CN-122009316-A - Alignment control method, electro-hydraulic steering system, steering system and multi-axle wheel type equipment

CN122009316ACN 122009316 ACN122009316 ACN 122009316ACN-122009316-A

Abstract

The invention relates to the technical field of steering control, and discloses an alignment control method, an electro-hydraulic steering system, a steering system and multi-axle wheel equipment, wherein the electro-hydraulic steering system comprises a centering oil cylinder, an energy accumulator, a centering electromagnetic valve and an energy accumulator unloading valve; if the working condition is in the maintenance working condition, the energy accumulator unloading valve is controlled to open the pressure relief oil path, and the centering electromagnetic valve is controlled to close the centering oil path, so that hydraulic oil in the energy accumulator flows to an oil return box of the multi-bridge wheel type equipment through the pressure relief oil path, and the centering oil cylinder loses the centering power. According to the invention, the energy accumulator unloading valve is additionally arranged, so that the high-pressure driving force of the energy accumulator can be eliminated under the maintenance working condition, the centering oil cylinder loses the centering power, the rear axle is forbidden to be centered, the compression injury to maintenance personnel nearby the axle in the centering process is fundamentally prevented, and the safety and reliability of maintenance operation are improved.

Inventors

TANG HAIJUN
DING FENG
YAO XINLIANG

Assignees

三一汽车起重机械有限公司

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (10)

1. The alignment control method is applied to multi-axle wheel type equipment, the multi-axle wheel type equipment comprises an electro-hydraulic steering system, and the electro-hydraulic steering system comprises a centering oil cylinder, an energy accumulator and a centering electromagnetic valve, and is characterized by further comprising an energy accumulator unloading valve, wherein the method comprises the following steps: acquiring operation data of multi-bridge wheel type equipment; Determining the current operation working condition of the multi-axle wheel type equipment according to the operation data, wherein the operation working condition at least comprises a maintenance working condition; And if the hydraulic oil in the energy accumulator flows to the oil return box of the multi-bridge wheel type equipment through the pressure relief oil way, the centering oil cylinder loses the centering power.
2. The method of claim 1, wherein the operating conditions further comprise normal driving conditions, the method further comprising: If the oil way is in the normal running working condition, the centering electromagnetic valve is controlled to close the centering oil way, and the energy accumulator unloading valve is controlled to close the pressure relief oil way, so that the centering oil cylinder is in a floating state and loses the centering power.
3. The method of claim 2, wherein the operating conditions further comprise a high speed driving condition and a parking condition, the method further comprising: And if the hydraulic oil is in the high-speed running working condition or the parking working condition currently, controlling the centering electromagnetic valve to open the centering oil way, and controlling the energy accumulator unloading valve to close the pressure relief oil way so that the hydraulic oil in the energy accumulator flows to the centering oil cylinder, and executing centering locking by the centering oil cylinder.
4. A method according to any one of claims 1 to 3, wherein the operation data comprises at least a vehicle speed signal, an engine speed signal and a service signal, and wherein the determining the current operation condition of the multi-wheeled device according to the operation data comprises: judging the current operating condition of the multi-axle wheel type equipment according to the vehicle speed signal, the engine rotating speed signal and the maintenance signal; if the vehicle speed signal is not zero and is lower than a preset speed threshold value and the engine is in an operating state, determining that the vehicle speed signal is in a normal running working condition currently; If the vehicle speed signal is higher than the preset speed threshold value and the engine is in an operating state, determining that the vehicle is in a high-speed running working condition currently; If the vehicle speed signal is zero, the engine is stopped or idling, and the overhaul signal is not detected, determining that the vehicle is in a stopping working condition currently; And if the vehicle speed signal is zero, the engine is stopped or idling, and the maintenance signal is detected, determining that the vehicle speed signal is in a maintenance working condition currently.
5. The electrohydraulic steering system comprises a hydraulic part and an electric control part, and is characterized in that the hydraulic part comprises a centering oil cylinder, an energy accumulator, a centering electromagnetic valve and an energy accumulator unloading valve, wherein the energy accumulator is connected with the centering electromagnetic valve, the centering electromagnetic valve is connected with one end of the centering oil cylinder through a centering oil inlet pipeline, the other end of the centering oil cylinder is connected with the centering electromagnetic valve through a centering oil return pipeline, the centering electromagnetic valve is connected with an oil return box of multi-bridge wheel type equipment, one end of the energy accumulator unloading valve is connected with the energy accumulator, and the other end of the energy accumulator unloading valve is connected with the oil return box through an unloading oil return pipeline; The electronic control part comprises a steering controller electrically connected with the centering solenoid valve and the accumulator unloading valve for executing the centering control method as claimed in any one of claims 1 to 4.
6. The electro-hydraulic steering system of claim 5, wherein the hydraulic section further includes a throttle valve coupled in series with an unloading return line between the accumulator and the accumulator unloading valve.
7. The electro-hydraulic steering system of claim 6, wherein the hydraulic section further comprises a steering hydraulic pump, a steering cylinder, a steering axle, a steering proportional solenoid valve; The steering controller is electrically connected with the steering proportional electromagnetic valve; The steering hydraulic pump is connected with the steering proportional electromagnetic valve, the steering proportional electromagnetic valve is connected with the steering oil cylinder through a main oil inlet pipeline, and the steering oil cylinder is mechanically connected with the steering axle.
8. The electro-hydraulic steering system of claim 7, wherein the electronic control section further includes a steering angle sensor, a pressure sensor, and the steering controller is connected to the steering angle sensor and the pressure sensor, respectively; the steering angle sensor is arranged on the steering axle and used for collecting the steering angle of the steering axle; The pressure sensor is arranged on an outlet oil way of the energy accumulator and is used for collecting the pressure value of the energy accumulator.
9. A steering system comprising a hydraulic steering system for use in front axle steering control of a multi-axle wheeled apparatus and an electro-hydraulic steering system as claimed in any one of claims 5 to 8 for use in rear axle steering control of a multi-axle wheeled apparatus.
10. A multi-axle wheeled apparatus comprising the steering system of claim 9.

Description

Alignment control method, electro-hydraulic steering system, steering system and multi-axle wheel type equipment Technical Field The invention relates to the technical field of steering control, in particular to an alignment control method, an electrohydraulic steering system, a steering system and multi-axle wheel type equipment. Background Taking a four-axle wheeled crane as an example, a multi-axle wheeled crane with an electric hydraulic steering system usually adopts front two-axle mechanical steering, the steering wheel and a steering rod system directly control the steering of wheels, and rear two-axle electric hydraulic power steering, namely an electric hydraulic steering system. In order to ensure the running safety of the vehicle, the existing electrohydraulic steering system is commonly provided with an energy accumulator, and is used for driving a centering oil cylinder to act by utilizing high-pressure hydraulic oil stored in the energy accumulator under the unexpected power-off working condition of the system (such as wire harness breakage, controller failure disconnection, complete vehicle unexpected power-off and the like), so that the forced automatic centering of a rear axle is realized, and the safe running of the vehicle is ensured. However, the structure has obvious safety defects that when the vehicle is parked for maintenance, overhaul or chassis maintenance operation, if the steering wheel is not in the middle position and the rear wheels have a certain steering angle, the power supply of the whole vehicle is cut off at the moment, the rear two-axle electrohydraulic steering system can trigger the forced return function of the energy accumulator due to power failure, the wheels suddenly return under the condition of no early warning, the extrusion and collision damage to maintenance personnel who construct and overhaul near the axle are extremely easy, and the potential safety hazard is large. Disclosure of Invention The invention provides an alignment control method, an electrohydraulic steering system, a steering system and multi-axle wheel equipment, which are used for solving the problems that when the multi-axle wheel equipment is parked and maintained, a rear axle is forced to automatically align due to pressure maintaining of an energy accumulator, and the safety of maintenance personnel is influenced. The invention provides an alignment control method which is applied to multi-axle wheel equipment, wherein the multi-axle wheel equipment comprises an electro-hydraulic steering system, the electro-hydraulic steering system comprises a centering oil cylinder, an energy accumulator, a centering electromagnetic valve and an energy accumulator unloading valve, the method comprises the steps of obtaining operation data of the multi-axle wheel equipment, determining the current operation working condition of the multi-axle wheel equipment according to the operation data, wherein the operation working condition at least comprises a maintenance working condition, and if the operation working condition is the maintenance working condition, controlling the energy accumulator unloading valve to open a pressure relief oil path and controlling the centering electromagnetic valve to close the centering oil path so that hydraulic oil in the energy accumulator flows to an oil return tank of the multi-axle wheel equipment through the pressure relief oil path, and the centering oil cylinder loses alignment power. According to the alignment control method provided by the invention, the accumulator unloading valve is additionally arranged in the electrohydraulic steering system, the current operation working condition is determined according to the operation data of the multi-axle wheel type equipment, if the current operation working condition is the maintenance working condition, the accumulator unloading valve is actively controlled to open the pressure relief oil path, so that hydraulic oil in the accumulator flows to the oil return box of the multi-axle wheel type equipment through the pressure relief oil path, the high-pressure driving force of the accumulator is thoroughly eliminated, the alignment power of the centering oil cylinder is lost under the maintenance working condition, the automatic alignment of the rear axle in the maintenance process is avoided, the extrusion and collision injury to maintenance personnel nearby the axle in the alignment process is fundamentally prevented, and the safety and reliability of the maintenance operation are improved. In an alternative embodiment, the operation conditions further comprise normal running conditions, and the method further comprises the steps of controlling the centering electromagnetic valve to close the centering oil way and controlling the energy accumulator unloading valve to close the pressure relief oil way if the operation conditions are in the normal running conditions, so that the centering oil cylinder is in a floating stat