Steering device of wheel loader

Abstract

The invention provides a steering device of a wheel loader, and relates to the technical field of wheel loaders, the steering device comprises a cross beam used for guaranteeing the structural strength, the two ends of the cross beam are each rotationally provided with a steering shaft, the lower end of each steering shaft is fixedly provided with a steering seat, and the steering seats are connected with wheels through buffer parts; a steering side rod is arranged on one side of the steering seat and connected with the output end of the steering driving component. According to the steering device of the wheel loader, the electronic control unit and the sensor system are integrated, multiple parameters are monitored in real time, the power-assisted steering is automatically adjusted, intelligent matching of steering operation and the driving state is achieved, and turning coordination is remarkably improved; meanwhile, a transmission mechanism with the adjustable reduction ratio is adopted, the reduction ratio is dynamically optimized according to the actual working condition, the load of a driving part is reduced, the service life of equipment is prolonged, the energy-saving advantage is achieved, and great significance is achieved for improving the comprehensive performance of the loader.

Description

Technical Field

[0001] The present invention relates to the technical field of wheel loaders, and particularly to a steering device for a wheel loader. Background Art

[0002] The steering performance of a wheel loader directly affects its operation efficiency and safety. Currently, the mainstream hydraulic power-assisted and full-hydraulic steering systems both have obvious deficiencies. The hydraulic power-assisted steering system relies on manual operation. When turning, it is difficult to accurately match the steering angle, vehicle speed, and load. Under high-speed or heavy-load working conditions, steering disorders are likely to occur, and the fixed reduction ratio causes the driving components to operate at a high load for a long time, resulting in serious wear. Although the full-hydraulic steering system is flexible to operate, it has high energy consumption and a lag in steering response, and cannot meet the requirements of efficient operation.

[0003] Based on this, a steering device for a wheel loader is now provided, which can eliminate the drawbacks of existing devices. Summary of the Invention

[0004] The purpose of the present invention is to provide a steering device for a wheel loader to solve the problems existing in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A steering device for a wheel loader includes a cross beam for ensuring the strength of the structure. A steering shaft is rotatably provided at each end of the cross beam. A steering seat is fixedly provided at the lower end of the steering shaft. The steering seat is connected to a wheel through a buffer component. A steering side rod is provided on one side of the steering seat, and the steering side rod is connected to the output end of a steering drive component.

[0006] Based on the above technical solutions, the present invention also provides the following optional technical solutions: In an optional solution: Reinforcing ribs in a cross structure are arranged on the surface of the cross beam.

[0007] In an optional solution: The steering drive component includes a transmission box. The outside of the transmission box is fixedly connected to the cross beam through a second connecting arm. A reciprocating slide rod is slidably inserted through the inner cavity of the transmission box. A transmission arm is rotatably provided at the end of the reciprocating slide rod. The other end of the transmission arm is rotatably connected to the end of the steering side rod. A transmission rack is provided at the middle position of the reciprocating slide rod. A driving gear is meshed with one side of the transmission rack. The upper end of the driving gear is fixedly connected to a transmission shaft. A fixed bridge plate is erected on the upper end of the transmission box. The fixed bridge plate is rotatably connected to the transmission shaft. The upper end of the transmission shaft is connected to a planetary reduction structure for driving its rotation. The input end of the planetary reduction structure is connected to a first drive shaft. The upper end of the first drive shaft is connected to a second drive shaft through a universal joint. The upper end of the second drive shaft is in transmission connection with a steering wheel component. A power-assisted drive mechanism for driving its rotation is connected to the outside of the second drive shaft.

[0008] In an alternative solution: The planetary reduction structure includes a cross provided at the lower end of the first drive shaft. The ends of the cross are fixedly connected to the outer tooth ring through suspension rods. A fixed outer ring is rotatably provided on the outside of the outer tooth ring. The outside of the fixed outer ring is fixedly connected to the cross beam through a first connecting arm. An auxiliary positioning shaft is rotatably provided at the lower end of the first drive shaft. The lower end of the auxiliary positioning shaft is rotatably connected to the central gear for auxiliary support of the central gear. A plurality of planet gears are cooperatively provided between the central gear and the outer tooth ring. The planet gears are rotatably provided at the lower end of the planetary auxiliary shaft. The upper end of the planetary auxiliary shaft is rotatably connected to the lower end of the auxiliary fixing ring. The auxiliary fixing ring is rotatably provided outside the auxiliary positioning shaft.

[0009] In an alternative solution: The boosting drive mechanism includes a second drive gear coaxially provided outside the second drive shaft. The outside of the second drive gear meshes with the first drive gear. The first drive gear is connected to a drive motor for driving its rotation.

[0010] In an alternative solution: The buffer component includes a plurality of vertical guide rods slidably passing through the steering seat. A limit cover is provided at the upper end of the vertical guide rods. The lower ends of the vertical guide rods are connected to the connecting wheel plate. The steering seat and the connecting wheel plate are connected through a shock absorber. A connecting end for connecting the wheel is provided on the outside of the connecting wheel plate.

[0011] In an alternative solution: Altitude measuring units for detecting its altitude are provided at both ends of the cross beam close to the wheels.

[0012] A steering method for a steering device of a wheel loader includes the following steps: Data acquisition step: Acquire the height data of the wheels on both sides through the altitude measuring units at both ends of the cross beam, and convert them into the weight values W1 and W2 at both ends of the cross beam. Calculate the weight difference ΔW and the total weight Wtotal; Obtain the geological hardness H using the geological hardness detection device; Obtain the vehicle speed S and the steering wheel rotation angle θ through the vehicle speed sensor and the steering wheel rotation angle sensor respectively; Calculation step: Calculate the stability safety threshold Fmax based on the wheelbase B, the center of gravity height Hg of the loader structure, and the geological hardness H; Rotation speed determination step: Calculate the reference rotation speed V0, calculate the weight difference correction coefficient α(ΔW), the geological hardness correction coefficient β(H), and the vehicle speed correction coefficient γ(S); The final rotation speed and V≥Vmin; Turning execution step: Drive the boosting drive mechanism according to the final rotation speed V. Through the transmission of the second drive shaft, the first drive shaft, the planetary reduction structure, the drive gear, the transmission rack, the reciprocating slide rod, the transmission arm, the steering side rod, and the steering seat, the wheel steering is realized; In an alternative solution: It further includes a dynamic adjustment step: During the turning process, monitor the changes of various parameters in real time. When the parameters mutate, recalculate and adjust the rotational speed V of the power-assisted driving mechanism, and at the same time, compensate and adjust the rotational speed according to the feedback information of the torque sensor; By adopting the above technical solution, the present invention has the following beneficial effects: The wheel loader steering device of the present invention integrates an electronic control unit and a sensor system, monitors multiple parameters in real time, and automatically adjusts the steering assistance to achieve an intelligent matching between the steering operation and the driving state, significantly improving the turning coordination; at the same time, it adopts a transmission mechanism with an adjustable reduction ratio, dynamically optimizes the reduction ratio according to the actual working conditions, reduces the load of the driving components, extends the service life of the equipment, and has the advantage of energy saving, which is of great significance for improving the comprehensive performance of the loader. Description of the Drawings

[0013] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0014] Figure 1 It is a schematic diagram of the overall structure on one side of the present invention.

[0015] Figure 2 It is another schematic diagram of the structure of the present invention.

[0016] Figure 3 It is a schematic diagram of the bottom structure of the present invention.

[0017] Figure 4 It is a schematic diagram of the structure on one side of the steering drive component of the present invention.

[0018] Figure 5 It is a schematic diagram of the structure on the other side of the steering drive component of the present invention.

[0019] Figure 6 It is of the present invention Figure 4 Partial enlarged view of the middle structure.

[0020] Figure 7 It is a logic block diagram of the turning of the present invention.

[0021] Annotation of the reference numerals: cross beam 100, reinforcing rib 101; wheel 200, connecting wheel plate 201, shock absorber 202, steering seat 203, limit cover 204, vertical guide rod 205, steering shaft 206, steering side rod 207; Steering drive component 300, transmission case 301, reciprocating slide bar 302, transmission arm 303; Planetary auxiliary shaft 304, planetary gear 305, fixed bridge plate 306, transmission shaft 307, drive gear 308, transmission rack 309, fixed outer ring 310, external gear ring 311, auxiliary positioning shaft 312, first connecting arm 313, first drive shaft 314, universal joint 315, first drive gear 316, drive motor 317, second drive shaft 318, second drive gear 319, cross 320, suspension rod 321, central gear 322, second connecting arm 323, auxiliary fixing ring 324. Specific implementation mode

[0022] Next, the technical solution of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] The left, right, up, and down positions of each component shown in the drawings are only an arrangement method, and the specific positions are set according to specific needs.

[0024] As Figures 1-7 shown, the embodiment of the present invention provides a steering device for a wheel loader, including a cross beam 100. The surface of the cross beam 100 is provided with reinforcing ribs 101 in a cross structure to ensure the strength of the structure. A steering shaft 206 is rotatably provided at each end of the cross beam 100. A steering seat 203 is fixedly provided at the lower end of the steering shaft 206. The steering seat 203 is connected to the wheel 200 through a buffer component. A steering side rod 207 is provided on one side of the steering seat 203. The steering side rod 207 is connected to the output end of the steering drive component 300. By the steering drive component 300 generating a driving force on the steering side rod 207, the steering of the wheel 200 is adjusted; The steering drive component 300 includes a transmission case 301. The outside of the transmission case 301 is fixedly connected to the cross beam 100 through a second connecting arm 323. A reciprocating slide rod 302 is slidably inserted into the inner cavity of the transmission case 301. A transmission arm 303 is rotatably provided at the end of the reciprocating slide rod 302. The other end of the transmission arm 303 is rotatably connected to the end of the steering side rod 207. A transmission rack 309 is provided at the middle position of the reciprocating slide rod 302. A driving gear 308 is meshed with one side of the transmission rack 309. The upper end of the driving gear 308 is fixedly connected to a transmission shaft 307. A fixed bridge plate 306 is erected on the upper end of the transmission case 301. The fixed bridge plate 306 is rotatably connected to the transmission shaft 307. The upper end of the transmission shaft 307 is connected to a planetary reduction structure for driving its rotation. The input end of the planetary reduction structure is connected to a first driving shaft 314. The upper end of the first driving shaft 314 is connected to a second driving shaft 318 through a universal joint 315. The upper end of the second driving shaft 318 is in transmission connection with a steering wheel component. A power-assisted driving mechanism for driving its rotation is connected to the outside of the second driving shaft 318. The second driving shaft 318 is driven to rotate by the power-assisted driving mechanism, thereby reducing the steering difficulty of the operator.

[0025] The planetary reduction structure includes a cross 320 provided at the lower end of the first driving shaft 314. The end of the cross 320 is fixedly connected to an external tooth ring 311 through a suspension rod 321. A fixed outer ring 310 is rotatably provided on the outside of the external tooth ring 311. The outside of the fixed outer ring 310 is fixedly connected to the cross beam 100 through a first connecting arm 313. An auxiliary positioning shaft 312 is rotatably provided at the lower end of the first driving shaft 314. The lower end of the auxiliary positioning shaft 312 is rotatably connected to a central gear 322 for auxiliary support of the central gear 322. A plurality of planetary gears 305 are provided between the central gear 322 and the external tooth ring 311. The planetary gears 305 are rotatably provided at the lower end of a planetary auxiliary shaft 304. The upper end of the planetary auxiliary shaft 304 is rotatably connected to the lower end of an auxiliary fixing ring 324. The auxiliary fixing ring 324 is rotatably provided on the outside of the auxiliary positioning shaft 312. During use, the cross 320 is driven to rotate by the first driving shaft 314. The cross 320 drives the external tooth ring 311 to rotate through the suspension rod 321. The external tooth ring 311 drives a plurality of planetary gears 305 to rotate. The planetary gears 305 drive the central gear 322 inside them to rotate. The central gear 322 drives the driving gear 308 to rotate through the transmission shaft 307, thereby completing the output of power. This high transmission ratio method can reduce the driving difficulty of the power-assisted driving mechanism and reduce the wear of parts. The power assist driving mechanism includes a second driving gear 319 coaxially arranged outside the second driving shaft 318. The outside of the second driving gear 319 meshes with the first driving gear 316. The first driving gear 316 is connected to a driving motor 317 for driving its rotation. Driven by the driving motor 317, the first driving gear 316 drives the second driving gear 319 to rotate, and the second driving gear 319 drives the second driving shaft 318 to rotate, providing steering assistance; The buffer component includes a plurality of vertical guide rods 205 slidably passing through the steering seat 203. A limit cover 204 is provided at the upper end of the vertical guide rods 205. The lower end of the vertical guide rods 205 is connected to the connecting wheel plate 201. The steering seat 203 and the connecting wheel plate 201 are connected by a shock absorber 202. A connecting end for connecting the wheel 200 is provided on the outside of the connecting wheel plate 201. When the wheel 200 is moving, the vertical guide rods 205 can slide up and down, and the shock absorber 202 can absorb the impact force, thereby improving the buffering performance of the loader: Height measuring units for detecting its height are provided at both ends of the cross beam 100 close to the wheel 200, so as to detect the load at the front end of the loader, and the weights borne by the two wheels 200 on both sides can also be detected respectively.

[0026] Working principle: When in use, the operator drives the second driving shaft 318 to rotate through the steering wheel component. The torque sensor therein will obtain the rotation information, and then drive the second driving shaft 318 to rotate quickly through the power assist driving mechanism. The second driving shaft 318 drives the first driving shaft 314 to rotate. The first driving shaft 314 drives the driving gear 308 to rotate through the planetary reduction structure. The driving gear 308 is matched with the transmission rack 309 to drive the reciprocating slide rod 302 to slide reciprocally. The end of the reciprocating slide rod 302 generates a driving force on the steering side rod 207 through the transmission arm 303. The steering side rod 207 drives the steering seat 203 to turn, thereby adjusting the traveling direction of the wheel 200; Specific turning method: Before the loader is about to perform a turning operation, height data of both sides of the wheels are collected in real time through height measurement units near both ends of the wheels 200 by the cross beam 100. The height measurement units can use high-precision displacement sensors. By using the corresponding relationship between height and weight (the load-deformation curve established in advance through experiments or theoretical calculations), the height data are converted into weight values W1 and W2 at both ends of the cross beam, and then the weight difference between both sides ΔW = W1 - W2 and the total weight Wtotal = W1 + W2 are calculated. At the same time, a geological hardness detection device (such as a micro-penetration hardness sensor) is installed at a suitable position on the loader chassis to obtain the geological hardness H of the working ground in real time (quantified as 0 - 1, 0 represents soft muddy ground, and 1 represents rocky ground). In addition, a vehicle speed sensor monitors the current vehicle speed S of the loader in real time, and a steering wheel angle sensor obtains the steering wheel rotation angle θ.

[0027] II. Safety Threshold and Key Physical Quantity Calculation Based on the structural parameters of the loader, including the wheelbase B, the center of gravity height Hg, etc., combined with the current geological hardness H, calculate the stability safety threshold Fmax: Among them, μ(H) is the equivalent friction coefficient associated with the geological hardness H, which is determined by fitting experimental data or empirical formulas. Calculate the centrifugal force Fc generated during turning: Among them, kθ is a constant related to the steering geometry of the loader, and g is the acceleration due to gravity. To ensure that the loader does not roll over during turning, it is necessary to satisfy Fc ≤ Fmax. III. Boost Drive Mechanism Speed Regulation Determine the reference speed V0: Under the no-load balancing condition (ΔW = 0, hard ground H = 1), calculate the ideal reference speed V0 according to the steering wheel rotation angle θ and the vehicle speed S: Among them, kV is the steering speed matching coefficient, which is determined by experiment or simulation optimization to ensure the coordination of steering response and vehicle speed. Calculate the multi-factor correction coefficient Weight difference correction coefficient α(ΔW): Forced low speed Among them, Wmax is the rated maximum weight difference set according to the loader design parameters. The greater the weight difference, the more significant the speed decay. Geological hardness correction coefficient β(H): When on soft ground (low H value), the β value decreases to reduce the speed of the boost drive mechanism to prevent slipping; when on hard ground (high H value), a moderate increase in speed is allowed, but it will be inhibited by the weight difference. Vehicle speed correction coefficient γ(S): The higher the vehicle speed, the greater the risk of centrifugal force, and the speed needs to decay exponentially. Smax is the rated maximum vehicle speed of the loader. Calculate the final speed V: Multiply the reference speed V0 by each correction coefficient to obtain the final speed V of the boost drive mechanism: Meanwhile, ensure that V ≥ Vmin (Vmin is the minimum safe rotational speed to avoid steering stagnation).

[0028] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A steering device for a wheel loader, comprising a cross beam (100), characterized in that, A steering shaft (206) is rotatably provided at each end of the cross beam (100). A steering seat (203) is fixedly provided at the lower end of the steering shaft (206). The steering seat (203) is connected to the wheel (200) through a buffer member. A steering side rod (207) is provided on one side of the steering seat (203). The steering side rod (207) is connected to the output end of the steering drive member (300).

2. The steering device of a wheel loader according to claim 1, characterized in that, Reinforcing ribs (101) in a cross structure are arranged on the surface of the cross beam (100).

3. The steering device of a wheel loader according to claim 1, characterized in that, The steering drive member (300) includes a transmission box (301). The outside of the transmission box (301) is fixedly connected to the cross beam (100) through a second connecting arm (323). A reciprocating slide rod (302) is slidably penetrated in the inner cavity of the transmission box (301). A transmission arm (303) is rotatably provided at the end of the reciprocating slide rod (302). The other end of the transmission arm (303) is rotatably connected to the end of the steering side rod (207). A transmission rack (309) is provided at the middle position of the reciprocating slide rod (302). A drive gear (308) is meshed with one side of the transmission rack (309). The upper end of the drive gear (308) is fixedly connected to a transmission shaft (307). A fixed bridge plate (306) is erected at the upper end of the transmission box (301). The fixed bridge plate (306) is rotatably connected to the transmission shaft (307). The upper end of the transmission shaft (307) is connected to a planetary reduction structure for driving its rotation. The input end of the planetary reduction structure is connected to a first drive shaft (314). The upper end of the first drive shaft (314) is connected to a second drive shaft (318) through a universal joint (315). The upper end of the second drive shaft (318) is in transmission connection with a steering wheel member. A power assist drive mechanism for driving its rotation is connected to the outside of the second drive shaft (318).

4. The steering device of a wheel loader according to claim 3, characterized in that, The planetary reduction structure includes a cross (320) provided at the lower end of the first drive shaft (314). The end of the cross (320) is fixedly connected to an outer tooth ring (311) through a suspension rod (321). A fixed outer ring (310) is rotatably provided on the outside of the outer tooth ring (311). The outside of the fixed outer ring (310) is fixedly connected to the cross beam (100) through a first connecting arm (313). An auxiliary positioning shaft (312) is rotatably provided at the lower end of the first drive shaft (314). The lower end of the auxiliary positioning shaft (312) is rotatably connected to a central gear (322) for auxiliary support of the central gear (322). A plurality of planet gears (305) are cooperatively provided between the central gear (322) and the outer tooth ring (311). The planet gears (305) are rotatably provided at the lower end of planet auxiliary shafts (304). The upper ends of the planet auxiliary shafts (304) are rotatably connected to the lower end of an auxiliary fixing ring (324). The auxiliary fixing ring (324) is rotatably provided on the outside of the auxiliary positioning shaft (312).

5. The steering device of a wheel loader according to claim 3, characterized in that, The assist driving mechanism includes a second driving gear (319) coaxially arranged outside the second driving shaft (318). The outside of the second driving gear (319) meshes with the first driving gear (316), and the first driving gear (316) is connected to a driving motor (317) for driving its rotation.

6. The steering device of a wheel loader according to claim 1, characterized in that, The buffer component includes a plurality of vertical guide rods (205) sliding through the steering seat (203). A limit cover (204) is provided at the upper end of the vertical guide rods (205). The lower end of the vertical guide rods (205) is connected to a connecting wheel plate (201). The steering seat (203) and the connecting wheel plate (201) are connected by a shock absorber (202). A connecting end for connecting a wheel (200) is provided on the outside of the connecting wheel plate (201).

7. A steering method for a steering device of a wheel loader, characterized in that, It includes the following steps: Step 1: Data acquisition: The height data of both wheels are collected by the height measuring units at both ends of the crossbeam and converted into the weight values W1 and W2 at both ends of the crossbeam. The weight difference ΔW and the total weight Wtotal are calculated; the geological hardness H is obtained by using a geological hardness detection device; the vehicle speed S and the steering wheel rotation angle θ are obtained by a vehicle speed sensor and a steering wheel angle sensor respectively. Step 2: Calculation: Based on the structural parameters of the loader, the wheelbase B, the center of gravity height Hg, and the geological hardness H, the stability safety threshold Fmax is calculated. Step 3: Rotation speed determination: The reference rotation speed V0 is calculated, and the weight difference correction coefficient α(ΔW), the geological hardness correction coefficient β(H), and the vehicle speed correction coefficient γ(S) are calculated; the final rotation speed, and V≥Vmin. Step 4: Turning execution: The assist driving mechanism is driven according to the final rotation speed V. Through the transmission of the second driving shaft, the first driving shaft, the planetary reduction structure, the driving gear, the transmission rack, the reciprocating slide rod, the transmission arm, the steering side rod, and the steering seat, the wheel steering is realized.

8. The steering method according to claim 7, characterized in that, It also includes a dynamic adjustment step: During the turning process, the changes of each parameter are monitored in real time. When the parameters mutate, the rotation speed V of the assist driving mechanism is recalculated and adjusted, and at the same time, the rotation speed is compensated and adjusted according to the feedback information of the torque sensor.

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