Milling machinery walking system based on four-wheel independent steering

A four-wheel independent steering and walking system technology, applied in roads, road repairs, roads, etc., can solve problems such as bulky, large-scale milling machinery with high complexity, and difficulty in achieving ideal steering conditions, and achieve precise steering effects

Pending Publication Date: 2018-11-02
XUZHOU XUGONG ROAD CONSTR MACHINERY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because large-scale milling and planing machinery is highly complex and bulky, its steering action is completed by a series of mechanisms. At present, it is completely controlled by the experience of the machine operator. Even under this condition, it is difficult to achieve the ideal steering state.

Method used

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  • Milling machinery walking system based on four-wheel independent steering
  • Milling machinery walking system based on four-wheel independent steering
  • Milling machinery walking system based on four-wheel independent steering

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] Such as figure 1 As shown, take the extension line of the center of the milling drum as the center of rotation. In the figure, the distance between the two front wheels in the x-coordinate direction is L f , the distance between the two rear wheels in the x-coordinate direction is L b , the distance between the front wheel center and the y-coordinate direction of the milling drum is H f , the distance between the rear wheel center and the y-coordinate direction of the milling drum is H b , the distance between the front and rear wheel centers in the x-coordinate direction is L 3 . Assuming turning to the right, the right front wheel 1 is the reference wheel, and the turning angle is α 1 , the intersection point of the extension line of the center of the right front wheel 1 and the milling drum 3 is the center O, and the turning angles of the other left front wheel 2, right rear wheel and left rear wheel 4 are deduced according to the Ackerman angle theorem as follo...

Embodiment 2

[0037] Such as figure 2 As shown, turn in situ. In the figure, the distance between the two front wheels in the x-coordinate direction is L f , the distance between the two rear wheels in the x-coordinate direction is L b , the distance between the front wheel center and the y-coordinate direction of the milling drum is H f , the distance between the rear wheel center and the y-coordinate direction of the milling drum is H b . When the in-situ steering is pressed, the in-situ steering is performed with the center of the milling drum as the origin. The centerlines of the four wheels are all tangent to the circle with O as the center. After calculation, the turning angle is as follows:

[0038]

[0039] beta 2 = α 2

[0040]

[0041] ω 2 = θ 2

[0042] After the controller inversely calculates the data of the steering of each wheel and outputs it to the steering cylinder to control the output angle.

Embodiment 3

[0044] Such as image 3 As shown, the steering is centered on the center of the extension line of the front wheel center. In the figure, the distance between the two front wheels in the x-coordinate direction is L f , the distance between the two rear wheels in the x-coordinate direction is L b , the distance between the front wheel center and the y-coordinate direction of the milling drum is H f , the distance between the rear wheel center and the y-coordinate direction of the milling drum is H b , the front wheels move forward vertically. Assuming turning to the right, the right rear wheel is the reference wheel, and the turning angle is θ 3 , the intersection point of the extension lines of the center of the front wheel and the right rear wheel is the center O. According to the Ackerman angle theorem, the turning angle of the left rear wheel is deduced as follows:

[0045]

[0046] After the controller inversely calculates the data of the steering of each wheel and ...

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Abstract

The invention discloses a milling machinery walking system based on four-wheel independent steering. The milling machinery walking system comprises a steering oil cylinder, a power device, hydraulic reversing valves, an operation handle, a mode selection push button and a controller, wherein one hydraulic reversing valve is arranged at each of the left and right sides on milling machinery; the left hydraulic reversing valve controls the direction switching of a left front driving wheel and a left rear driving wheel; the right hydraulic reversing valve controls the direction switching of a right front driving wheel and a right rear driving wheel; the mode selection push button is arranged on a control panel and is used for steering mode selection switching; the steering oil cylinder is usedfor driving the driving wheel steering; a displacement sensor is built in the steering oil cylinder, and can be used for detecting the oil cylinder displacement quantity in real time; the operation handle is used for controlling the vehicle steering angle through the steering time and the handle amplitude. The milling machinery walking system provided by the invention can complete the four mode steering actions; the four steering modes realize the automatic steering through detecting the rotating angle of the reference wheel via the abductive reasoning of the rotating angles of other three wheels on the basis of an Ackerman theory. Compared with the exiting steering, the steering provided by the invention is more precise.

Description

technical field [0001] The invention relates to a milling machinery walking system based on four-wheel independent steering. Background technique [0002] The development of modern science and technology has greatly promoted the intersection and penetration of different disciplines, leading to technological revolutions and transformations in almost all engineering fields. Vertical differentiation and horizontal integration have become important features of contemporary science and technology development. The history of engineering technology has been constantly innovating and progressing with the development of modern society. While solving various problems, it has also left many technical problems that cannot be solved in the industry. In order to make construction machinery high-precision, high-efficiency, and high-performance In the direction of development, intelligence and automation, knowledge in interdisciplinary fields urgently needs to be introduced into the constru...

Claims

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Application Information

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IPC IPC(8): E01C23/088
CPCE01C23/088
Inventor 张乐天梁帮修武博文王兆龙
Owner XUZHOU XUGONG ROAD CONSTR MACHINERY
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