Wheeled vehicle

Abstract

The present invention discloses a wheeled vehicle having a low-speed mode and a high-speed mode. The wheeled vehicle includes: a first frame; a second frame hinged to the first frame; a first wheel rotatably connected to the first frame; a wheel steering device for deflecting the first wheel relative to the first frame; a hinge steering device provided between the first frame and the second frame for relative rotation between the first frame and the second frame; a hinge locking device which locks the first frame and the second frame relative to each other in the high-speed mode; an alignment locking device which follows the deflection of the first wheel in the high-speed mode and locks the first wheel and the first frame in alignment in the low-speed mode. The wheeled vehicle of the present invention can steer by using the relative rotation of the frames in the low-speed mode and can stably and reliably steer by using the deflection of the wheels in the high-speed mode, which is beneficial to improving the ride comfort and handling stability of the vehicle during high-speed driving.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a wheeled vehicle. Background Art

[0002] In engineering vehicles, due to the small relative turning radius of the vehicle frame, which is flexible and maneuverable, the relative rotation mode of the vehicle frame has been widely used. However, the ride comfort and handling stability of the vehicle frame relative rotation at high speeds are poor. For some users' special requirements for the high speed of engineering vehicles, for example, when users require the traveling speed of wheel loaders and wheel dozers to be greater than 80 km / h, the current common relative rotation mode of the vehicle frame can no longer meet the ride comfort and handling stability requirements during high-speed driving of engineering vehicles. Summary of the Invention

[0003] The purpose of the present invention is to provide a wheeled vehicle, which can use the relative rotation of the vehicle frame for steering in the low-speed mode, and can stably and reliably switch to using the wheel deflection for steering in the high-speed mode, which is beneficial to improving the ride comfort and handling stability of the vehicle during high-speed driving.

[0004] The present invention discloses a wheeled vehicle, which has a low-speed mode and a high-speed mode, and includes:

[0005] A first vehicle frame;

[0006] A second vehicle frame, hinged to the first vehicle frame;

[0007] A first wheel, rotatably connected to the first vehicle frame;

[0008] A wheel steering device, drivingly connected to the first wheel, for deflecting the first wheel relative to the first vehicle frame;

[0009] A hinge steering device, provided between the first vehicle frame and the second vehicle frame, for relatively rotating the first vehicle frame and the second vehicle frame;

[0010] A hinge locking device, in the high-speed mode, the hinge locking device locks the first vehicle frame and the second vehicle frame relative to each other, and in the low-speed mode, the hinge locking device unlocks the first vehicle frame and the second vehicle frame;

[0011] An alignment locking device, in the high-speed mode, the alignment locking device follows the deflection of the first wheel, and in the low-speed mode, the alignment locking device locks the first wheel and the first vehicle frame in alignment.

[0012] Further, the alignment locking device includes an alignment locking oil cylinder and an alignment locking hydraulic circuit connected to the alignment locking oil cylinder, and the alignment locking oil cylinder connects the first wheel and the first vehicle frame.

[0013] Furthermore, the alignment locking cylinder includes a cylinder barrel and a piston assembly. The piston assembly includes a piston rod, a first slider assembly, and a second slider assembly connected to the piston rod. The first slider assembly and the second slider assembly divide the inner cavity of the cylinder barrel into an intermediate cavity between the first slider assembly and the second slider assembly, a first outer cavity outside the first slider assembly, and a second outer cavity outside the second slider assembly. The first outer cavity is provided with a first oil port, the second outer cavity is provided with a second oil port, and the intermediate cavity is provided with an intermediate oil port.

[0014] The alignment locking hydraulic circuit includes a pressure oil circuit and a return oil circuit, and the intermediate oil port is communicated with the return oil circuit.

[0015] In the high-speed mode, the alignment locking hydraulic circuit controls the first oil port and the second oil port to be simultaneously communicated with the return oil circuit, and the deflection of the piston rod follows that of the first wheel. In the low-speed mode, the alignment locking hydraulic circuit controls the first oil port and the second oil port to be simultaneously communicated with the pressure oil circuit, and the piston rod is locked at the piston rod alignment position under the action of the first slider assembly and the second slider assembly.

[0016] Furthermore, the alignment locking hydraulic circuit includes a first electromagnetic directional control valve, a second electromagnetic directional control valve, a first pilot-operated check valve, and a second pilot-operated check valve. The working oil port of the first electromagnetic directional control valve is connected to the pilot control ports of the first pilot-operated check valve and the second pilot-operated check valve. The working oil port of the second electromagnetic directional control valve is respectively connected to the first oil port and the second oil port through the first pilot-operated check valve and the second pilot-operated check valve.

[0017] The pressure oil circuit is connected to the pressure oil ports of the first electromagnetic directional control valve and the second electromagnetic directional control valve.

[0018] The return oil circuit is connected to the return oil ports of the first electromagnetic directional control valve and the second electromagnetic directional control valve.

[0019] In the high-speed mode, the pressure oil port of the first electromagnetic directional control valve is connected to the working oil port, and the return oil port of the second electromagnetic directional control valve is connected to the working oil port. In the low-speed mode, the return oil port of the first electromagnetic directional control valve is connected to the working oil port, and the return oil port of the second electromagnetic directional control valve is connected to the working oil port.

[0020] Further, the articulated locking device includes an articulated locking oil cylinder for controlling the relative locking and unlocking of the first vehicle frame and the second vehicle frame, and a third electromagnetic directional control valve for controlling the articulated locking oil cylinder. The pressure oil port of the third electromagnetic directional control valve is connected to the pressure oil circuit, the oil drain port (return port) of the third electromagnetic directional control valve is connected to the return oil circuit, and the first working oil port and the second working oil port of the third electromagnetic directional control valve are respectively connected to the rod chamber and the rodless chamber of the articulated locking oil cylinder.

[0021] Further, the wheeled vehicle further includes a controller, and the controller is coupled with the first electromagnetic directional control valve, the second electromagnetic directional control valve, and the third electromagnetic directional control valve to control the actions of the first electromagnetic directional control valve, the second electromagnetic directional control valve, and the third electromagnetic directional control valve.

[0022] Further, the articulated locking device includes an articulated locking oil cylinder and a pin shaft connected to the articulated locking oil cylinder. The first vehicle frame and the second vehicle frame are respectively provided with a first pin hole and a second pin hole that cooperate with the pin shaft. The articulated locking oil cylinder drives the pin shaft to move, so that the pin shaft switches between a state of passing through the first pin hole and the second pin hole at the same time to lock the first vehicle frame and the second vehicle frame relative to each other, and a state of being disengaged from at least one of the first pin hole and the second pin hole to unlock the first vehicle frame and the second vehicle frame.

[0023] Further, the articulated locking device further includes a travel switch. When the articulated locking device reaches a position where the first vehicle frame and the second vehicle frame are locked relative to each other, the travel switch triggers the articulated steering device to close, so as to stop the relative rotation action between the first vehicle frame and the second vehicle frame.

[0024] Further, the articulated locking device includes an angle sensor for detecting the relative deflection angle between the first vehicle frame and the second vehicle frame.

[0025] Further, the first wheel includes a left wheel and a right wheel. The wheel steering device includes a left wheel steering oil cylinder and a right wheel steering oil cylinder. The left wheel steering oil cylinder connects the left wheel and the first vehicle frame, and the right wheel steering oil cylinder connects the right wheel and the first vehicle frame; the rod chamber of the left wheel steering oil cylinder communicates with the rodless chamber of the right wheel steering oil cylinder, and the rodless chamber of the left wheel steering oil cylinder communicates with the rod chamber of the right wheel steering oil cylinder.

[0026] Based on the wheeled vehicle provided by the present invention, it can select steering methods suitable for two different modes, namely, a low-speed mode and a high-speed mode, according to the driving state of the vehicle. In the low-speed mode, it can steer by the relative rotation between the first frame and the second frame, and at the same time, the first wheel and the first frame are aligned and locked, which is beneficial to ensuring the reliability of the relative rotation of the frame. In the high-speed mode, the first frame and the second frame can be locked, and then the vehicle can steer by the deflection of the wheels, which is stable and reliable and is beneficial to improving the ride comfort and handling stability of the vehicle at high speed.

[0027] Other features and advantages of the present invention will become clear from the following detailed description of the exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention and form a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0029] Figure 1 is a front view structural schematic diagram of a part of the structure of the wheeled vehicle according to an embodiment of the present invention;

[0030] Figure 2 is Figure 1 a top view structural schematic diagram of a part of the structure of the shown wheeled vehicle;

[0031] Figure 3 is a top view structural schematic diagram of a part of the structure of the wheeled vehicle according to another embodiment of the present invention;

[0032] Figure 4 is a hydraulic schematic diagram of the alignment locking cylinder according to an embodiment of the present invention;

[0033] Figure 5 is a hydraulic schematic diagram of the articulated locking cylinder according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way restricts the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0035] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific values should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0036] In the following description, the so-called "front" refers to the side where the front of the wheeled vehicle is located; "rear" refers to the side opposite to the "front", and "left" and "right" refer to the left and right directions formed when facing the front.

[0037] The wheeled vehicle of this embodiment has a low-speed mode and a high-speed mode. As Figure 1 and Figure 2 shown, the wheeled vehicle includes a first frame 1, a second frame 6, a first wheel, a wheel steering device, an articulated steering device, an articulated locking device 4, and an alignment locking device 17. The second frame 6 is articulated with the first frame 1. The first wheel is connected to the first frame 1 in a relatively deflectable manner. The wheel steering device is drivingly connected to the first wheel and is used to deflect the first wheel relative to the first frame 1, so that the wheeled vehicle can turn by deflecting the first wheel. The articulated steering device is arranged between the first frame 1 and the second frame 6 and is used to relatively rotate between the first frame 1 and the second frame 6. In the high-speed mode, the articulated locking device locks the first frame 1 and the second frame 6 relatively, and the alignment locking device 17 follows the deflection of the first wheel. That is, in the high-speed mode, as the first wheel deflects, the alignment locking device 17 only correspondingly follows the movement, and this movement does not impede or interfere with the deflection of the first wheel. In the low-speed mode, the articulated locking device unlocks the first frame 1 and the second frame 6, and the alignment locking device 17 aligns and locks the first wheel with the first frame 1. That is, the alignment locking device 17 can turn the first wheel to a position aligned with the first frame 1 and can lock the first wheel and the first frame 1 in the aligned position.

[0038] The wheeled vehicle of this embodiment can select a suitable low-speed mode and high-speed mode according to the driving state of the vehicle. In the low-speed mode, the wheeled vehicle of this embodiment can utilize the relative rotation between the first frame 1 and the second frame 6 to obtain a smaller turning radius. At the same time, the first wheel and the first frame 1 can be aligned and locked, which is beneficial to improving the accuracy and reliability of the relative rotation of the frame. In the high-speed mode, the first frame 1 and the second frame 6 can be locked, and then wheel deflection steering can be performed, which is stable and reliable, and is beneficial to improving the smoothness and handling stability of the vehicle at high speed.

[0039] As Figure 1 and Figure 2 shown, in this embodiment, the first wheel includes a left front wheel 14 and a right front wheel 7, and is then hinged to the axle and connected to the first frame 1 through the axle. In some embodiments not shown, the first wheel can also be only one wheel; the first wheel can also be directly hinged to the first frame 1.

[0040] In some embodiments, the first wheel includes a left front wheel 14 and a right front wheel 7. The alignment and locking device 17 can act on the left front wheel 14 and the right front wheel 7 respectively, or directly act on one of the left front wheel 14 and the right front wheel 7, and then drive the other wheel through a connecting rod between the left front wheel 14 and the right front wheel 7 to jointly align and lock with the first frame 1.

[0041] In some embodiments, as Figure 1 , Figure 2 , Figure 3 , Figure 4 shown, the alignment and locking device 17 includes an alignment and locking oil cylinder and an alignment and locking hydraulic circuit connected to the alignment and locking oil cylinder. The alignment and locking oil cylinder is connected to the first wheel and the first frame 1. The alignment and locking oil cylinder can realize the alignment and locking of the first wheel and the first frame 1 by the telescopic movement of the piston rod and locking the alignment position of the piston rod when the first wheel and the first frame 1 are aligned. This setting has a simple structure and is convenient and reliable to operate.

[0042] In some embodiments, as Figure 4As shown in the figure, the centering and locking oil cylinder includes a cylinder barrel and a piston assembly. The piston assembly includes a piston rod and a first slider assembly 18 and a second slider assembly 20 connected to the piston rod. The first slider assembly 18 and the second slider assembly 20 divide the inner cavity of the cylinder barrel into an intermediate cavity between the first slider assembly 18 and the second slider assembly 20, a first outer cavity outside the first slider assembly 18, and a second outer cavity outside the second slider assembly 20. The first outer cavity is provided with a first oil port D1, the second outer cavity is provided with a second oil port D2, and the intermediate cavity is provided with an intermediate oil port D3. The intermediate oil port D3 is communicated with the return oil circuit T of the centering and locking hydraulic circuit. In the low-speed mode, the centering and locking hydraulic circuit controls the first oil port D1 and the second oil port D2 to be simultaneously communicated with the pressure oil circuit P of the centering and locking hydraulic circuit, and the piston rod is locked at the piston rod centering position under the action of the first slider assembly 18 and the second slider assembly 20. In the high-speed mode, the centering and locking hydraulic circuit controls the first oil port D1 and the second oil port D2 to be simultaneously communicated with the return oil circuit T, and the deflection of the piston rod and the first wheel follows.

[0043] In some embodiments, as Figure 4 shown in the figure, the piston rod includes a piston straight rod extending out of the cylinder barrel and a piston rod head located inside the cylinder barrel and connected to the piston straight rod. The first slider assembly 18 is sleeved on the piston straight rod and is sealed and slidable relative to the piston straight rod and the inner wall of the cylinder barrel. The second slider assembly 20 and the first slider assembly 18 are located on both sides of the piston rod head and are sealed and slidable relative to the inner wall of the cylinder barrel. The inner wall of the cylinder barrel is provided with a protrusion for limiting the sliding stroke of the first slider assembly 18 and the second slider assembly 20 in the intermediate cavity, and the length of the protrusion is the same as that of the piston rod head in the piston rod sliding direction. The first slider assembly 18 and the second slider assembly 20 can respectively slide to abut against both ends of the protrusion, and the first slider assembly 18 can limit the piston rod head to be flush with the protrusion in the piston rod sliding direction by pushing one end face of the piston rod head, and the second slider assembly 20 can limit the piston rod head to be flush with the protrusion in the piston rod sliding direction by pushing the other end face of the piston rod head.

[0044] In some embodiments, as Figure 4As shown in the figure, the alignment locking hydraulic circuit includes a first electromagnetic directional valve S1, a second electromagnetic directional valve S2, a first hydraulic check valve and a second hydraulic check valve. The working oil port A1 of the first electromagnetic directional valve S1 is connected to the hydraulic control ports of the first hydraulic check valve and the second hydraulic check valve. The working oil port A2 of the second electromagnetic directional valve S2 is connected to the first oil port D1 and the second oil port D2 through the first hydraulic check valve and the second hydraulic check valve respectively. The pressure oil circuit P is connected to the pressure oil port P1 of the first electromagnetic directional valve S1 and the pressure oil port P2 of the second electromagnetic directional valve S2. The oil return circuit T is connected to the oil return port T1 of the first electromagnetic directional valve S1 and the oil return port T2 of the second electromagnetic directional valve S2. In the high-speed mode, the pressure oil port P1 of the first electromagnetic directional valve S1 is connected to the working oil port A1, and the oil return port T2 of the second electromagnetic directional valve S2 is connected to the working oil port A2. At this time, the first hydraulic check valve and the second hydraulic check valve are opened, and both the first outer cavity and the second outer cavity are communicated with the oil return circuit T, so that the piston rod can follow the deflection of the first wheel driven by the first wheel, and the alignment locking device 17 has no restrictive effect on the deflection of the first wheel relative to the first frame. In the low-speed mode, the oil return port T1 of the first electromagnetic directional valve S1 is connected to the working oil port A1, and the pressure oil port P2 of the second electromagnetic directional valve S2 is connected to the working oil port A2. At this time, the first hydraulic check valve and the second hydraulic check valve conduct unidirectionally, and both the first outer cavity and the second outer cavity are communicated with the pressure oil circuit P. The piston rod is locked in the piston rod alignment position under the action of the first slider assembly 18 and the second slider assembly 20, and the alignment locking device 17 aligns and locks the first wheel relative to the first frame.

[0045] This alignment locking hydraulic circuit can cooperate with the alignment locking cylinder to stably and reliably achieve the alignment locking function between the first wheel and the first frame 1 in the low-speed mode, and the follow-up function of the alignment locking cylinder in the high-speed mode. At the same time, the setting of the first hydraulic check valve and the second hydraulic check valve in this alignment locking hydraulic circuit can further improve the stability of this control hydraulic circuit. At the same time, when aligning and locking, after the piston rod reaches the alignment position, the pressure oil circuit P can be closed. The first hydraulic check valve and the second hydraulic check valve can stably ensure the pressure oil in the first outer cavity and the second outer cavity, so that the piston rod is stably locked in the alignment position, which helps to improve the locking reliability and save power.

[0046] In some embodiments, the articulated locking device includes an articulated locking cylinder 4 and a pin shaft connected to the articulated locking cylinder 4. A first pin hole and a second pin hole are respectively provided on the first frame 1 and the second frame 6 for cooperating with the pin shaft. The articulated locking cylinder 4 drives the pin shaft to move, so that the pin shaft can switch between the state of passing through the first pin hole and the second pin hole at the same time to relatively lock the first frame 1 and the second frame 6 and the state of being disengaged from at least one of the first pin hole and the second pin hole to unlock the first frame 1 and the second frame 6.

[0047] As shown in Figure 1 and Figure 5 shown, the articulated locking device includes an articulated locking cylinder 4 and a first pin hole and a second pin hole respectively provided on the first vehicle frame 1 and the second vehicle frame 6. The piston rod of the articulated locking cylinder 4 is fixedly connected to the pin shaft of the pin hole structure. By extending and retracting the piston rod of the articulated locking cylinder 4, the pin shaft can be inserted into and withdrawn from the first pin hole and the second pin hole, so that the first vehicle frame 1 and the second vehicle frame 6 can be relatively locked or unlocked.

[0048] In some embodiments, as shown in Figure 1 and Figure 5 shown, the articulated locking device includes an articulated locking cylinder 4 for controlling the relative locking and unlocking of the first vehicle frame 1 and the second vehicle frame 6 and a third electromagnetic directional control valve 19 for controlling the articulated locking cylinder 4. The pressure oil port P3 of the third electromagnetic directional control valve 19 is connected to the pressure oil circuit P. The oil return port T3 of the third electromagnetic directional control valve 19 is connected to the oil return oil circuit T. The first working oil port A3 and the second working oil port B3 of the third electromagnetic directional control valve 19 are respectively connected to the rod chamber and the rodless chamber of the articulated locking cylinder 4.

[0049] In some embodiments, the wheeled vehicle further includes a controller, and the controller is coupled to the first electromagnetic directional control valve S1, the second electromagnetic directional control valve S2 and the third electromagnetic directional control valve 19 to control their actions. By the unified control of the controller over the first electromagnetic directional control valve S1, the second electromagnetic directional control valve S2 and the third electromagnetic directional control valve 19, the switching of the wheeled vehicle between the low-speed mode and the high-speed mode can be conveniently realized.

[0050] In some embodiments, as shown in Figure 1 shown, the articulated locking device further includes a travel switch 5, and the travel switch 5 triggers the closing of the articulated steering device when the articulated locking device reaches the position where the first vehicle frame 1 and the second vehicle frame 6 are relatively locked, so as to stop the relative rotation action between the first vehicle frame 1 and the second vehicle frame 6.

[0051] In some embodiments, the articulated locking device includes an angle sensor for detecting the relative deflection angle between the first vehicle frame 1 and the second vehicle frame 6.

[0052] In some embodiments, as shown in Figure 2 and Figure 3 shown, the articulated locking device includes a left steering cylinder 11 and a right steering cylinder 8 located between the first vehicle frame 1 and the second vehicle frame 6.

[0053] In some embodiments, as shown in Figure 1 and Figure 2 and Figure 3As shown in the figure, the wheel steering device includes a steering wheel, a steering gear 2, an angle transmission device 3, and a linkage mechanism 12. The steering wheel is connected to the steering gear 2 through the angle transmission device 3. The steering gear 2 is connected to the linkage mechanism 12. The tie rod 13 of the linkage mechanism 12 is connected to the left front wheel 14, and the left front wheel 14 and the right front wheel 7 are connected by a connecting rod.

[0054] In some embodiments, as Figure 2 shown, the first wheels include a left wheel 14 and a right wheel 7. The wheel steering device includes a left wheel steering cylinder 15 and a right wheel steering cylinder 17. The left wheel steering cylinder 15 is connected to the left wheel 14 and the first vehicle frame 1, and the right wheel steering cylinder 17 is connected to the right wheel 7 and the first vehicle frame 1. The rod chamber of the left wheel steering cylinder 15 communicates with the rodless chamber of the right wheel steering cylinder 17, and the rodless chamber of the left wheel steering cylinder 15 communicates with the rod chamber of the right wheel steering cylinder 17. This setting helps to improve the steering synchronization of the left wheel 14 and the right wheel 7.

[0055] In this embodiment, the first vehicle frame 1 and the second vehicle frame 6 are hinged by a hinge shaft 9. The articulated steering device includes a left steering cylinder 11 and a right steering cylinder 8 which are symmetrically arranged left and right. The left steering cylinder 11 and the right steering cylinder 8 are respectively connected between the first vehicle frame 1 and the second vehicle frame 6. When the first vehicle frame 1 and the second vehicle frame 6 rotate relative to each other, the left steering cylinder 11 and the right steering cylinder 8 extend and retract, causing the first vehicle frame 1 and the second vehicle frame 6 to rotate relative to the axis of the hinge shaft 9.

[0056] The working principle of the present invention will be illustrated below by describing the working process of a wheeled vehicle according to an embodiment of the present invention:

[0057] Low-speed mode: As Figure 3 , Figure 4 and Figure 5 shown, when the low-speed mode switch is pressed, the first electromagnetic directional valve S1 and the second electromagnetic directional valve S2 connected to the controller are energized and turned on. At this time, high-pressure hydraulic oil simultaneously enters the first outer chamber and the second outer chamber of the alignment locking cylinder, pushing the piston rod into the alignment position. At this time, the first wheels are in a state of alignment and locking with the first vehicle frame 1. At the same time, JS2 of the third electromagnetic directional valve 19 connected to the controller is energized and JS1 is de-energized. The rod chamber of the articulated locking cylinder 4 is filled with oil and the rodless chamber returns oil, releasing the articulated locking between the first vehicle frame 1 and the second vehicle frame 6. Then, the left wheel steering cylinder 15 and the right wheel steering cylinder 17 are closed, and finally the left steering cylinder 11 and the right steering cylinder 8 are actuated. When the piston rod of the left steering cylinder 11 retracts, the piston rod of the right steering cylinder 8 extends, causing the first vehicle frame 1 to rotate counterclockwise around the hinge mechanism 9, realizing a left turn of the vehicle. Similarly, when the piston rod of the left steering cylinder 11 extends and the piston rod of the right steering cylinder 8 retracts, the front vehicle frame 1 rotates clockwise around the hinge mechanism 9, realizing a right turn of the vehicle.

[0058] High-speed mode: As Figure 3 , Figure 4 and Figure 5 shown, press the high-speed mode switch. First, use the angle sensor 10 to measure that the first vehicle frame 1 and the second vehicle frame 6 are in the aligned position. Then, the JS1 of the third electromagnetic directional control valve 19 connected to the controller is energized, and the JS2 is de-energized. The rodless cavity of the articulated locking cylinder 4 is filled with oil, and the rod cavity returns oil. The articulated locking cylinder 4 acts to lock the first vehicle frame 1 and the second vehicle frame 6. At this time, after the travel switch 5 detects that the articulated locking cylinder 4 reaches the set position, the left steering cylinder 11 and the right steering cylinder 8 act to close. Then, the first electromagnetic directional control valve S1 and the second electromagnetic directional control valve S2 connected to the controller are de-energized. At this time, both the first outer cavity and the second outer cavity of the alignment locking cylinder are connected to the oil return circuit T, and the piston rod is in the floating position. The state of the alignment locking cylinder becomes that the piston rod follows the first wheel, and the alignment locking cylinder is unlocked. The left wheel steering cylinder 15 and the right wheel steering cylinder 16 act according to the rotation of the steering wheel. When turning the steering wheel to the left, the swing arm on the steering gear 2 swings forward, and the pull rod 13 is pushed forward through the linkage mechanism 12. At the same time, the piston rod of the left wheel steering cylinder 15 extends, and the piston rod of the right wheel steering cylinder 16 retracts. The piston rod of the alignment locking cylinder follows, causing the left front wheel 14 to rotate counterclockwise around the left articulated mechanism, and driving the right front wheel 7 to rotate counterclockwise around the right articulated mechanism through the connecting rod, realizing the left turn of the vehicle. Similarly, when turning the steering wheel to the right, the swing arm on the steering gear 2 swings backward, and the pull rod 13 is pulled backward through the linkage mechanism 12. At the same time, the piston rod of the left wheel steering cylinder 15 retracts, and the piston rod of the right wheel steering cylinder 16 extends. The piston rod of the alignment locking cylinder follows, causing the left front wheel 14 to rotate clockwise around the left articulated mechanism, and driving the right front wheel 7 to rotate clockwise around the right articulated mechanism through the connecting rod, realizing the right turn of the vehicle.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that it is still possible to modify the specific implementation manners of the present invention or perform equivalent replacements on some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A wheeled vehicle, characterized in that, The wheeled vehicle has a low-speed mode and a high-speed mode, including: A first frame (1); A second frame (6) hinged to the first frame (1); A first wheel pivotally connected to the first frame (1); A wheel steering device drivingly connected to the first wheel for deflecting the first wheel relative to the first frame (1); A hinge steering device provided between the first frame (1) and the second frame (6) for relatively rotating the first frame (1) and the second frame (6); A hinge locking device that locks the first frame (1) and the second frame (6) relative to each other in the high-speed mode and unlocks the first frame (1) and the second frame (6) in the low-speed mode; An alignment locking device (17) that follows the deflection of the first wheel in the high-speed mode and alignment-locks the first wheel and the first frame (1) in the low-speed mode. The alignment locking device (17) includes an alignment locking oil cylinder and an alignment locking hydraulic circuit connected to the alignment locking oil cylinder. The alignment locking oil cylinder connects the first wheel and the first frame (1). The alignment locking oil cylinder includes a cylinder barrel and a piston assembly. The piston assembly includes a piston rod and a first slider assembly (18) and a second slider assembly (20) connected to the piston rod. The piston rod includes a piston straight rod extending out of the cylinder barrel and a piston rod head located inside the cylinder barrel and connected to the piston straight rod. The first slider assembly is sleeved on the piston straight rod and is sealed and slidable relative to the piston straight rod and the inner wall of the cylinder barrel. The second slider assembly and the first slider assembly are located on both sides of the piston rod head and are sealed and slidable relative to the inner wall of the cylinder barrel. The inner wall of the cylinder barrel is provided with a protrusion in the intermediate cavity for limiting the sliding stroke of the first slider assembly and the second slider assembly. The length of the protrusion in the piston rod sliding direction is the same as that of the piston rod head. The first slider assembly and the second slider assembly can respectively slide to abut against both ends of the protrusion, and the first slider assembly can limit the piston rod head to be flush with the protrusion in the piston rod sliding direction by pushing one end face of the piston rod head, and the second slider assembly can limit the piston rod head to be flush with the protrusion in the piston rod sliding direction by pushing the other end face of the piston rod head. The first slider assembly (18) and the second slider assembly (20) divide the inner cavity of the cylinder barrel into an intermediate cavity between the first slider assembly (18) and the second slider assembly (20), a first outer cavity outside the first slider assembly (18), and a second outer cavity outside the second slider assembly (20). The first outer cavity is provided with a first oil port (D1), the second outer cavity is provided with a second oil port (D2), and the intermediate cavity is provided with an intermediate oil port (D3).

2. The wheeled vehicle according to claim 1, wherein The alignment locking hydraulic circuit includes a pressure oil circuit (P) and a return oil circuit (T), and the intermediate oil port (D3) is communicated with the return oil circuit (T); In the high-speed mode, the alignment and locking hydraulic circuit controls the first oil port (D1) and the second oil port (D2) to be simultaneously communicated with the oil return circuit (T), and the deflection of the piston rod follows that of the first wheel; in the low-speed mode, the alignment and locking hydraulic circuit controls the first oil port (D1) and the second oil port (D2) to be simultaneously communicated with the pressure oil circuit (P), and the piston rod is locked at the piston rod alignment position under the action of the first slider assembly (18) and the second slider assembly (20).

3. The wheeled vehicle according to claim 2, wherein the alignment and locking hydraulic circuit includes a first electromagnetic directional valve (S1), a second electromagnetic directional valve (S2), a first pilot-operated check valve, and a second pilot-operated check valve; the working oil port (A1) of the first electromagnetic directional valve (S1) is connected to the pilot ports of the first pilot-operated check valve and the second pilot-operated check valve; the working oil port (A2) of the second electromagnetic directional valve (S2) is respectively connected to the first oil port (D1) and the second oil port (D2) through the first pilot-operated check valve and the second pilot-operated check valve; the pressure oil circuit (P) is connected to the pressure oil port (P1) of the first electromagnetic directional valve (S1) and the pressure oil port (P2) of the second electromagnetic directional valve (S2); the oil return circuit (T) is connected to the oil return port (T1) of the first electromagnetic directional valve (S1) and the oil return port (T2) of the second electromagnetic directional valve (S2); in the high-speed mode, the pressure oil port (P1) of the first electromagnetic directional valve (S1) is connected to the working oil port (A1), and the oil return port (T2) of the second electromagnetic directional valve (S2) is connected to the working oil port (A2); in the low-speed mode, the oil return port (T1) of the first electromagnetic directional valve (S1) is connected to the working oil port (A1), and the pressure oil port (P2) of the second electromagnetic directional valve (S2) is connected to the working oil port (A2).

4. The wheeled vehicle according to claim 3, wherein, The articulated locking device includes an articulated locking cylinder (4) for controlling the relative locking and unlocking of the first vehicle frame (1) and the second vehicle frame (6), and a third electromagnetic directional valve (19) for controlling the articulated locking cylinder (4). The pressure oil port (P3) of the third electromagnetic directional valve (19) is connected to the pressure oil circuit (P), the oil return port (T3) of the third electromagnetic directional valve (19) is connected to the oil return circuit (T), and the first working oil port (A3) and the second working oil port (B3) of the third electromagnetic directional valve (19) are respectively connected to the rod chamber and the rodless chamber of the articulated locking cylinder (4).

5. The wheeled vehicle according to claim 4, characterized in that, The wheeled vehicle further includes a controller, and the controller is coupled to the first electromagnetic directional valve (S1), the second electromagnetic directional valve (S2), and the third electromagnetic directional valve (19) to control the operations of the first electromagnetic directional valve (S1), the second electromagnetic directional valve (S2), and the third electromagnetic directional valve (19).

6. The wheeled vehicle according to claim 1, characterized in that, The articulated locking device includes an articulated locking oil cylinder (4) and a pin shaft connected to the articulated locking oil cylinder (4). A first pin hole and a second pin hole that cooperate with the pin shaft are respectively provided on the first vehicle frame (1) and the second vehicle frame (6). The articulated locking oil cylinder (4) drives the pin shaft to act, so that the pin shaft passes through the first pin hole and the second pin hole at the same time to make the first vehicle frame (1) and the second vehicle frame (6) in a relatively locked state and at least one of the first pin hole and the second pin hole is disengaged to make the first vehicle frame (1) and the second vehicle frame (6) in an unlocked state and switch between them.

7. The wheeled vehicle according to claim 1, characterized in that, The articulated locking device further includes a travel switch (5). When the articulated locking device reaches the position where the first vehicle frame (1) and the second vehicle frame (6) are relatively locked, the travel switch (5) triggers the articulated steering device to close to stop the relative rotation action between the first vehicle frame (1) and the second vehicle frame (6).

8. The wheeled vehicle according to any one of claims 1 to 7, characterized in that, The articulated locking device includes an angle sensor for detecting the relative deflection angle between the first vehicle frame (1) and the second vehicle frame (6).

9. The wheeled vehicle according to claim 1, characterized in that, The first wheel includes a left wheel and a right wheel. The wheel steering device includes a left wheel steering oil cylinder (15) and a right wheel steering oil cylinder (16). The left wheel steering oil cylinder (15) connects the left wheel and the first vehicle frame (1), and the right wheel steering oil cylinder (16) connects the right wheel and the first vehicle frame (1); the rodless cavity of the left wheel steering oil cylinder (15) is communicated with the rodless cavity of the right wheel steering oil cylinder (16), and the rodless cavity of the left wheel steering oil cylinder (15) is communicated with the rod cavity of the right wheel steering oil cylinder (16).

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