A method for installing a steering arm of a steering device and a cement pavement breaking and regenerating machine

Abstract

The application discloses a kind of steering arm installation field, and a kind of cement pavement crushing regenerator of steering device installation method of steering arm, including according to the maximum right turn angle of engineering vehicle obtained by derivation according to preset minimum right turn radius R;And the intersection coordinates of left steering arm and connecting rod when minimum right turn radius is A1 (x1, y1) according to preset steering sleeve position obtains steering device;According to intersection A1 (x1, y1) and included angle a, the steering angle e of left steering arm is calculated and obtained;According to the size parameter of steering device and working device and minimum turn radius R, the ideal steering angle f of left steering arm is calculated;According to the steering angle e of left steering arm and ideal steering angle f, the installation angle of best steering arm is deduced;According to the installation angle of best steering arm, steering device is installed;The application guarantees the technical requirement of minimum turn radius of vehicle, further improves the flexibility of engineering vehicle and improves the service life of steering device.

Description

Technical Field

[0001] This invention belongs to the field of steering arm installation technology, specifically relating to a steering arm installation method for a steering device and a cement pavement crushing and recycling machine. Background Technology

[0002] Steering mechanisms are used to control the direction of travel of construction machinery vehicles, such as... Figure 1 As shown, the steering device includes a left steering sleeve, a right steering sleeve, a left steering arm, a right steering arm, and a connecting rod. In the prior art, the steering sleeve, steering arm, and steering cylinder are symmetrically arranged on the left and right sides of the engineering vehicle. To control the synchronous steering of the drive wheels on the left and right sides, the current method is to first predetermine the length of the connecting rod or the installation angle of the steering arm. If there is no interference with other components during the subsequent installation process, the predetermined position is selected. If there is interference, the adjustment is made on site. Although this method can also avoid interference and is used for vehicle steering, the center of the steering of the left and right drive wheels does not tend to a point or a small area that is relatively close. This will sacrifice a certain turning angle, increase steering resistance, and affect the service life of the steering device. Summary of the Invention

[0003] The purpose of this invention is to provide a method for installing the steering arm of a steering device and a cement pavement crushing and recycling machine, so as to ensure the technical requirements of the minimum turning radius of the vehicle, improve the flexibility of engineering vehicles, and extend the service life of the steering device.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] On one hand, the present invention provides a method for installing a steering arm of a steering device, including...

[0006] Obtain the dimensional parameters of the steering device and working device on the main body of the engineering vehicle; derive the maximum right turning angle of the engineering vehicle based on the preset minimum right turning radius R.

[0007] Let a be the angle between the steering arm and the body of the vehicle in the initial preset steering device, and let b be the maximum right turning angle of the steering device.

[0008] Based on the included angle a and the maximum right turning angle b, the assumed position of the steering device at the minimum turning radius is obtained. A rectangular coordinate system is established with the center of the left steering sleeve in the steering device as the origin. The coordinates of the intersection point of the left steering arm and the connecting rod at the minimum right turning radius are calculated as A1(x1, y1).

[0009] The steering angle e of the left steering arm is calculated based on the intersection point A1(x1, y1) and the included angle a; the ideal steering angle f of the left steering arm is calculated based on the size parameters of the steering device and the working device and the minimum right turning radius R.

[0010] The optimal installation angle of the steering arm is derived based on the steering angle e of the left steering arm and the ideal steering angle f; the steering device is then installed according to the optimal installation angle of the steering arm.

[0011] Preferably, the method for deriving the maximum right-turn angle of the engineering vehicle based on the preset minimum right-turn radius R includes:

[0012] Draw a horizontal straight line from the center of the working device pre-installed on the engineering machinery vehicle, and then draw a turning circle with the center on the straight line and the radius of the minimum right turning radius, so that the turning circle is tangent to the working device.

[0013] Draw a straight line (Line 2) connecting the center of the steering circle and the center of the right steering sleeve. The angle between Line 2 and Line 1 is the maximum right turning angle of the steering device.

[0014] Preferably, the included angle α is greater than the maximum right turn angle β.

[0015] Preferably, the dimensional parameters of the steering device include: the distance L1 between the centers of the two steering sleeves of the steering device, the distance L2 from the center of the steering sleeve to the straight line, and the length L3 of the steering arm of the steering device.

[0016] Methods for calculating the coordinates of the intersection point A1(x1, y1) of the left steering arm and the connecting rod when the steering system has the minimum right turning radius include:

[0017] The length L5 of the tie rod is calculated based on the included angle α and the distance L1 between the centers of the two steering sleeves of the steering device, expressed by the following formula:

[0018] L5 = 2L3cos(a) + L1

[0019] The coordinates of the intersection point A1(x1, y1) are calculated based on the length L5 of the tie rod, expressed by the following formula:

[0020] (x1-x2) 2 +(y1-y2) 2 =L5 2

[0021] x1 2 +y1 2 =L3 2

[0022] x2=L3cos(ab)+L1

[0023] y2 = L3sin(ab)

[0024] In the formula, x1 represents the abscissa of the intersection point A1 of the left steering arm and the connecting rod when the right turning radius is minimized; y1 represents the ordinate of the intersection point A1 of the left steering arm and the connecting rod when the right turning radius is minimized; x2 represents the abscissa of the intersection point A2 of the right steering arm and the connecting rod when the right turning radius is minimized; and y2 represents the ordinate of the intersection point A2 of the right steering arm and the connecting rod when the right turning radius is minimized.

[0025] Preferably, the steering angle e of the left steering arm is calculated based on the intersection point A1(x1, y1) and the included angle α, expressed by the following formula:

[0026] tan(d)=y1 / x1

[0027] d = arctan(y1 / x1)

[0028] e = π - ad.

[0029] Preferably, the method for calculating the ideal steering angle f of the left steering arm based on the dimensional parameters of the steering device and the working device, as well as the minimum turning radius R, includes:

[0030] f = arctan(L2 / (R+L4 / 2+L1 / 2))

[0031] In the formula, L4 represents the lateral length of the working device.

[0032] On the other hand, the present invention provides a cement pavement crushing and recycling machine, including a vehicle body and a steering device; the steering arm of the steering device is installed on the vehicle body according to the steering arm installation method.

[0033] Preferably, the two steering arms of the steering device are symmetrically arranged on both sides of the vertical centerline of the main body of the engineering vehicle, and the working device is symmetrically arranged with respect to the vertical centerline of the main body of the engineering vehicle.

[0034] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0035] This invention calculates the coordinates of the intersection point of the left steering arm and the connecting rod as A1(x1, y1) when the steering device has the minimum right turning radius; calculates the steering angle e of the left steering arm based on the intersection point A1(x1, y1) and the included angle α; calculates the ideal steering angle f of the left steering arm based on the dimensional parameters of the steering device and the working device and the minimum turning radius R; derives the optimal installation angle of the steering arm based on the steering angle e and the ideal steering angle f; and installs the steering device according to the optimal installation angle of the steering arm, ensuring that the center of the steering of the left and right steering arms is located within the set area, thus guaranteeing the technical requirements of the vehicle's minimum turning radius and further improving the flexibility of engineering vehicles and the service life of the steering device. Attached Figure Description

[0036] Figure 1 This is a structural diagram of the steering device provided by the present invention;

[0037] Figure 2 This is an installation diagram of the steering device provided by the present invention;

[0038] In the diagram: 1-Hydraulic cylinder; 2-Steering sleeve; 3-Steering arm; 4-Tie rod; 5-Body body; 6-Working device; 7-Line 1; 8-Line 2; 9-Steering circle. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0040] It should be noted that in the description of this invention, the terms "front," "rear," "left," "right," "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "front," "rear," "left," "right," "upper," and "lower" used in the description of this invention refer to the directions shown in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0041] The steering device includes two steering sleeves 2 and a connecting rod 4; the two steering sleeves 2 are mounted on the body body 5 of the engineering vehicle; the body body 5 of the engineering vehicle is equipped with a hydraulic cylinder that drives the steering sleeves 2 to rotate; the steering sleeves 2 are equipped with steering arms 3; the steering arms 3 of the two steering sleeves 2 are rotatably connected to both ends of the connecting rod 4 respectively.

[0042] Example 1

[0043] like Figures 1 to 2 As shown, a method for installing a steering arm of a steering device includes...

[0044] Obtain the dimensional parameters of the steering device and working device 6 on the main body 5 of the engineering vehicle. The working device 6 is a cement road surface breaking device. The two steering arms 3 of the steering device are symmetrically arranged on both sides of the vertical center line of the main body 5 of the engineering vehicle. The working device 6 is symmetrically arranged with respect to the vertical center line of the main body of the engineering vehicle. The maximum right turning angle of the engineering vehicle is derived based on the preset minimum right turning radius R. The dimensional parameters of the steering device include: the distance L1 between the centers of the two steering sleeves 2 of the steering device, the distance L2 from the center of the steering sleeve to the straight line, and the arm length L3 of the steering arm 3 of the steering device. The dimensional parameters of the working device include the lateral length and the longitudinal length of the working device. The vertical direction is set to the driving direction of the engineering vehicle, and the lateral direction is perpendicular to the driving direction of the engineering vehicle.

[0045] Methods for deriving the maximum right-turn angle of engineering vehicles based on the preset minimum right-turn radius R include:

[0046] A horizontal straight line 7 is drawn from the center of the working device 6 pre-installed on the engineering machinery vehicle. A turning circle 9 with the center on the straight line 7 and the radius of the minimum right turning radius is drawn, so that the turning circle 9 is tangent to the working device 6.

[0047] Draw a straight line 28 through the line connecting the center of the steering circle 9 and the center of the right steering sleeve 2. The angle between straight line 28 and straight line 17 is the maximum right turning angle of the steering device.

[0048] Let a be the angle between the steering arm 3 and the body of the vehicle in the initial preset steering device, and let b be the maximum right turning angle of the steering device.

[0049] The assumed position of the steering device at the minimum turning radius is obtained based on the included angle α and the maximum right turning angle b, wherein the included angle α is greater than the maximum right turning angle b; a rectangular coordinate system is established with the center of the left steering sleeve 2 in the steering device as the origin;

[0050] Methods for calculating the coordinates of the intersection point A1(x1, y1) of the left steering arm and the connecting rod when the steering system has the minimum right turning radius include:

[0051] The length L5 of the tie rod 4 is calculated based on the included angle α and the distance L1 between the centers of the two steering sleeves 2 of the steering device. The formula is as follows:

[0052] L5 = 2L3cos(a) + L1

[0053] The coordinates of the intersection point A1(x1, y1) are calculated based on the length L5 of the tie rod 4, expressed by the following formula:

[0054] (x1-x2) 2 +(y1-y2) 2 =L5 2

[0055] x1 2 +y1 2 =L3 2

[0056] x2=L3cos(ab)+L1

[0057] y2 = L3sin(ab)

[0058] In the formula, x1 represents the abscissa of the intersection point A1 of the left steering arm 3 and the link 4 when the right turn radius is minimized; y1 represents the ordinate of the intersection point A1 of the left steering arm 3 and the link 4 when the right turn radius is minimized; x2 represents the abscissa of the intersection point A2 of the right steering arm 3 and the link 4 when the right turn radius is minimized; and y2 represents the ordinate of the intersection point A2 of the right steering arm 3 and the link 4 when the right turn radius is minimized.

[0059] The steering angle e of the left steering arm is calculated based on the intersection point A1(x1, y1) and the included angle α, expressed by the following formula:

[0060] tan(d)=y1 / x1

[0061] d = arctan(y1 / x1)

[0062] e = π - ad.

[0063] Methods for calculating the ideal steering angle f of the left steering arm based on the dimensional parameters of the steering device and the working device, as well as the minimum turning radius R, include:

[0064] f = arctan(L2 / (R+L4 / 2+L1 / 2))

[0065] In the formula, L4 represents the lateral length of the working device.

[0066] Based on the steering angle e of the left steering arm 3 and the ideal steering angle f, the optimal installation angle of the steering arm 3 is derived.

[0067] The formula for calculating the error angle g is as follows:

[0068] g = |ef|

[0069] Finally, the programming software is used to find the solution of the angle a that minimizes g under specific parameters, which is the optimal installation angle of the steering arm; the steering device is then installed according to the optimal installation angle of the steering arm 3.

[0070] Next, taking assumed dimensional parameters as an example, we will demonstrate the assumed trial values ​​for the optimal length of link 4 and the installation angle of steering arm 3.

[0071] Assume L1=1.9m, L2=2.93m, R=6m, L3=0.56m, L4=2.3m, a=1.047;

[0072] Based on the above parameters and calculation formula, we can obtain:

[0073] L5=2L3cos(a)+L1=12cos(a)+1.9=2.46m

[0074] b = 0.724

[0075] x2=0.56cos(1.047-0.724)+1.9=2.431m

[0076] y2=0.56sin(1.047-0.724)=0.1777m

[0077] x1=0m

[0078] y1=0.56m

[0079] The x1 and y1 values ​​obtained here have two values; the one with a negative ordinate is discarded.

[0080] Solving for:

[0081] f = 0.5066

[0082] d = 0.5236

[0083] e = 0.017

[0084] If an angle error of around 3% is considered acceptable, then setting the steering arm installation angle to 1.047 is considered reasonable.

[0085] If the error is unacceptable, you can try a new value for the included angle 'a' and repeat the calculation until the error is within an acceptable range. Alternatively, you can use an algorithm to find a more accurate and reasonable value for 'a' for practical engineering applications.

[0086] Example 2

[0087] In a second aspect, the present invention provides a cement pavement crushing and recycling machine, including a vehicle body and a steering device; the steering arm of the steering device is installed on the vehicle body according to the steering arm installation method described in Embodiment 1; the two steering arms of the steering device are symmetrically arranged on both sides of the vertical center line of the vehicle body, and the working device is symmetrically arranged about the vertical center line of the vehicle body.

[0088] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for installing a steering arm in a steering device, characterized in that, include: Obtain the dimensional parameters of the steering device and working device on the main body of the engineering vehicle; The maximum right-turn angle of the engineering vehicle is derived based on the preset minimum right-turn radius R. A horizontal straight line is drawn from the center of the working device pre-installed on the engineering machinery vehicle; the dimensional parameters of the steering device include: the distance L1 between the centers of the two steering sleeves of the steering device, the distance L2 from the center of the steering sleeve to the straight line, and the length L3 of the steering arm of the steering device. Let a be the angle between the steering arm and the body of the vehicle in the initial preset steering device, and let b be the maximum right turning angle of the steering device. Based on the included angle α and the maximum right turning angle β, the assumed position of the steering device at the minimum turning radius is obtained, and a rectangular coordinate system is established with the center of the left steering sleeve in the steering device as the origin. The coordinates of the intersection point between the left steering arm and the connecting rod when the steering device has the minimum right turning radius are calculated to be A1(x1, y1). The steering angle e of the left steering arm is calculated based on the intersection point A1(x1, y1) and the included angle α; the ideal steering angle f of the left steering arm is calculated based on the dimensional parameters of the steering device and the working device, as well as the minimum right turning radius R. The calculation formula is as follows: f=arctan(L2 / (R+ L4 / 2+ L1 / 2)); In the formula, L4 represents the lateral length of the working device; The optimal installation angle of the steering arm is derived based on the steering angle e of the left steering arm and the ideal steering angle f; the steering device is then installed according to the optimal installation angle of the steering arm.

2. The method for installing a steering arm of a steering device according to claim 1, characterized in that, Methods for deriving the maximum right-turn angle of engineering vehicles based on the preset minimum right-turn radius R include: Draw a horizontal straight line from the center of the working device pre-installed on the engineering machinery vehicle, and then draw a turning circle with the center on the straight line and the radius of the minimum right turning radius, so that the turning circle is tangent to the working device. Draw a straight line (Line 2) connecting the center of the steering circle and the center of the right steering sleeve. The angle between Line 2 and Line 1 is the maximum right turning angle of the steering device.

3. The method for installing a steering arm of a steering device according to claim 1, characterized in that, The included angle α is greater than the maximum right turn angle β.

4. The method for installing a steering arm of a steering device according to claim 1, characterized in that, Methods for calculating the coordinates of the intersection point A1(x1, y1) of the left steering arm and the connecting rod when the steering system has the minimum right turning radius include: The length L5 of the tie rod is calculated based on the included angle α and the distance L1 between the centers of the two steering sleeves of the steering device, expressed by the following formula: L5 = 2L3cos(a) + L1 The coordinates of the intersection point A1(x1, y1) are calculated based on the length L5 of the tie rod, expressed by the following formula: (x1- x2) 2 +(y1- y2) 2 = L5 2 x1 2 + y1 2 = L3 2 x2 = L3cos(ab) + L1 y2 = L3sin(ab) In the formula, x1 represents the abscissa of the intersection point A1 of the left steering arm and the connecting rod when the right turning radius is minimized; y1 represents the ordinate of the intersection point A1 of the left steering arm and the connecting rod when the right turning radius is minimized; x2 represents the abscissa of the intersection point A2 of the right steering arm and the connecting rod when the right turning radius is minimized; and y2 represents the ordinate of the intersection point A2 of the right steering arm and the connecting rod when the right turning radius is minimized.

5. A method for installing a steering arm in a steering device according to claim 4, characterized in that, The steering angle e of the left steering arm is calculated based on the intersection point A1(x1, y1) and the included angle α, expressed by the following formula: tan(d) = y1 / x1 d = arctan(y1 / x1) e = π - ad.

6. A cement pavement crushing and recycling machine, comprising a vehicle body and a steering device; wherein the steering arm of the steering device is mounted on the vehicle body according to the steering arm mounting method of any one of claims 1 to 5.

7. A cement pavement crushing and recycling machine according to claim 6, characterized in that, The two steering arms of the steering device are symmetrically arranged on both sides of the vertical centerline of the main body of the engineering vehicle, and the working device is symmetrically arranged with respect to the vertical centerline of the main body of the engineering vehicle.

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