably, the power supply of the steering controller is connected with a main wire harness of the vehicle through the wire harness.
A steering control method of a caterpillar tractor steering system controlled by electromechanical and hydraulic integration comprises the following steps:
s1, when steering to the left: after an engine is started, a vehicle speed change gear lever is located at a forward or backward position, a steering wheel is rotated anticlockwise, an encoder acquires a rotation signal of the steering wheel, the size and the direction of the rotation angle of the steering wheel are processed into CAN bus signals, the signals are transmitted to a steering controller, the steering controller outputs signals to a left electromagnetic directional valve L on a steering valve, an electromagnet of the left electromagnetic directional valve L on the steering valve is electrified, an oil inlet P2 of the steering valve is communicated with A, control currents with different sizes are output to a proportional overflow electromagnetic valve according to the size of the rotation angle signal, and the proportional overflow electromagnetic valve adjusts the pressure of hydraulic oil entering the steering valve according to the size of the obtained currents; when the pressure reaches the opening pressure of a fixed-differential pressure-reducing valve arranged in the left brake linkage cylinder, pressure oil enters an oil inlet of a built-in brake oil cylinder of the left brake linkage cylinder, the built-in brake oil cylinder acts to tighten a left brake band, and a left wheel brakes; the rotating speed of the left driving wheel is gradually reduced along with the rise of the pressure until the left driving wheel stops rotating, the rotating speed of the right driving wheel still keeps the original state, and the vehicle turns left;
s2, when steering to the right: after an engine is started, a vehicle gear lever is positioned at a forward or backward position, a steering wheel is rotated clockwise, an encoder acquires a rotation signal of the steering wheel, the size and the direction of the rotation angle of the steering wheel are processed into CAN bus signals, the signals are transmitted to a controller, signals are output to a right electromagnetic directional valve R on a steering valve, an electromagnet of the right electromagnetic directional valve R on the steering valve is electrified, an oil inlet P2 of the steering valve is communicated with B, control currents with different sizes are output to a proportional overflow electromagnetic valve according to the size of the rotation angle signal, and the proportional overflow electromagnetic valve adjusts the pressure of hydraulic oil entering the steering valve according to the size of the obtained current; when the pressure reaches the opening pressure of a fixed-differential pressure-reducing valve arranged in the right brake linkage cylinder, pressure oil enters an oil inlet of a built-in brake oil cylinder of the right brake linkage cylinder, the built-in brake oil cylinder acts to tighten a right brake band, and a right wheel brakes; the rotating speed of the right driving wheel is gradually reduced along with the rise of the pressure until the right driving wheel stops rotating, the rotating speed of the left driving wheel still keeps the original state, and the vehicle turns to the right.
The invention has the beneficial effects that:
one of them, this scheme are optimized through whole system, realize a machinery, automatically controlled, hydraulic pressure inter combination's a steering system that integrates, can realize the steering wheel control that track tractor turned to, realize alleviating of manipulation power through electromechanical liquid integrated control, improve the travelling comfort of manipulation, turn to the process and need not the driver and trample brake pedal and can autobrake assist and turn to, reduce driver fatigue.
In the scheme, a steering controller is connected with an encoder and a steering valve through a wire harness, the controller identifies and converts CAN signals output by the encoder, outputs current and voltage signals to the steering valve, controls the action of a valve core arranged in the steering valve, and further controls whether pressure oil enters a left steering clutch and a right steering clutch and the pressure of the pressure oil entering the left steering clutch and the right steering clutch to realize steering; the steering clutch and the steering wheel are connected electrically and hydraulically, a rod connecting mechanism does not exist, the arrangement space is saved, and the whole machine arrangement is easy.
In the scheme, the system has a steering controller, a speed curve established by output pressure can be set through an adjusting program, the sensitivity of the steering process is controlled, the system is suitable for different operation working condition requirements, and automatic expansion is easy to realize.
In its four, this scheme, carry out the optimal design to the diverter valve, the diverter valve includes left solenoid directional valve L, right solenoid directional valve R and proportion overflow solenoid valve, proportion overflow solenoid valve connect in parallel between the oil feed branch road of being connected with the diverter valve and return the oil branch road and connect steering controller through the pencil, steering controller exports not control current of equidimension to proportion overflow solenoid valve according to the size of the corner signal who receives, proportion overflow solenoid valve is according to the size that obtains the electric current, adjusts the size that enters into the hydraulic oil pressure of diverter valve.
Drawings
FIG. 1 is a front view of an installation of a steering system of a caterpillar tractor with an electromechanical and hydraulic integrated control;
FIG. 2 is a top view of an electro-mechanical and hydraulic integrated control crawler tractor steering system installation;
FIG. 3 is a schematic diagram of a steering system of a crawler tractor under the condition of straight running under the electromechanical and hydraulic integrated control;
FIG. 4 is a schematic diagram of a steering system of the crawler tractor with electro-mechanical and hydraulic integrated control in a left-turn state;
FIG. 5 is a schematic diagram of a steering system of a crawler tractor with electro-mechanical and hydraulic integrated control in a left-turning and auxiliary braking state;
FIG. 6 is a schematic diagram of a steering system of a crawler tractor with an electro-mechanical and hydraulic integrated control in a right-turn state;
FIG. 7 is a schematic diagram of a steering system of a crawler tractor with electromechanical and hydraulic integrated control in a right-turning and auxiliary braking state.
Reference numerals: 1. the hydraulic steering system comprises a hydraulic oil tank, 2, a gear pump, 3, a high-pressure oil filter, 4, a steering valve, 5, a steering controller, 6, an encoder, 7, a steering self-centering mechanism, 8, a steering wheel, 9, a left steering clutch oil cylinder, 10, a left braking linkage cylinder, 11, a right steering clutch oil cylinder, 12 and a right braking linkage cylinder.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
It should be noted that: unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and in the claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprise" or "comprises", and the like, indicates that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalents, but does not exclude other elements or items.
A caterpillar tractor steering system with electromechanical and hydraulic integrated control mainly comprises a hydraulic oil tank 1, a gear pump 2, a high-pressure oil filter 3, a steering valve 4, a steering controller 5, an encoder 6, a steering self-centering mechanism 7, a steering wheel 8, a left steering clutch oil cylinder 9, a left braking linkage cylinder 10, a right steering clutch oil cylinder 11 and a right braking linkage cylinder 12;
an oil inlet of the gear pump 2 is connected with the hydraulic oil tank 1, pressure oil output by the gear pump 2 is filtered by the high-pressure oil filter 3 and then enters the steering valve 4, the steering valve 4 can drive output to be divided into two paths according to control signals, one path of the pressure oil enters the left steering clutch cylinder 9 and the left braking linkage cylinder 10, and the other path of the pressure oil enters the right steering clutch cylinder 11 and the right braking linkage cylinder 12;
the steering wheel 8 is connected to the upper end of a mandrel of the steering self-centering mechanism 7 through a connecting sleeve, and the lower end of the mandrel of the steering self-centering mechanism 7 is connected with a rotating shaft of the encoder 6 through a coupler;
the steering controller 5 is connected with the encoder 6 and the steering valve 4 through a wire harness, the encoder 6 converts the rotation angle and the rotation direction of the steering wheel into a CAN bus signal and transmits the CAN bus signal to the steering controller, the steering controller identifies the CAN signal output by the encoder, outputs a control signal to an electric control assembly of the steering valve, controls the action of a built-in valve core of the steering valve, and further controls the output direction of pressure oil and the pressure of the output pressure oil.
It should be noted that: in this scheme, steering valve 4 include left solenoid directional valve L and right solenoid directional valve R, left solenoid directional valve L and right solenoid directional valve R connect steering controller 5 through the pencil respectively, steering controller is according to the signal of receiving 8 rotation directions of steering wheel, through the output direction of control left solenoid directional valve L or right solenoid directional valve R action in order to adjust pressure oil according to 5.
In the scheme, the steering valve 4 is also provided with a proportional overflow electromagnetic valve, the proportional overflow electromagnetic valve is connected in parallel between an oil inlet branch and an oil return branch which are connected with the steering valve and is connected with a steering controller through a wire harness, the steering controller outputs control currents with different magnitudes to the proportional overflow electromagnetic valve according to the magnitude of a received corner signal, and the proportional overflow electromagnetic valve adjusts the magnitude of hydraulic oil pressure entering the steering valve according to the magnitude of the obtained current; the steering controller identifies and converts the CAN signal output by the encoder, outputs current and voltage signals to the steering valve, controls the action of a built-in valve core of the steering valve, and further controls whether pressure oil enters a left steering clutch oil cylinder or a right steering clutch oil cylinder and the pressure of the pressure oil entering a specified oil cylinder, so that steering is realized.
The installation positions and connection relations of the components in the scheme are described in detail below with reference to the accompanying drawings: as shown in fig. 1-2, an electromechanical and hydraulic integrated control steering system for a crawler tractor comprises: the hydraulic steering system comprises a hydraulic oil tank 1, a gear pump 2, a high-pressure oil filter 3, a steering valve 4, a steering controller 5, an encoder 6, a steering self-centering mechanism 7, a steering wheel 8, a left steering clutch cylinder 9, a left braking linkage cylinder 10, a right steering clutch cylinder 11 and a right braking linkage cylinder 12; wherein: the hydraulic oil tank 1 is fixed on the right side of the bottom plate of the cab, and the gear pump 2 is installed on a gear chamber of an engine; the high-pressure oil filter 3 is arranged on the left side of the engine; the steering valve 4 is arranged on the left side of the gap bridge shell through a bracket; the steering controller 5 is arranged in front of the instrument desk bracket; the encoder 6 is connected with the self-centering mechanism 7 through a coupler and is fixed on a bracket of the self-centering mechanism 7; the self-centering mechanism 7 is connected with a mandrel of a steering wheel 8 and is also fixed on a bracket of the self-centering mechanism 7; the steering wheel 8 is fixed on the instrument desk bracket; the left steering clutch oil cylinder 9 is arranged on the left side in the rear axle housing; the left brake linkage cylinder 10 is arranged in front of the left steering brake shell; the right steering clutch oil cylinder 11 is arranged on the right side in the rear axle housing; the right brake linkage cylinder 12 is arranged in front of the right steering brake housing;
as shown in fig. 3, an oil suction port S of the gear pump 2 is connected with the hydraulic oil tank 1 through an oil suction pipeline; an oil outlet P1 of the gear pump 2 is connected with an oil inlet IN of the high-pressure oil filter 3 through an oil outlet pipeline; an oil outlet OUT of the high-pressure oil filter 3 is connected with an oil inlet P2 of the steering valve 4; a first oil outlet A of the steering valve 4 is respectively connected with an oil inlet of a left steering clutch oil cylinder 9 and an oil inlet P3 of a left brake linkage cylinder 10, and a second oil outlet B is respectively connected with an oil inlet of a right steering clutch oil cylinder 11 and an oil inlet P4 of a right brake linkage cylinder 12; the oil return port T1 of the steering valve 4, the oil return port T2 of the left brake linkage cylinder 10 and the oil return port T3 of the right brake linkage cylinder 12 are connected with the hydraulic oil tank 1; the steering wheel 8 is connected with the upper end of a mandrel of the steering self-centering mechanism 7 through a connecting sleeve, and the lower end of the mandrel of the steering self-centering mechanism 7 is connected with a rotating shaft of the encoder 6 through a coupler; the encoder 6 is connected with the steering controller 5 through a wire harness; and the left electromagnetic directional valve L, the right electromagnetic directional valve R and the proportional overflow electromagnetic valve on the steering valve 4 are connected with a steering controller 5 through a wire harness. The power supply of the steering controller 5 is connected to the vehicle main harness through a harness.
The mechanical-electrical-hydraulic integrated control crawler tractor described by the scheme is in a straight-going state: as shown in fig. 3, after the engine is started, the vehicle gear shift lever is in the forward or backward position, the steering wheel 8 is not operated, the initial position signal of the encoder 6 is unchanged, the controller 5 detects that the steering wheel is in the initial position after receiving the signal of the encoder 6, the control signal output to the steering valve 4 is not output at this time, that is, the left electromagnetic directional valve L and the right electromagnetic directional valve R on the steering valve 4 are not powered, no pressure oil is output from the ports a and B of the steering valve 4, the left steering clutch cylinder 9 and the right steering clutch cylinder 11 are not operated, the power of the driving wheels on the left side and the right side is not cut off, the rotating speed of the driving wheels is the same, and the vehicle keeps in the straight-moving state. The gear pump 2 pumps out hydraulic oil, the hydraulic oil is filtered by the high-pressure oil filter 3 and then enters the steering valve 4, the electromagnet of the proportional overflow electromagnetic valve on the steering valve 4 is not electrified, and the pressure oil entering the steering valve 4 flows back to the hydraulic oil tank 1 through the proportional overflow electromagnetic valve.
When the mechanical-electrical-hydraulic integrated control crawler tractor described by the scheme turns to the left: as shown in fig. 4, after the engine is started, the vehicle gear lever is in a forward or backward position, the steering wheel 8 is rotated counterclockwise, the encoder 6 acquires a rotation signal of the steering wheel 8, the encoder 6 processes the rotation angle and the direction of the steering wheel 8 into a CAN bus signal, and transmits the CAN bus signal to the controller 5, the controller 5 outputs a signal to the left electromagnetic directional valve L on the steering valve 4 after receiving an input signal of the encoder 6, the electromagnet of the left electromagnetic directional valve L on the steering valve 4 is energized, the oil inlet P2 of the steering valve 4 is communicated with the oil inlet a, and simultaneously outputs control currents of different magnitudes to the proportional overflow electromagnetic valve on the steering valve 4 according to the magnitude of the rotation angle signal, and the proportional overflow electromagnetic valve on the steering valve 4 adjusts the magnitude of the hydraulic oil pressure entering the steering valve 4 according to the magnitude of the obtained currents. The greater the counterclockwise rotation angle of the steering wheel 8, the higher the pressure output from port a on the steering valve 4. As the pressure oil entering the left steering clutch cylinder 9 becomes larger, the steering clutch is gradually changed from the engaged state to the completely disengaged state; as shown in fig. 5, when the pressure reaches the opening pressure of the fixed differential pressure reducing valve arranged in the left brake linkage cylinder 10, the pressure oil enters an oil inlet of the built-in brake cylinder of the left brake linkage cylinder 10, the built-in brake cylinder acts to tighten the left brake band, and the left wheel brakes; the rotation speed of the left driving wheel is gradually reduced along with the increase of the pressure until the rotation is stopped. The rotating speed of the right driving wheel still keeps the original state, and the vehicle turns left. If the vehicle is initially in a forward state, the vehicle rotates anticlockwise; if the vehicle is in a reverse state, the vehicle will rotate clockwise.
The mechanical-electrical-hydraulic integrated control crawler tractor described by the scheme is used for steering right: as shown in fig. 6, after the engine is started, the vehicle gear lever is in a forward or backward position, the steering wheel 8 is rotated clockwise, the encoder 6 acquires a rotation signal of the steering wheel 8, the encoder 6 processes the rotation angle and the direction of the steering wheel 8 into a CAN bus signal, and transmits the CAN bus signal to the controller 5, the controller 5 outputs a signal to the right electromagnetic directional valve R on the directional valve 4 after receiving an input signal of the encoder 6, the right electromagnetic directional valve R electromagnet on the directional valve 4 is energized, an oil inlet P2 of the directional valve 4 is communicated with the oil inlet B, and simultaneously, according to the magnitude of the rotation angle signal, control currents of different magnitudes are output to the proportional overflow electromagnetic valve on the directional valve 4, and the proportional overflow electromagnetic valve on the directional valve 4 adjusts the magnitude of the hydraulic oil pressure entering the directional valve 4 according to the magnitude of the obtained currents. The larger the clockwise rotation angle of the steering wheel 8, the higher the pressure output from the port B of the steering valve 4. As the pressure oil entering the right steering clutch cylinder 11 becomes larger, the steering clutch is gradually changed from the engaged state to the completely disengaged state; as shown in fig. 7, when the pressure reaches the opening pressure of the fixed differential pressure reducing valve arranged in the right brake linkage cylinder 12, the pressure oil enters the oil inlet of the built-in brake cylinder of the right brake linkage cylinder 12, the built-in brake cylinder acts to tighten the right brake band, and the right wheel brakes; the rotation speed of the right driving wheel is gradually reduced along with the increase of the pressure until the rotation is stopped. And the rotating speed of the left driving wheel still keeps the original state, and the vehicle turns to the right. If the vehicle is initially in a forward state, the vehicle rotates clockwise; if the vehicle is in a reverse state, the vehicle will rotate counterclockwise.
Steering wheel self return and spacing: as shown in fig. 1, regardless of whether the steering wheel 8 is rotated clockwise or counterclockwise, when the hands are separated from the steering wheel 8, the steering wheel 8 is automatically restored to the original position. The vehicle will change from the turning state to the straight-ahead state. When the steering wheel 8 rotates clockwise or counterclockwise to a certain angle, the steering self-centering mechanism 7 cannot rotate.
It should be noted that: steering wheel initial position "dead zone" setting: in order to ensure that the vibration of the steering wheel 8 does not influence the straight running state of the vehicle when the vehicle is in a straight line form, when the steering wheel 8 slightly moves anticlockwise or clockwise in a middle position, the left electromagnetic directional valve L and the right electromagnetic directional valve R on the steering valve 4 are not powered, no pressure oil is output from the oil port A and the oil port B of the steering valve 4, and the vehicle runs straight. The size of the 'dead zone' interval of the initial position of the steering wheel can be adjusted by changing a program according to needs, while the 'dead zone' of the middle position of the traditional mechanical pull rod type steering cannot be adjusted.
It should be noted that while the invention has been described in terms of the above-mentioned embodiments, other embodiments are also possible. It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention, and it is intended that all such changes and modifications be covered by the appended claims and their equivalents.
Claims (6)
1. The utility model provides a track tractor a steering system of mechatronic liquid integrated control which characterized in that: the steering system comprises a hydraulic oil tank, a gear pump, a high-pressure oil filter, a steering valve, a steering controller, an encoder, a steering self-centering mechanism, a steering wheel, a left steering clutch oil cylinder, a left braking linkage cylinder, a right steering clutch oil cylinder and a right braking linkage cylinder;
an oil inlet of the gear pump is connected with a hydraulic oil tank, pressure oil output by the gear pump enters a steering valve after being filtered by a high-pressure oil filter, the output of the steering valve is divided into two paths, wherein one path enters a left steering clutch oil cylinder and a left braking linkage cylinder, and the other path enters a right steering clutch oil cylinder and a right braking linkage cylinder;
the steering wheel is connected to the upper end of a mandrel of the steering self-centering mechanism through a connecting sleeve, and the lower end of the mandrel of the steering self-centering mechanism is connected with a rotating shaft of the encoder through a coupler;
the steering controller is connected with the encoder and the steering valve through a wire harness, the encoder converts the rotation angle and the rotation direction of the steering wheel into a CAN bus signal and transmits the CAN bus signal to the steering controller, the steering controller identifies the CAN signal output by the encoder and outputs a control signal to an electric control assembly of the steering valve to control the action of a built-in valve core of the steering valve, and further controls the output direction of pressure oil and the pressure of the output pressure oil;
the steering valve comprises a left electromagnetic directional valve L and a right electromagnetic directional valve R, the left electromagnetic directional valve L and the right electromagnetic directional valve R are respectively connected with a steering controller through a wire harness, and the steering controller adjusts the output direction of the pressure oil by controlling the left electromagnetic directional valve L or the right electromagnetic directional valve R to act according to a signal of the rotation direction of the steering wheel; the steering valve still be equipped with a proportion overflow solenoid valve, proportion overflow solenoid valve connect in parallel between the oil feed branch road of being connected with the steering valve and return oil branch road and connect steering controller through the pencil, steering controller exports the control current of different sizes to proportion overflow solenoid valve according to the size of the corner signal who receives, proportion overflow solenoid valve is according to the size that obtains the electric current, adjusts the size that enters into the hydraulic oil pressure of steering valve.
2. The steering system of the electro-mechanical and hydraulic integrated control track tractor as claimed in claim 1, wherein: the first oil outlet of the left electromagnetic reversing valve L is connected with the oil inlet of the left steering clutch oil cylinder and the oil inlet of the left brake linkage cylinder, and the second oil outlet of the right electromagnetic reversing valve R is connected with the oil inlet of the right steering clutch oil cylinder and the oil inlet of the right brake linkage cylinder; and an oil return port of the steering valve, an oil return port of the left brake linkage cylinder and an oil return port of the right brake linkage cylinder are connected with a hydraulic oil tank.
3. The steering system of the electro-mechanical and hydraulic integrated control track tractor as claimed in claim 1, wherein: the steering controller identifies and converts the CAN signal output by the encoder, outputs current and voltage signals to the steering valve, controls the action of a built-in valve core of the steering valve, and further controls whether pressure oil enters a left steering clutch oil cylinder or a right steering clutch oil cylinder and the pressure of the pressure oil entering a specified oil cylinder, so that steering is realized.
4. The steering system of the electro-mechanical and hydraulic integrated control track tractor as claimed in claim 1, wherein: the hydraulic oil tank is fixed on the right side of a cab bottom plate, the gear pump is installed in an engine gear chamber, and the high-pressure oil filter is installed on the left side of an engine.
5. The steering system of the electro-mechanical and hydraulic integrated control track tractor as claimed in claim 1, wherein: and the power supply of the steering controller is connected with a main wiring harness of the vehicle through a wiring harness.
6. The steering control method of a track tractor steering system according to any one of claims 1 to 5, comprising the steps of:
s1, when steering to the left: after an engine is started, a vehicle speed change gear lever is located at a forward or backward position, a steering wheel is rotated anticlockwise, an encoder acquires a rotation signal of the steering wheel, the size and the direction of the rotation angle of the steering wheel are processed into CAN bus signals, the signals are transmitted to a steering controller, the steering controller outputs signals to a left electromagnetic directional valve L on a steering valve, an electromagnet of the left electromagnetic directional valve L on the steering valve is electrified, an oil inlet P2 of the steering valve is communicated with A, control currents with different sizes are output to a proportional overflow electromagnetic valve according to the size of the rotation angle signal, and the proportional overflow electromagnetic valve adjusts the pressure of hydraulic oil entering the steering valve according to the size of the obtained currents; when the pressure reaches the opening pressure of a fixed-differential pressure-reducing valve arranged in the left brake linkage cylinder, pressure oil enters an oil inlet of a built-in brake oil cylinder of the left brake linkage cylinder, the built-in brake oil cylinder acts to tighten a left brake band, and a left wheel brakes; the rotating speed of the left driving wheel is gradually reduced along with the rise of the pressure until the left driving wheel stops rotating, the rotating speed of the right driving wheel still keeps the original state, and the vehicle turns left;
s2, when steering to the right: after an engine is started, a vehicle gear lever is positioned at a forward or backward position, a steering wheel is rotated clockwise, an encoder acquires a rotation signal of the steering wheel, the size and the direction of the rotation angle of the steering wheel are processed into CAN bus signals, the signals are transmitted to a controller, signals are output to a right electromagnetic directional valve R on a steering valve, an electromagnet of the right electromagnetic directional valve R on the steering valve is electrified, an oil inlet P2 of the steering valve is communicated with B, control currents with different sizes are output to a proportional overflow electromagnetic valve according to the size of the rotation angle signal, and the proportional overflow electromagnetic valve adjusts the pressure of hydraulic oil entering the steering valve according to the size of the obtained current; when the pressure reaches the opening pressure of a fixed-differential pressure-reducing valve arranged in the right brake linkage cylinder, pressure oil enters an oil inlet of a built-in brake oil cylinder of the right brake linkage cylinder, the built-in brake oil cylinder acts to tighten a right brake band, and a right wheel brakes; the rotating speed of the right driving wheel is gradually reduced along with the rise of the pressure until the right driving wheel stops rotating, the rotating speed of the left driving wheel still keeps the original state, and the vehicle turns to the right.
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| CN113291285A (en) * | 2021-05-10 | 2021-08-24 | 第一拖拉机股份有限公司 | Tractor complete machine controller and tractor |
| CN113324752B (en) * | 2021-05-18 | 2024-07-02 | 徐工集团工程机械股份有限公司 | Tool and method for testing reliability and performance characteristics of pressure control type steering valve |
| CN115107872A (en) * | 2022-05-24 | 2022-09-27 | 无锡拉菲可科技有限公司 | Steering mechanism of crawler tractor |
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