Steering mechanism for self-propelled hydraulic module vehicle

Abstract

The steering mechanism comprises a steering wheel set, an electro-hydraulic power module, a steering hydraulic cylinder and an integrated valve block, the electro-hydraulic power module comprises a servo motor and a two-way hydraulic pump, the two-way hydraulic pump is provided with a first oil port and a second oil port, and a first oil way and a second oil way are integrated in the integrated valve block; wherein the first oil port is communicated with a rodless cavity of the steering hydraulic cylinder through a first oil way, and the second oil port is communicated with a rod cavity of the steering hydraulic cylinder through a second oil way, so that a closed hydraulic loop is formed. According to the steering mechanism, the servo motor is adopted to drive the two-way hydraulic pump to form the compact electro-hydraulic power module, the electro-hydraulic power module is directly connected with the steering hydraulic cylinder to form the closed hydraulic loop, efficient and accurate control over the steering mechanism is achieved, and the closed hydraulic loop is compact in structure, small in energy loss, stable in transmission and high in reliability. And the high requirements of the self-propelled hydraulic module vehicle on steering precision and reliability are particularly met.

Description

Technical Field

[0001] This invention relates to the field of self-propelled hydraulic modular vehicle technology, and more specifically, to a steering mechanism for a self-propelled hydraulic modular vehicle. Background Technology

[0002] As the core carrier for heavy equipment transportation, the performance of the steering mechanism of self-propelled hydraulic modular vehicles directly determines the vehicle's mobility, positioning accuracy, and operating efficiency. Currently, the steering mechanism of traditional self-propelled hydraulic modular vehicles generally adopts the classic structure of centralized hydraulic drive and valve-controlled distribution. This structure typically includes: one or more large-displacement central hydraulic pump stations, which deliver hydraulic oil to hydraulic steering cylinders distributed on each steering axis through a complex network of high-pressure pipelines; the action of each steering cylinder is controlled by an independent proportional directional valve or servo valve, and the maximum system pressure is set by an overflow valve to ensure safety.

[0003] Since the steering action relies entirely on the throttling of the proportional directional valve or servo valve to control the speed and direction of the hydraulic cylinder, a large pressure drop is generated when the hydraulic oil flows through the valve port. This pressure difference energy is dissipated as heat, resulting in extremely low energy efficiency, especially under partial opening conditions. Furthermore, regardless of whether it is single-vehicle steering or multi-vehicle linkage, the central pump station needs to reserve flow and pressure for all possible steering cylinders, making it impossible to achieve precise on-demand energy supply and resulting in a large amount of ineffective power consumption. In addition, the response of the hydraulic oil flowing through the valve core has inherent electromechanical-hydraulic multi-stage delays, and the nonlinear characteristics such as dead zone and hysteresis of the proportional valve cause the system response to lag, limiting the accuracy of synchronous control and making it difficult to achieve high-precision, rapid, and coordinated movement of dozens of axes. Therefore, improvements are needed. Summary of the Invention

[0004] The purpose of this invention is to provide a steering mechanism for a self-propelled hydraulic modular vehicle to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A steering mechanism for a self-propelled hydraulic modular vehicle, comprising: The steering wheel assembly includes a turntable rotatably connected to the bottom of the frame, a steering knuckle arm fixed to the bottom of the turntable, and a wheel assembly mounted on the steering knuckle arm; The electro-hydraulic power module includes a servo motor and a bidirectional hydraulic pump fixed at the output end of the servo motor. The bidirectional hydraulic pump has a first oil port and a second oil port. The servo motor is connected to the control system signal of the self-propelled hydraulic module vehicle. A steering hydraulic cylinder includes a cylinder barrel, a piston plate slidably connected inside the cylinder barrel, and a piston rod fixed to the piston plate, wherein the free end of the piston rod is hinged to the steering knuckle arm. The integrated valve block has a first oil passage and a second oil passage integrated inside. The first oil port is connected to the rodless chamber of the steering hydraulic cylinder through the first oil passage, and the second oil port is connected to the rod chamber of the steering hydraulic cylinder through the second oil passage, thus forming a closed hydraulic circuit.

[0006] Preferably, a safety valve is fixedly installed between the first oil circuit and the second oil circuit. The safety valve is used to control the flow of oil from the high-pressure main oil circuit to the low-pressure main oil circuit when the pressure of the main oil circuit exceeds a set value.

[0007] Preferably, the safety valve includes a valve body, in which a first pressure safety component and a second pressure safety component are disposed. The flow direction of the oil in the first pressure safety component and the second pressure safety component is opposite. Both the first pressure safety component and the second pressure safety component include an oil inlet, an oil outlet, a valve cavity connecting the oil inlet and the oil outlet, and an overflow unit disposed in the valve cavity. The overflow unit includes a valve core that moves axially within the valve cavity. A spring is fixedly connected between the valve core and the valve body. One end of the valve core has a flow groove.

[0008] Preferably, the turntable is equipped with an angle sensor, which is connected to the control system signal of the self-propelled hydraulic modular vehicle.

[0009] Preferably, the integrated valve block also integrates an oil replenishment valve assembly, which includes two check valves. The inlets of the two check valves are connected to a common oil replenishment port, and the outlets of the two check valves are respectively connected to the first oil circuit and the second oil circuit.

[0010] Preferably, the steering mechanism further includes an oil replenishment module fixed in the power box of the self-propelled hydraulic modular vehicle. The oil replenishment module includes an oil tank and an oil replenishment pump. The outlet of the oil replenishment pump is connected to a main oil replenishment pipe. Each steering wheel assembly has an oil replenishment port connected to the main oil replenishment pipe and an oil replenishment branch pipe. A first solenoid valve is installed on the oil replenishment branch pipe. The first solenoid valve is connected to the control system of the self-propelled hydraulic modular vehicle. The oil replenishment branch pipe is a high-pressure hydraulic hose.

[0011] Preferably, a support base is fixedly connected to the cylinder, the support base is hinged to the vehicle frame, and the electro-hydraulic power module and the integrated valve block are both fixed on the support base.

[0012] Preferably, the housing of the integrated valve block is made of metal material, and the outer surface of the integrated valve block is provided with integrally formed heat dissipation fins.

[0013] Preferably, a cooling fan is fixedly installed on the support base, the air outlet direction of the cooling fan is directly facing the heat dissipation fin area, a temperature sensor is installed on the first oil circuit or the second oil circuit, and both the cooling fan and the temperature sensor are connected to the control system signal of the self-propelled hydraulic modular vehicle.

[0014] Preferably, the bidirectional hydraulic pump is an axial piston pump or a gear pump.

[0015] By adopting the aforementioned technical solution, the beneficial effects of the present invention are: 1. By employing a servo motor to drive a bidirectional hydraulic pump to form a compact electro-hydraulic power module, and directly connecting it to the steering hydraulic cylinder to form a closed hydraulic circuit, this design perfectly integrates the dual advantages of electronic control and hydraulic transmission. On the one hand, the servo motor receives commands from the control system, enabling precise, rapid, and stepless control of speed and steering. This allows the bidirectional hydraulic pump to precisely regulate the flow direction and flow rate of the output oil, providing a high-precision input source for steering. On the other hand, the closed hydraulic circuit avoids the throttling losses and response delays caused by the directional valve in traditional open systems. The energy transmission path is direct and efficient, and the system generates little heat. The steering hydraulic cylinder, as the actuator, converts hydraulic energy into high-thrust linear motion, driving the steering knuckle arm through the piston rod, and ultimately driving the heavy wheel assembly to steer flexibly. This combination of precise electrical signal control, high hydraulic torque output, and efficient closed-loop transmission gives the entire steering mechanism extremely high control precision, rapid dynamic response, and powerful load-driving capability. It is particularly suitable for the demanding requirements of self-propelled hydraulic modular vehicles for steering systems under heavy-load, low-speed, and precision movement conditions.

[0016] 2. By directly fixing the electro-hydraulic power module and integrated valve block to the support of the steering hydraulic cylinder, a rigid integrated unit of power, control, and execution is formed. This layout greatly shortens the high-pressure connection pipelines between them, reducing potential leakage points and enhancing the overall vibration and shock resistance, thus improving reliability on complex road surfaces. Secondly, the integrated valve block encapsulates the core hydraulic logic in a robust metal block, replacing a large number of scattered pipe joints and independent valves, resulting in an extremely compact structure and saving installation space. The heat dissipation fins on the surface of the integrated valve block further assist in system thermal management. This modular design makes a single steering wheel assembly a fully functional independent subsystem. During vehicle assembly, only a few interface operations are required, such as frame hinge, piston rod and steering knuckle arm hinge, and oil replenishment and signal line connection. This greatly simplifies the wiring, installation, and debugging process of the entire vehicle. During maintenance, it also facilitates quick diagnosis and overall replacement of individual faulty modules, significantly reducing maintenance complexity and time costs.

[0017] 3. At the active control level, a position closed loop is formed by the servo motor, control system, and angle sensor, achieving precise tracking and stable maintenance of the steering angle, avoiding deviation or drift. At the passive safety level, the safety valve integrated into the valve block provides an inherently safe overpressure relief capability for the closed hydraulic circuit, preventing damage to hydraulic components due to a surge in system pressure caused by extreme impact loads. At the system protection level, an automatic and independently controllable oil replenishment system is formed by the replenishment valve group, replenishment module, replenishment main pipe, and replenishment branch pipe with a first solenoid valve, which can continuously compensate for internal leakage in the system, maintain circuit pressure and oil fullness, and ensure that steering force is not lost. In addition, it can be expanded to integrate temperature monitoring and cooling fan linkage control. These multi-level designs work together to ensure that the steering mechanism can work reliably, safely, and stably under various complex, heavy-load, and even sudden working conditions, greatly improving the overall operational safety and automation level of the self-propelled hydraulic modular vehicle. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0019] Figure 1 This is a schematic diagram of a self-propelled hydraulic modular vehicle with a steering mechanism in one embodiment. Figure 2 This is a schematic diagram of a steering mechanism structure for a self-propelled hydraulic modular vehicle in one embodiment; Figure 3 for Figure 2 Enlarged schematic diagram of the structure at point A in the diagram; Figure 4 This is a schematic diagram of the electro-hydraulic power module structure in one embodiment; Figure 5 This is a schematic diagram of the steering mechanism portion in one embodiment; Figure 6 This is a cross-sectional schematic diagram of the safety valve and steering hydraulic cylinder in one embodiment; Figure 7 This is a schematic diagram of the safety valve structure in one embodiment; Figure 8 This is a schematic diagram of the integrated valve block structure in one embodiment; Figure 9 This is a schematic diagram of the overflow unit structure in one embodiment; Figure 10 This is a schematic diagram of the oil replenishment module structure in one embodiment.

[0020] Figure label: 11. Chassis; 12. Power unit; 100. Steering wheel assembly; 110. Turntable; 120. Steering knuckle arm; 130. Wheel assembly; 200. Electro-hydraulic power module; 210. Servo motor; 220. Two-way hydraulic pump; 230. First oil port; 240. Second oil port; 300. Steering hydraulic cylinder; 310. Cylinder barrel; 320. Piston plate; 330. Piston rod; 400. Integrated valve block; 401. Valve core; 402. Spring; 403. Flow groove; 410. First oil passage; 420. Second oil passage; 430. Safety valve; 431. Valve body; 432. 433. First pressure safety assembly; 434. Second pressure safety assembly; 435. Oil inlet; 436. Oil outlet; 437. Valve chamber; 438. Overflow unit; 449. Oil replenishment valve assembly; 440. Check valve; 441. Oil replenishment port; 442. Heat dissipation fins; 450. Cooling fan; 460. Temperature sensor; 470. Oil replenishment module; 510. Oil tank; 520. Oil replenishment pump; 530. Oil replenishment main pipe; 540. Oil replenishment branch pipe; 550. First solenoid valve; 560. Second solenoid valve; 570. Filter; 600. Angle sensor; 700. Support base. Detailed Implementation

[0021] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0022] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0023] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0024] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0025] like Figures 1-10 As shown, a steering mechanism for a self-propelled hydraulic modular vehicle includes a steering wheel assembly 100, an electro-hydraulic power module 200, a steering hydraulic cylinder 300, and an integrated valve block 400.

[0026] Please refer to Figure 1 and Figure 2 The steering wheel assembly 100 includes a turntable 110 rotatably connected to the bottom of the frame 11, a steering knuckle arm 120 fixed to the bottom of the turntable 110, and a wheel assembly 130 mounted on the steering knuckle arm 120.

[0027] Please refer to Figure 3 and Figure 4 The electro-hydraulic power module 200 includes a servo motor 210 and a bidirectional hydraulic pump 220 fixed at the output end of the servo motor 210. The bidirectional hydraulic pump 220 has a first oil port 230 and a second oil port 240. The servo motor 210 is connected to the control system signal of the self-propelled hydraulic module vehicle.

[0028] It should be noted that the bidirectional hydraulic pump 220 is either an axial piston pump or a gear pump.

[0029] Please refer to Figure 5 and Figure 6 The steering hydraulic cylinder 300 includes a cylinder 310, a piston plate 320 slidably connected inside the cylinder 310, and a piston rod 330 fixed on the piston plate 320. The free end of the piston rod 330 is hinged to the steering knuckle arm 120.

[0030] Please refer to Figure 7 and Figure 8 The integrated valve block 400 has a first oil passage 410 and a second oil passage 420 integrated inside.

[0031] The first oil port 230 is connected to the rodless chamber of the steering hydraulic cylinder 300 through the first oil passage 410, and the second oil port 240 is connected to the rod chamber of the steering hydraulic cylinder 300 through the second oil passage 420, so as to form a closed hydraulic circuit.

[0032] An electro-hydraulic power module 200, consisting of a servo motor 210 driving a bidirectional hydraulic pump 220, forms a closed hydraulic circuit with the steering hydraulic cylinder 300, integrated valve block 400, and steering wheel assembly 100. This achieves efficient and precise control of the steering mechanism. The servo motor 210 responds to commands from the control system, precisely controlling the oil flow direction and flow rate through the bidirectional hydraulic pump 220. This drives the piston rod 330 of the steering hydraulic cylinder 300 to extend and retract, thereby steering the steering knuckle arm 120 and wheel assembly 130. This closed hydraulic circuit features a compact structure, low energy loss, and smooth transmission, making it particularly suitable for self-propelled hydraulic modular vehicles with high requirements for steering accuracy and reliability. The specific significant advantages and improvement mechanisms are as follows: 1. Revolutionary improvement in energy efficiency No throttling loss: The oil circuit is a direct connection between the bidirectional hydraulic pump 220 and the steering hydraulic cylinder 300, without valve throttling.

[0033] No overflow loss: The system pressure is determined by the load and is demand-following. When unloaded or under pressure, the servo motor 210 consumes almost no energy.

[0034] On-demand power supply: The servo motor 210 only works during steering, and its speed is proportional to the steering speed.

[0035] 2. Control precision and responsiveness are greatly improved. Direct drive: The direct mechanical connection between the servo motor 210, the bidirectional hydraulic pump 220, and the steering hydraulic cylinder 300 eliminates the valve's response delay.

[0036] Digitalization and high resolution: The servo motor 210 has extremely high control resolution, enabling micro-motion with minimal incremental changes.

[0037] High dynamic stiffness: The closed-loop control system can quickly suppress load disturbances and maintain angle stability.

[0038] 3. Improved reliability and simplified maintenance Simplified structure: It eliminates the need for a central pumping station, complex piping, and a large number of valves, drastically reducing the number of leakage points.

[0039] Modular design: Failure of a single unit does not affect other units, and hot-swappable replacement is supported.

[0040] Please refer to Figure 6 and Figure 7 A safety valve 430 is fixedly installed between the first oil circuit 410 and the second oil circuit 420. The safety valve 430 is used to control the flow of oil from the high-pressure main oil circuit to the low-pressure main oil circuit when the pressure of the main oil circuit exceeds the set value.

[0041] A safety valve 430 is installed between the first oil circuit 410 and the second oil circuit 420 to provide overload protection for the closed hydraulic circuit. When the main oil circuit pressure exceeds the set value due to sudden changes in steering resistance or other reasons, the safety valve 430 automatically opens, allowing the oil to flow from the high-pressure side to the low-pressure side, effectively preventing the system pressure from being too high and protecting key components such as the electro-hydraulic power module 200 and the steering hydraulic cylinder 300 from damage, thereby improving the safety and service life of the entire steering mechanism.

[0042] Please refer to Figure 6 , Figure 7 and Figure 9 The safety valve 430 includes a valve body 431, in which a first pressure safety assembly 432 and a second pressure safety assembly 433 are disposed. The flow direction of the oil in the first pressure safety assembly 432 and the second pressure safety assembly 433 is opposite. Both the first pressure safety assembly 432 and the second pressure safety assembly 433 include an oil inlet 434, an oil outlet 435, a valve cavity 436 connecting the oil inlet 434 and the oil outlet 435, and an overflow unit 437 disposed in the valve cavity 436. The overflow unit 437 includes a valve core 401 that moves axially within the valve cavity 436. A spring 402 is fixedly connected between the valve core 401 and the valve body 431. A flow groove 403 is provided at one end of the valve core 401.

[0043] It should be further explained that the flow channel 403 is connected to the oil inlet 434. When the oil enters the flow channel 403 from the oil inlet 434, when the end face pressure of the valve core 401 at the flow channel 403 exceeds the preload pressure of the spring 402, the valve core 401 moves under the action of the pressure difference at its two ends, thereby opening the passage between the valve chamber 436 and the oil outlet 435, so that the oil flows from the high-pressure main oil circuit to the low-pressure main oil circuit.

[0044] The safety valve 430 adopts a symmetrical design including a first pressure safety component 432 and a second pressure safety component 433. The oil flow direction of the overflow unit 437 of the two components is opposite. The valve core 401 in each component is controlled to open and close under the action of the spring 402. This structure realizes bidirectional overpressure protection. No matter whether the first oil circuit 410 or the second oil circuit 420 becomes the high pressure side, the corresponding pressure safety component can respond in time to relieve pressure, and the protection function is more comprehensive and reliable.

[0045] Please refer to Figure 2 An angle sensor 600 is installed on the turntable 110, and the angle sensor 600 is connected to the control system signal of the self-propelled hydraulic modular vehicle.

[0046] The angle sensor 600 can detect the actual steering angle of the wheel assembly 130 in real time and accurately, and feed the signal back to the control system. By comparing the actual angle with the target angle, the control system can perform closed-loop precise control of the servo motor 210 to achieve high-precision steering positioning and stable steering holding, thereby improving the overall vehicle handling and operating accuracy. It is the foundation for realizing functions such as automatic steering and multi-vehicle coordinated operation.

[0047] Please refer to Figure 7 and Figure 8 The integrated valve block 400 also integrates a replenishing valve assembly 440, which includes two check valves 441. The inlets of the two check valves 441 are connected to a replenishing port 442, and the outlets of the two check valves 441 are connected to the first oil circuit 410 and the second oil circuit 420, respectively. It can automatically replenish the oil lost due to leakage or other reasons in the closed hydraulic circuit, always maintain the necessary pressure and oil quantity required by the system, ensure continuous and stable steering action, prevent steering failure or cavitation due to lack of oil, and improve the reliability and durability of the system.

[0048] Please refer to Figure 8 and Figure 10The steering mechanism also includes an oil replenishment module 500 fixed in the power box 12 of the self-propelled hydraulic modular vehicle. The oil replenishment module 500 includes an oil tank 510 and an oil replenishment pump 520. The outlet of the oil replenishment pump 520 is connected to an oil replenishment main pipe 530. An oil replenishment branch pipe 540 is connected between the oil replenishment port 442 of each steering wheel assembly 100 and the oil replenishment main pipe 530. A first solenoid valve 550 is installed on the oil replenishment branch pipe 540. The first solenoid valve 550 is connected to the control system signal of the self-propelled hydraulic modular vehicle. The oil replenishment branch pipe 540 is a high-pressure hydraulic hose.

[0049] It should be noted that a second solenoid valve 560 is installed on the main oil supply pipe 530, and a filter 570 is also installed on the pipeline between the oil supply pump 520 and the oil tank 510 to ensure the cleanliness of the oil injected into the closed hydraulic circuit, prevent contaminants from entering the precision servo motor 210 and steering hydraulic cylinder 300, and improve the system reliability and lifespan.

[0050] The specific oil replenishment process is as follows: the feedback values ​​of the angle sensors 600 of each steering wheel set 100 are compared with the target command value in real time; when the angle deviation of any steering wheel set 100 continues to exceed the set threshold, the control system determines that the leakage in the closed hydraulic circuit corresponding to the steering wheel set 100 exceeds the normal range; subsequently, the control system sends a short pulse control signal to the first solenoid valve 550 on the oil replenishment branch pipe 540 corresponding to the steering wheel set 100, driving the oil replenishment module 500 to replenish a small amount of hydraulic oil to the specific closed hydraulic circuit; after the oil replenishment pulse ends, the angle deviation is detected again. If it is still not eliminated, the oil replenishment pulse is sent again after a predetermined interval until the deviation is eliminated, thereby realizing independent, on-demand, and micro-volume oil replenishment for each steering wheel set 100, avoiding excessive or insufficient oil replenishment, and ensuring steering accuracy and system reliability.

[0051] Please refer to Figure 5 A support base 700 is fixedly connected to the cylinder 310. The support base 700 is hinged to the frame 11. The electro-hydraulic power module 200 and the integrated valve block 400 are both fixed on the support base 700. The drive, control and actuation components are integrated on a rigid support base 700, which simplifies the overall structural layout, enhances the modularity, reduces the length of pipes and the number of joints, reduces the risk of leakage, and improves the positional stability and vibration resistance between components, making it easier to install and maintain.

[0052] Please refer to Figure 5 or Figure 8The housing of the integrated valve block 400 is made of metal. The outer surface of the integrated valve block 400 is provided with integrally formed heat dissipation fins 450. The metal material has good thermal conductivity, and the heat dissipation fins 450 significantly increase the heat dissipation surface area of ​​the integrated valve block 400. It can efficiently dissipate the heat generated inside the integrated valve block 400 and the oil flowing through it into the environment, effectively control the working temperature of the hydraulic system, prevent oil deterioration, seal aging or system efficiency reduction due to excessive oil temperature, and improve the stability and life of the system under continuous or high load operation.

[0053] Please refer to Figure 5 A cooling fan 460 is fixedly installed on the support base 700. The air outlet of the cooling fan 460 is directly facing the area of ​​the heat dissipation fins 450. A temperature sensor 470 is installed on the first oil circuit 410 or the second oil circuit 420. The cooling fan 460 and the temperature sensor 470 are both connected to the control system signal of the self-propelled hydraulic modular vehicle, forming an active cooling system. This system can force convection, greatly enhancing the airflow and heat dissipation efficiency in the area of ​​the heat dissipation fins 450. The control system can control the operation of the cooling fan 460 according to the temperature signal to achieve intelligent temperature control, ensuring that the hydraulic system can maintain the optimal operating temperature range even under extreme working conditions, thus improving reliability.

[0054] After the temperature sensor 470 signal is connected to the control system of the self-propelled hydraulic modular vehicle, the system can intelligently control the start, stop and speed of the cooling fan 460 according to the actual oil temperature of the first oil circuit 410 or the second oil circuit 420. This avoids unnecessary long-term operation of the cooling fan 460, saving energy and reducing noise. At the same time, it can promptly start efficient cooling when the oil temperature rises, ensuring that the hydraulic system always operates within the optimal temperature range. In addition, if the temperature sensor 470 detects an abnormal rise in oil temperature (for example, due to frequent opening of the safety valve 430, internal leakage, insufficient oil replenishment or overload of the bidirectional hydraulic pump 220), the control system can issue a warning signal and even take protective measures (such as limiting steering speed or requesting a shutdown for inspection) to prevent chain failures such as seal failure, oil deterioration, and component damage caused by high oil temperature.

[0055] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A steering mechanism for a self-propelled hydraulic modular vehicle, characterized in that, include: The steering wheel assembly (100) includes a turntable (110) rotatably connected to the bottom of the frame (11), a steering knuckle arm (120) fixed to the bottom of the turntable (110), and a wheel assembly (130) mounted on the steering knuckle arm (120). The electro-hydraulic power module (200) includes a servo motor (210) and a bidirectional hydraulic pump (220) fixed at the output end of the servo motor (210). The bidirectional hydraulic pump (220) has a first oil port (230) and a second oil port (240). The servo motor (210) is connected to the control system signal of the self-propelled hydraulic module vehicle. The steering hydraulic cylinder (300) includes a cylinder barrel (310), a piston plate (320) slidably connected in the cylinder barrel (310), and a piston rod (330) fixed on the piston plate (320), the free end of the piston rod (330) being hinged to the steering knuckle arm (120); The integrated valve block (400) has a first oil passage (410) and a second oil passage (420) integrated inside. The first oil port (230) is connected to the rodless chamber of the steering hydraulic cylinder (300) through the first oil passage (410), and the second oil port (240) is connected to the rod chamber of the steering hydraulic cylinder (300) through the second oil passage (420) to form a closed hydraulic circuit.

2. The steering mechanism for a self-propelled hydraulic modular vehicle according to claim 1, characterized in that, A safety valve (430) is fixedly installed between the first oil circuit (410) and the second oil circuit (420). The safety valve (430) is used to control the flow of oil from the high-pressure main oil circuit to the low-pressure main oil circuit when the pressure of the main oil circuit exceeds the set value.

3. A steering mechanism for a self-propelled hydraulic modular vehicle according to claim 2, characterized in that, The safety valve (430) includes a valve body (431), in which a first pressure safety assembly (432) and a second pressure safety assembly (433) are provided. The flow direction of the oil in the first pressure safety assembly (432) and the second pressure safety assembly (433) is opposite. Both the first pressure safety assembly (432) and the second pressure safety assembly (433) include an oil inlet (434), an oil outlet (435), a valve cavity (436) connecting the oil inlet (434) and the oil outlet (435), and an overflow unit (437) provided in the valve cavity (436). The overflow unit (437) includes a valve core (401) that moves axially in the valve cavity (436). A spring (402) is fixedly connected between the valve core (401) and the valve body (431). A flow groove (403) is opened at one end of the valve core (401).

4. A steering mechanism for a self-propelled hydraulic modular vehicle according to claim 1, characterized in that, An angle sensor (600) is provided on the turntable (110), and the angle sensor (600) is connected to the control system signal of the self-propelled hydraulic modular vehicle.

5. A steering mechanism for a self-propelled hydraulic modular vehicle according to claim 4, characterized in that, The integrated valve block (400) also integrates an oil replenishment valve assembly (440), which includes two check valves (441). The inlets of the two check valves (441) are connected to a common oil replenishment port (442), and the outlets of the two check valves (441) are respectively connected to the first oil circuit (410) and the second oil circuit (420).

6. A steering mechanism for a self-propelled hydraulic modular vehicle according to claim 5, characterized in that, The steering mechanism also includes an oil replenishment module (500) fixed in the power box (12) of the self-propelled hydraulic modular vehicle. The oil replenishment module (500) includes an oil tank (510) and an oil replenishment pump (520). The outlet of the oil replenishment pump (520) is connected to an oil replenishment main pipe (530). Each steering wheel assembly (100) has an oil replenishment port (442) connected to the oil replenishment main pipe (530) via an oil replenishment branch pipe (540). A first solenoid valve (550) is installed on the oil replenishment branch pipe (540). The first solenoid valve (550) is connected to the control system of the self-propelled hydraulic modular vehicle via a signal. The oil replenishment branch pipe (540) is a high-pressure hydraulic hose.

7. A steering mechanism for a self-propelled hydraulic modular vehicle according to claim 1, characterized in that, A support base (700) is fixedly connected to the cylinder (310). The support base (700) is hinged to the frame (11). The electro-hydraulic power module (200) and the integrated valve block (400) are both fixed on the support base (700).

8. A steering mechanism for a self-propelled hydraulic modular vehicle according to claim 7, characterized in that, The housing of the integrated valve block (400) is made of metal material, and the outer surface of the integrated valve block (400) is provided with integrally formed heat dissipation fins (450).

9. A steering mechanism for a self-propelled hydraulic modular vehicle according to claim 8, characterized in that, A cooling fan (460) is fixedly installed on the support base (700). The air outlet direction of the cooling fan (460) is directly facing the area of ​​the heat dissipation fins (450). A temperature sensor (470) is installed on the first oil circuit (410) or the second oil circuit (420). Both the cooling fan (460) and the temperature sensor (470) are connected to the control system signal of the self-propelled hydraulic modular vehicle.

10. A steering mechanism for a self-propelled hydraulic modular vehicle according to any one of claims 1 to 9, characterized in that, The bidirectional hydraulic pump (220) is an axial piston pump or a gear pump.

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