Amphibious vehicle steering control mechanism and control method thereof

Abstract

The invention belongs to the technical field of amphibious vehicles, and relates to a steering control mechanism of an amphibious vehicle. A gear shaft (30) of a gear (12) of the steering gear machine-liquid conversion oil cylinder (A) is fixedly connected with an output shaft of the steering gear (1), a gear shaft (30) of a gear (12) of the wheel steering gear-liquid conversion oil cylinder (B) is fixedly connected with an output swing arm (4), the output swing arm (4) is movably connected with a straight pull rod (5), and the straight pull rod (5) is connected with an axle (24). And the first oil port (20) of the steering gear machine-liquid conversion oil cylinder (A) is communicated with the first oil port (20) of the wheel steering gear machine-liquid conversion oil cylinder (B) through a first pipeline (22). According to the amphibious vehicle steering control mechanism, the structure is simple, a complex control mechanism is simplified, the technical barriers that an amphibious vehicle is complex in layout and insufficient in space are solved, and the problem of watertight design inside and outside a vehicle body of a supporting structural part is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of amphibious vehicles, and more specifically, relates to a steering control mechanism of an amphibious vehicle. Background Art

[0002] A wheeled amphibious vehicle generally installs a water propulsion system and a hull structure on the basis of a truck or special vehicle chassis to realize the water navigation function. Currently, regarding the development of the automotive steering system, there are developments in aspects such as mechanical, hydraulic power steering system (HPS), electronically controlled hydraulic power steering system (EHPS), electric power steering system (EPS), and steer-by-wire system (SBW). However, the mechanical feedback hydraulic power steering system became the mainstream technology from the mid-20th century to the early 21st century and was widely used in the fields of medium and heavy trucks, off-road vehicles, and special vehicles. It significantly reduces the steering force, improves the handling comfort, has low cost, is safe and reliable, and is relatively popular. The mechanical feedback hydraulic power steering system consists of a steering mechanism and a hydraulic power assist system. The steering mechanism can be divided into a longitudinal tie rod system and a transverse tie rod system. The longitudinal tie rod system is a mechanical mechanism for transmitting longitudinal movement from the steering wheel to the wheels, also known as the steering control mechanism. The transverse tie rod system is a mechanical mechanism for transmitting transverse movement between the left and right wheels. The structure of the longitudinal tie rod system is simple or complex depending on the characteristics of the suspension mechanism, the number and layout of the steering axles; the hydraulic power assist system is the main source for overcoming the steering resistance moment of the vehicle and is the key system determining the steering lightness.

[0003] For a wheeled amphibious vehicle, due to the structural layout characteristics of the hull, the above-mentioned defects in the layout and design of the longitudinal tie rod mechanism are more obvious. For example, for a certain mass-produced 4×4 wheeled amphibious vehicle with an integral axle and an oil-gas hybrid air spring suspension, which has the function of large stroke lifting of the axle. The steering longitudinal tie rod transmission structure of this vehicle adopts a multi-section longitudinal tie rod from the steering gear to the left wheel end of the front axle in order to adapt to the movement characteristics of the axle and suspension mechanism of the running system, and two steering arm support points and three longitudinal tie rod segments are set. The steering longitudinal tie rod system transmission structure takes the steering gear as the transmission input starting point. The output shaft of the steering gear is connected to the first swing arm, and through a number of interconnected longitudinal tie rods, steering arms, steering arm support mechanisms, and knuckle arms, the movement is transmitted to the left wheel to realize the mechanical feedback function of the vehicle steering. Waterproof oil seals are provided inside and outside the rotating shaft pairs of the first support and the second support to isolate the inside and outside areas of the amphibious vehicle and realize the watertight function. The defect of the prior art is that in addition to the single front axle steering type, the longitudinal tie rod mechanisms of trucks, off-road vehicles with the front two axles steering type, and multi-axle steering special vehicles generally adopt multi-section mechanisms. The mechanism design must consider the steering direction of the steering wheel and the steering direction of the steering wheels. The overall layout is complex, the internal space occupancy rate is high, which affects the movement transmission accuracy, and the manufacturing process is difficult.

[0004] In the prior art, there is a technology with the name of "A Water-land Amphibious Vehicle Water Steering Control Device" and the publication (announcement) number of "CN119840820A". This technology belongs to the field of rudder steering technology and specifically relates to a water steering control device for a water-land amphibious vehicle. It includes a vehicle body, with a front float plate fixedly arranged at the front of the vehicle body and a rear float plate fixedly arranged at the rear of the vehicle body; a propulsion mechanism is rotatably connected to the bottom of the front float plate, and a steering rudder mechanism is rotatably connected to the bottom of the rear float plate; a control mechanism is installed inside the vehicle body, and the control mechanism is used to control the steering of the propulsion mechanism and the steering rudder mechanism; the present invention can achieve quick small-angle direction adjustment of the vehicle body on water; when one of them cannot turn and gets stuck due to underwater foreign objects in the present invention, the control mechanism can be quickly adjusted so that the control mechanism can control an independent turn to achieve one-way emergency adjustment and avoid the problem of getting stuck during operation in water; the present invention can be quickly operated by only one person, facilitating one-way emergency adjustment. However, this technology does not involve the technical problems and technical solutions of the present application. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: aiming at the deficiencies of the prior art, to provide a steering control mechanism for a water-land amphibious vehicle with a simple structure, adopting the principle of hydrostatic transmission, the input and output motion directions of the system can be adjusted and realized through the machine-liquid conversion oil cylinder pipeline interface, the system simplifies the complex operating mechanism, solves the technical barriers of complex layout and insufficient space of the amphibious vehicle, and eliminates the problem of water-tight design of the support structure inside and outside the vehicle body.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] The present invention is a steering control mechanism for a water-land amphibious vehicle, including a steering gear machine-liquid conversion oil cylinder and a wheel steering machine-liquid conversion oil cylinder. The gear shaft of the gear of the steering gear machine-liquid conversion oil cylinder is fixedly connected to the output shaft of the steering gear, the gear shaft of the gear of the wheel steering machine-liquid conversion oil cylinder is fixedly connected to the output swing arm, the output swing arm is movably connected to the straight pull rod, the straight pull rod is connected to the axle, the first oil port of the steering gear machine-liquid conversion oil cylinder is connected to the first oil port of the wheel steering machine-liquid conversion oil cylinder through the first pipeline, and the second oil port of the steering gear machine-liquid conversion oil cylinder is connected to the second oil port of the wheel steering machine-liquid conversion oil cylinder through the second pipeline.

[0008] The conversion oil cylinder housing of the steering gear machine-liquid conversion oil cylinder is fixedly connected to the steering gear housing of the steering gear, and the conversion oil cylinder housing of the wheel steering machine-liquid conversion oil cylinder is fixedly connected to the vehicle frame.

[0009] In the described steering gear's mechanical - hydraulic conversion oil cylinder, a gear and a piston rod are arranged inside the conversion oil cylinder housing. The gear meshes with the teeth of the piston rod. The piston of the piston rod is located inside the oil cylinder body. The first cavity of the oil cylinder body on one side of the piston communicates with the first oil port, and the second cavity of the oil cylinder body on the other side of the piston communicates with the second oil port.

[0010] In the described wheel steering mechanical - hydraulic conversion oil cylinder, a gear and a piston rod are arranged inside the conversion oil cylinder housing. The gear meshes with the teeth of the piston rod. The piston of the piston rod is located inside the oil cylinder body. The first cavity of the oil cylinder body on one side of the piston communicates with the first oil port, and the second cavity of the oil cylinder body on the other side of the piston communicates with the second oil port.

[0011] The described first pipeline simultaneously communicates with an accumulator through a first branch pipe, and a stop valve is arranged on the first branch pipe. The second pipeline simultaneously communicates with the accumulator through a second branch pipe, and a stop valve is arranged on the second branch pipe.

[0012] The axle of the steering control mechanism of the amphibious vehicle is connected to the wheel through a steering knuckle arm. The axle is connected to the vehicle frame, and a drag link is connected to the steering knuckle arm.

[0013] An oil - gas spring is arranged between the steering knuckle arm and the vehicle frame.

[0014] When the steering gear turns left or right, it drives the gear shaft of the gear of the steering gear's mechanical - hydraulic conversion oil cylinder to turn left or right, driving the piston rod 13 of the steering gear's mechanical - hydraulic conversion oil cylinder to move left or right.

[0015] When the steering gear turns left or right, it drives the gear shaft of the gear of the wheel steering mechanical - hydraulic conversion oil cylinder to turn right or left, driving the piston rod of the steering gear's mechanical - hydraulic conversion oil cylinder to move right or left.

[0016] The present invention also relates to a control method for the steering control mechanism of an amphibious vehicle. The method has simple steps, adopts the principle of hydrostatic transmission, the input and output movement directions of the system can be adjusted through the pipeline interfaces of the mechanical - hydraulic conversion oil cylinder, simplifies the complex steering control mechanism, solves the technical barriers of complex layout and insufficient space of the amphibious vehicle, and eliminates the problem of the watertight design of the support structure inside and outside the vehicle body. The control steps of the control method for the steering control mechanism of the amphibious vehicle are as follows:

[0017] S1. When the steering gear turns left, it drives the gear shaft of the gear of the steering gear's mechanical - hydraulic conversion oil cylinder to turn left, driving the piston of the piston rod of the steering gear's mechanical - hydraulic conversion oil cylinder to move left. The volume of the first cavity of the oil cylinder body of the steering gear's mechanical - hydraulic conversion oil cylinder becomes smaller, and the hydraulic oil in the first cavity of the oil cylinder body of the steering gear's mechanical - hydraulic conversion oil cylinder enters the first cavity of the oil cylinder body of the wheel steering mechanical - hydraulic conversion oil cylinder through the first pipeline;

[0018] S2. The volume of the first cavity of the cylinder block of the wheel steering - hydraulic conversion cylinder increases. The piston of the wheel steering - hydraulic conversion cylinder moves rightward, driving the piston rod to move rightward. The piston rod of the wheel steering - hydraulic conversion cylinder drives the gear to rotate rightward. The rightward rotation of the gear of the wheel steering - hydraulic conversion cylinder drives the output swing arm to swing through the rightward rotation of the gear shaft, driving the straight pull rod to act, and the straight pull rod drives the wheel to turn left.

[0019] S3. The steering gear rotates rightward, driving the gear shaft of the gear of the steering gear - hydraulic conversion cylinder to rotate rightward, driving the piston of the piston rod of the steering gear - hydraulic conversion cylinder to move rightward. The volume of the second cavity of the cylinder block of the steering gear - hydraulic conversion cylinder decreases. The hydraulic oil in the second cavity of the cylinder block of the steering gear - hydraulic conversion cylinder enters the second cavity of the cylinder block of the wheel steering - hydraulic conversion cylinder through the second pipeline.

[0020] S4. The volume of the second cavity of the cylinder block of the wheel steering - hydraulic conversion cylinder increases. The piston of the wheel steering - hydraulic conversion cylinder moves rightward, driving the piston rod to move leftward. The piston rod of the wheel steering - hydraulic conversion cylinder drives the gear to rotate leftward. The leftward rotation of the gear of the wheel steering - hydraulic conversion cylinder drives the output swing arm to swing through the leftward rotation of the gear shaft, driving the straight pull rod to act, and the straight pull rod drives the wheel to turn right.

[0021] Adopting the technical solution of the present invention, the working principle and beneficial effects are as described below:

[0022] The steering control mechanism of the amphibious vehicle described in the present invention utilizes the hydraulic transmission characteristics of the steering gear - hydraulic conversion cylinder and the wheel steering gear - hydraulic conversion cylinder of the hydrostatic system, and innovatively designs the hydraulic conversion cylinder as the hydraulic input and output unit of the system, cleverly realizing the movement and torque transmission performance of the vehicle's total tie - rod system. There are two hydraulic conversion cylinders in total. One hydraulic conversion cylinder is arranged at the output shaft of the steering gear, and the cylinder body is fixed relative to the steering gear, which is the steering gear - hydraulic conversion cylinder. The other hydraulic conversion cylinder is arranged at the second support member, and the cylinder body is fixed relative to the vehicle frame, which is the wheel steering gear - hydraulic conversion cylinder. The two hydraulic conversion cylinders are respectively provided with a first oil port and a second oil port as the pipe orifices for the hydraulic oil to enter and exit, and the two hydraulic conversion cylinders are connected through pipelines. Each pipeline is respectively provided with a stop valve and an accumulator. The output shaft of the steering gear drives the gear of the steering gear - hydraulic conversion cylinder to rotate, thereby driving the piston rod of the steering gear - hydraulic conversion cylinder to move linearly, and the cylinder body outputs hydraulic energy. The wheel steering gear - hydraulic conversion cylinder is affected by the hydraulic pressure from the steering gear - hydraulic conversion cylinder, causing the gear of the wheel steering gear - hydraulic conversion cylinder to rotate and drive the output swing arm to swing. The output swing arm pushes and straightens the tie - rod to realize the left - and - right rotation of the wheel, achieving steering. The hydraulic conversion cylinder works through the stamping of the accumulator and the opening and closing of the stop valve. In the state of long - term use or rapid temperature change, it ensures the saturated state of the system oil, achieving accurate transmission. The structural principle of the described steering gear is to add a hydraulic distributor on the basis of the traditional horizontal mechanical steering gear structure to realize the function of the mechanical feedback type hydraulic resistance steering system. The described hydraulic conversion cylinder is a device for converting mechanical energy and hydraulic energy, including a conversion cylinder housing, a gear, a piston rod, a piston, a cylinder body, and a protective sleeve. When the gear is the input source in the hydraulic conversion cylinder, the gear pushes and pulls the piston rod, and the piston swings linearly, converting mechanical energy into hydraulic energy. When the piston rod is the input source, the piston pushes and pulls the piston rod, and the gear rotates forward and backward, converting hydraulic energy into mechanical energy, realizing the left - and - right steering of the wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following briefly describes the content expressed by each drawing in this specification and the marks in the drawings:

[0024] Figure 1 It is a schematic structural diagram of the steering control mechanism of the amphibious vehicle described in the present invention;

[0025] Figure 2 It is a schematic structural diagram of the steering control mechanism of the amphibious vehicle described in the present invention;

[0026] Figure 3 It is a schematic structural diagram of the steering control mechanism of the amphibious vehicle described in the present invention;

[0027] Figure 4 It is a schematic structural diagram of the steering control mechanism of the amphibious vehicle described in the present invention;

[0028] The markings in the attached drawings are respectively: A, the steering gear hydraulic-fluid conversion cylinder; B, the wheel steering hydraulic-fluid conversion cylinder; 1, the steering gear; 2, the accumulator; 3, the output spline shaft; 4, the output swing arm; 5, the drag link; 6, the rotating shaft; 7, the knuckle arm; 8, the vehicle body; 9, the hydraulic pipeline; 10, the stop valve; 11, the conversion cylinder housing; 12, the gear; 13, the piston rod; 14, the piston; 15, the cylinder block; 16, the piston rod protective sleeve; 17, the rack rod protective sleeve; 18, the teeth; 19, the first cavity of the cylinder block; 20, the first oil port; 21, the second oil port; 22, the first pipeline; 23, the second pipeline; 24, the axle; 25, the first branch pipe; 26, the second branch pipe; 27, the wheel; 28, the oil-gas spring; 29, the second cavity of the cylinder block; 30, the gear shaft. Specific embodiments

[0029] The following further details the specific embodiments of the present invention, such as the shapes, structures of the various components involved, the mutual positions and connection relationships between the various parts, the functions and working principles of the various parts, etc., by describing the embodiments with reference to the attached drawings:

[0030] As shown in the attached Figure 1 - attached Figure 4As shown, the present invention is a steering control mechanism for an amphibious vehicle, comprising a steering gear machine-fluid conversion cylinder A and a wheel steering gear-fluid conversion cylinder B, wherein the gear shaft 30 of the gear 12 of the steering gear machine-fluid conversion cylinder A is fixedly connected to the output shaft of the steering gear 1, the gear shaft 30 of the gear 12 of the wheel steering gear-fluid conversion cylinder B is fixedly connected to the output swing arm 4, the output swing arm 4 is movably connected to the straight pull rod 5, the straight pull rod 5 is connected to the axle 24, the first oil port 20 of the steering gear machine-fluid conversion cylinder A is connected to the first oil port 20 of the wheel steering gear-fluid conversion cylinder B through the first pipeline 22, and the second oil port 21 of the steering gear machine-fluid conversion cylinder A is connected to the second oil port 21 of the wheel steering gear-fluid conversion cylinder B through the second pipeline 23. The conversion cylinder housing 11 of the steering gear machine-fluid conversion cylinder A is fixedly connected to the steering gear housing of the steering gear 1, and the conversion cylinder housing 11 of the wheel steering gear-fluid conversion cylinder B is fixedly connected to the vehicle frame. The above structure proposes an improved technical solution to address the deficiencies in the prior art. The hydraulic transmission characteristics of the steering gear machine-liquid conversion cylinder A and the wheel steering machine-liquid conversion cylinder B of the hydrostatic system are utilized to innovatively design the machine-liquid conversion cylinder as the system hydraulic input and output unit, which ingeniously realizes the vehicle's total tie rod system motion and torque transmission performance. There are two machine-liquid conversion cylinders, one of which is set at the steering gear output shaft, and the cylinder body is fixed relative to the steering gear, which is the steering gear machine-liquid conversion cylinder A, and the other machine-liquid conversion cylinder is set at the second support member, and the cylinder body is fixed relative to the frame, which is the wheel steering machine-liquid conversion cylinder B; the two machine-liquid conversion cylinders are respectively arranged with a first oil port and a second oil port as the pipe ports for the hydraulic oil to enter and exit, and the two machine-liquid conversion cylinders are connected through a pipeline. Each pipeline is respectively provided with a stop valve and an accumulator. The output shaft of the steering gear drives the gear of the steering gear machine-liquid conversion cylinder A to rotate, thereby driving the piston rod of the steering gear machine-liquid conversion cylinder A to move linearly, and the cylinder body outputs hydraulic energy; the wheel steering machine-liquid conversion cylinder B is affected by the hydraulic pressure from the steering gear machine-liquid conversion cylinder A, so that the gear rotation of the wheel steering machine-liquid conversion cylinder B drives the output swing arm to swing, and the output swing arm pushes and straightens the pull rod to realize the left and right rotation of the wheel to achieve steering; the machine-liquid conversion cylinder is punched by the accumulator and the opening and closing of the stop valve to ensure the saturation of the system oil in the state of long-term use or rapid temperature changes, so as to achieve accurate transmission. The structural principle of the steering gear is to add a hydraulic distributor on the basis of the traditional horizontal mechanical steering gear structure to realize the function of the mechanical feedback hydraulic resistance steering system. The machine-liquid conversion cylinder is a mechanical energy and hydraulic energy conversion device, including a conversion cylinder housing 11, gears, piston rods, pistons, cylinder bodies, and protective sleeves. When the gear is the input source of the machine-hydraulic conversion cylinder, the gear pushes and pulls the piston rod, and the piston swings linearly, converting mechanical energy into hydraulic energy; when the piston rod is the input source, the piston pushes and pulls the piston rod, and the gear rotates forward and reversely, converting hydraulic energy into mechanical energy to achieve left and right steering of the wheels.The steering control mechanism of the amphibious vehicle described in the present invention is simple in structure and adopts the principle of hydrostatic transmission. The movement directions of the system input and output can be adjusted and achieved through the pipeline interfaces of the machine-hydraulic conversion cylinders. The system simplifies the complex control mechanism, solves the technical barriers of the complex layout and insufficient space of the amphibious vehicle, and eliminates the problem of the watertight design of the support structure inside and outside the vehicle body.

[0031] In the conversion cylinder housing 11 of the steering gear machine-hydraulic conversion cylinder A, a gear 12 and a piston rod 13 are arranged. The gear 12 meshes with the teeth 18 of the piston rod 13. The piston 14 of the piston rod 13 is located in the cylinder body 15. The first cavity 19 of the cylinder body on one side of the piston 14 communicates with the first oil port 20, and the second cavity 29 of the cylinder body on the other side of the piston 14 communicates with the second oil port 21. The above structure defines the specific structure of the steering gear machine-hydraulic conversion cylinder A.

[0032] In the conversion cylinder housing 11 of the wheel steering machine-hydraulic conversion cylinder B, a gear 12 and a piston rod 13 are arranged. The gear 12 meshes with the teeth 18 of the piston rod 13. The piston 14 of the piston rod 13 is located in the cylinder body 15. The first cavity 19 of the cylinder body on one side of the piston 14 communicates with the first oil port 20, and the second cavity 29 of the cylinder body on the other side of the piston 14 communicates with the second oil port 21. The above structure defines the specific structure of the wheel steering machine-hydraulic conversion cylinder B.

[0033] The first pipeline 22 simultaneously communicates with the accumulator 2 through the first branch pipe 25. A stop valve 10 is provided on the first branch pipe 25. The second pipeline 23 simultaneously communicates with the accumulator 2 through the second branch pipe 26. A stop valve 10 is provided on the second branch pipe 26. The above structure, the described hydrostatic system is a system that transmits power through a hydrostatic closed system, and is composed of the connection of the steering gear machine-hydraulic conversion cylinder A and the wheel steering machine-hydraulic conversion cylinder B, as well as hydraulic pipelines, stop valves, accumulators, etc. There are two hydraulic pipelines, namely the first pipeline and the second pipeline, and each pipeline is respectively provided with a stop valve and an accumulator. The transmission ratio of the steering control mechanism can be determined by adjusting the ratio of the cross-sectional areas of the cylinder barrels of the input end machine-hydraulic conversion cylinder and the output end machine-hydraulic conversion cylinder. Whenever the vehicle shuts down and starts, the stop valve dot-opens to connect the oil of the accumulator to the closed loop for oil replenishment or pumping to ensure the internal oil balance; when the system works, the stop valve locks, and the system forms a closed loop to implement oil transmission; regularly replenish oil to the accumulator. The principle of the entire system is shown in Figure 4 .

[0034] The axle 24 of the steering control mechanism of the amphibious vehicle is connected to the wheel 27 through the steering knuckle arm 7. The axle 24 is connected to the vehicle frame, and the drag link 5 is connected to the steering knuckle arm 7. In the above structure, when the output swing arm 4 swings to drive the drag link 5 to move in different directions, the wheels can be driven to turn left and right. An oil-gas spring 28 is provided between the steering knuckle arm 7 and the vehicle frame. In the above structure, the oil-gas spring 28 plays a reliable shock-absorbing role between the steering knuckle arm 7 and the vehicle frame.

[0035] When the steering gear 1 turns left or right, it drives the gear shaft 30 of the gear 12 of the steering gear machine-hydraulic conversion cylinder A to turn left or right, and drives the piston rod 13 of the steering gear machine-hydraulic conversion cylinder A to move left or right. When the steering gear 1 turns left or right, it drives the gear shaft 30 of the gear 12 of the wheel steering machine-hydraulic conversion cylinder B to turn right or left, and drives the piston rod 13 of the steering gear machine-hydraulic conversion cylinder A to move right or left.

[0036] The present invention also relates to a control method for the steering control mechanism of an amphibious vehicle, which has simple steps, adopts the principle of hydrostatic transmission, the movement directions of the system input and output can be adjusted and realized through the machine-hydraulic conversion cylinder pipeline interface, simplifies the complex steering control mechanism of the system, solves the technical barriers of the complex layout and insufficient space of the amphibious vehicle, and eliminates the problem of the watertight design of the support structure inside and outside the vehicle body. The control steps of the control method for the steering control mechanism of the amphibious vehicle are as follows:

[0037] S1. The steering gear 1 turns left, driving the gear shaft 30 of the gear 12 of the steering gear machine-hydraulic conversion cylinder A to turn left, driving the piston 14 of the piston rod 13 of the steering gear machine-hydraulic conversion cylinder A to move left, the volume of the first cavity 10 of the cylinder body of the steering gear machine-hydraulic conversion cylinder A becomes smaller, and the hydraulic oil in the first cavity 19 of the cylinder body of the steering gear machine-hydraulic conversion cylinder A enters the first cavity 19 of the cylinder body of the wheel steering machine-hydraulic conversion cylinder B through the first pipeline 22;

[0038] S2. The volume of the first cavity 19 of the cylinder body of the wheel steering machine-hydraulic conversion cylinder B becomes larger, the piston 14 of the wheel steering machine-hydraulic conversion cylinder B moves right to drive the piston rod 13 to move right, the piston rod 13 of the wheel steering machine-hydraulic conversion cylinder B drives the gear 12 to turn right; the gear 12 of the wheel steering machine-hydraulic conversion cylinder B turns right to drive the output swing arm 4 to swing through the gear shaft 30, driving the drag link 5 to act, and the drag link 5 drives the wheel 27 to turn left;

[0039] S3. The steering gear 1 turns right, driving the gear shaft 30 of the gear 12 of the steering gear machine-liquid conversion cylinder A to turn right, driving the piston 14 of the piston rod 13 of the steering gear machine-liquid conversion cylinder A to move right, the volume of the second cavity 29 of the cylinder body of the steering gear machine-liquid conversion cylinder A becomes smaller, and the hydraulic oil in the second cavity 29 of the cylinder body of the steering gear machine-liquid conversion cylinder A enters the second cavity 29 of the cylinder body of the wheel steering machine-liquid conversion cylinder B through the second pipeline 23;

[0040] S4. The volume of the second cavity 29 of the cylinder body of the wheel steering gear-hydraulic conversion cylinder B increases, the piston 14 of the wheel steering gear-hydraulic conversion cylinder B moves rightward, driving the piston rod 13 to move leftward, and the piston rod 13 of the wheel steering gear-hydraulic conversion cylinder B drives the gear 12 to turn left; the gear 12 of the wheel steering gear-hydraulic conversion cylinder B turns leftward, driving the output swing arm 4 to swing through the gear shaft 30, driving the straight pull rod 5 to move, and the straight pull rod 5 drives the wheel 27 to turn right.

[0041] The steering control mechanism of an amphibious vehicle described in the present invention 1. proposes a hydrostatic transmission configuration and principle of the steering control mechanism, adopts a gear rack hydraulic cylinder and a closed hydrostatic system to replace the traditional complex longitudinal tie rod structure, and realizes the hydrostatic transmission function of the steering control, with a compact structure and precise transmission displacement. This configuration is by no means limited to this, and can also be used in the transmission of multi-axis steering systems such as various trucks, special vehicles, and engineering vehicles; 2. proposes a new machine-liquid conversion cylinder configuration, which is used at the input end of the steering gear and the output end of the wheel, and converts mechanical energy and hydraulic energy according to system requirements to achieve the transmission performance of the steering longitudinal tie rod system; 3. proposes the principle of the hydrostatic system, and the system pipeline connects the machine-liquid conversion cylinder to convert the input mechanical energy into output mechanical energy through the system hydraulic energy, thereby simplifying the complex structure of the transmission. The hydrostatic transmission configuration of the steering control mechanism of an amphibious vehicle described in the present invention is a new innovative configuration, which effectively makes up for the shortcomings of existing amphibious equipment. It is based on the transmission input and output characteristics of the traditional steering control mechanism, adopts the hydrostatic transmission principle, and the movement direction of the system input and output can be achieved by adjusting the machine-liquid conversion cylinder pipeline interface. The hydrostatic system simplifies the complex control mechanism, solves the technical barriers of complex layout and insufficient space of amphibious vehicles, and eliminates the problem of watertight design inside and outside the supporting structure. The hydrostatic transmission configuration described in the present invention can be expanded and promoted to the fields of multi-axle steering off-road vehicles, special vehicles, and engineering vehicles, and makes outstanding contributions to the overall layout design.

[0042] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. An amphibious vehicle steering control mechanism, characterized in that: It includes a steering gear mechanical-hydraulic conversion oil cylinder (A) and a wheel steering mechanical-hydraulic conversion oil cylinder (B). The gear shaft (30) of the gear (12) of the steering gear mechanical-hydraulic conversion oil cylinder (A) is fixedly connected to the output shaft of the steering gear (1). The gear shaft (30) of the gear (12) of the wheel steering mechanical-hydraulic conversion oil cylinder (B) is fixedly connected to the output swing arm (4). The output swing arm (4) is movably connected to the straight pull rod (5). The straight pull rod (5) is connected to the axle (24). The first oil port (20) of the steering gear mechanical-hydraulic conversion oil cylinder (A) is communicated with the first oil port (20) of the wheel steering mechanical-hydraulic conversion oil cylinder (B) through the first pipeline (22). The second oil port (21) of the steering gear mechanical-hydraulic conversion oil cylinder (A) is communicated with the second oil port (21) of the wheel steering mechanical-hydraulic conversion oil cylinder (B) through the second pipeline (23).

2. The steering control mechanism of the amphibious vehicle according to claim 1, characterized in that: The conversion oil cylinder housing (11) of the steering gear mechanical-hydraulic conversion oil cylinder (A) is fixedly connected to the steering gear housing of the steering gear (1). The conversion oil cylinder housing (11) of the wheel steering mechanical-hydraulic conversion oil cylinder (B) is fixedly connected to the vehicle frame.

3. The steering control mechanism of the amphibious vehicle according to claim 1 or 2, characterized in that: The conversion oil cylinder housing (11) of the steering gear mechanical-hydraulic conversion oil cylinder (A) is provided with a gear (12) and a piston rod (13) inside. The gear (12) meshes with the teeth (18) of the piston rod (13). The piston (14) of the piston rod (13) is located inside the oil cylinder body (15). The first cavity (19) of the oil cylinder body on one side of the piston (14) is communicated with the first oil port (20). The second cavity (29) of the oil cylinder body on the other side of the piston (14) is communicated with the second oil port (21).

4. The steering control mechanism of the amphibious vehicle according to claim 3, characterized in that: The conversion oil cylinder housing (11) of the wheel steering mechanical-hydraulic conversion oil cylinder (B) is provided with a gear (12) and a piston rod (13) inside. The gear (12) meshes with the teeth (18) of the piston rod (13). The piston (14) of the piston rod (13) is located inside the oil cylinder body (15). The first cavity (19) of the oil cylinder body on one side of the piston (14) is communicated with the first oil port (20). The second cavity (29) of the oil cylinder body on the other side of the piston (14) is communicated with the second oil port (21).

5. The steering control mechanism of the amphibious vehicle according to claim 3, wherein: The first pipeline (22) is simultaneously communicated with an accumulator (2) through a first branch pipe (25). A stop valve (10) is arranged on the first branch pipe (25). The second pipeline (23) is simultaneously communicated with the accumulator (2) through a second branch pipe (26). A stop valve (10) is arranged on the second branch pipe (26).

6. The steering control mechanism of the amphibious vehicle according to claim 1 or 2, characterized in that: The axle (24) of the steering control mechanism of the amphibious vehicle is connected to the wheel (27) through a steering knuckle arm (7). The axle (24) is connected to the vehicle frame. The straight pull rod (5) is connected to the steering knuckle arm (7).

7. The steering control mechanism of the amphibious vehicle according to claim 6, characterized in that: An oil-gas spring (28) is arranged between the steering knuckle arm (7) and the vehicle frame.

8. The steering control mechanism of the amphibious vehicle according to claim 4, characterized in that: When the steering gear (1) turns left or right, it drives the gear shaft (30) of the gear (12) of the steering gear mechanical-hydraulic conversion oil cylinder (A) to turn left or right, and drives the piston rod (13) of the steering gear mechanical-hydraulic conversion oil cylinder (A) to move left or right.

9. The steering control mechanism of the amphibious vehicle according to claim 8, characterized in that: When the steering gear (1) turns left or right, the gear shaft (30) of the gear (12) of the wheel steering machine - hydraulic conversion cylinder (B) turns right or left, driving the piston rod (13) of the steering gear machine - hydraulic conversion cylinder (A) to move right or left.

10. The control method of the steering control mechanism of the amphibious vehicle according to any one of claims 1 to 9, characterized in that: The control steps of the control method for the steering control mechanism of the amphibious vehicle are as follows: S1. The steering gear (1) turns left, driving the gear shaft (30) of the gear (12) of the steering gear machine - hydraulic conversion cylinder (A) to turn left, driving the piston (14) of the piston rod (13) of the steering gear machine - hydraulic conversion cylinder (A) to move left. The volume of the first cavity (10) of the cylinder block of the steering gear machine - hydraulic conversion cylinder (A) becomes smaller, and the hydraulic oil in the first cavity (19) of the cylinder block of the steering gear machine - hydraulic conversion cylinder (A) enters the first cavity (19) of the cylinder block of the wheel steering machine - hydraulic conversion cylinder (B) through the first pipeline (22); S2. The volume of the first cavity (19) of the cylinder block of the wheel steering machine - hydraulic conversion cylinder (B) becomes larger, and the piston (14) of the wheel steering machine - hydraulic conversion cylinder (B) moves right, driving the piston rod (13) to move right. The piston rod (13) of the wheel steering machine - hydraulic conversion cylinder (B) drives the gear (12) to turn right; the gear (12) of the wheel steering machine - hydraulic conversion cylinder (B) turns right, driving the output swing arm (4) to swing through the gear shaft (30), driving the straight pull rod (5) to act, and the straight pull rod (5) drives the wheel (27) to turn left; S3. The steering gear (1) turns right, driving the gear shaft (30) of the gear (12) of the steering gear machine - hydraulic conversion cylinder (A) to turn right, driving the piston (14) of the piston rod (13) of the steering gear machine - hydraulic conversion cylinder (A) to move right. The volume of the second cavity (29) of the cylinder block of the steering gear machine - hydraulic conversion cylinder (A) becomes smaller, and the hydraulic oil in the second cavity (29) of the cylinder block of the steering gear machine - hydraulic conversion cylinder (A) enters the second cavity (29) of the cylinder block of the wheel steering machine - hydraulic conversion cylinder (B) through the second pipeline (23); S4. The volume of the second cavity (29) of the cylinder block of the wheel steering machine - hydraulic conversion cylinder (B) becomes larger, and the piston (14) of the wheel steering machine - hydraulic conversion cylinder (B) moves right, driving the piston rod (13) to move left. The piston rod (13) of the wheel steering machine - hydraulic conversion cylinder (B) drives the gear (12) to turn left; the gear (12) of the wheel steering machine - hydraulic conversion cylinder (B) turns left, driving the output swing arm (4) to swing through the gear shaft (30), driving the straight pull rod (5) to act, and the straight pull rod (5) drives the wheel (27) to turn right.

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