A steering mechanism for a self-propelled hydraulic modular vehicle

Abstract

The application discloses a steering mechanism for a self-propelled hydraulic module vehicle, comprising a steering wheel group, an electro-hydraulic power module, a steering hydraulic cylinder and an integrated valve block, the electro-hydraulic power module comprising a servo motor and a bidirectional hydraulic pump, the bidirectional hydraulic pump being provided with a first oil port and a second oil port, and the integrated valve block being internally integrated with a first oil path and a second oil path; wherein the first oil port is communicated with a rodless cavity of the steering hydraulic cylinder through the first oil path, and the second oil port is communicated with a rod cavity of the steering hydraulic cylinder through the second oil path, so as to form a closed hydraulic circuit. The steering mechanism adopts the servo motor to drive the bidirectional hydraulic pump to form a compact electro-hydraulic power module, and is directly connected with the steering hydraulic cylinder to form a closed hydraulic circuit, so that efficient and accurate control of the steering mechanism is realized, the closed hydraulic circuit is compact in structure, small in energy loss and stable in transmission, and is particularly suitable for the high requirements of the self-propelled hydraulic module vehicle on steering accuracy and reliability.

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:

[0006] A steering mechanism for a self-propelled hydraulic modular vehicle, comprising:

[0007] 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;

[0008] 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.

[0009] The steering hydraulic cylinder comprises a cylinder barrel, a piston plate slidably connected in the cylinder barrel, and a piston rod fixed on the piston plate, and a free end of the piston rod is hingedly connected with a steering knuckle arm.

[0010] The integrated valve block internally integrates the first oil path and the second oil path.

[0011] The first oil port is communicated with a rodless cavity of the steering hydraulic cylinder through the first oil path, and the second oil port is communicated with a rod cavity of the steering hydraulic cylinder through the second oil path, so as to form a closed hydraulic circuit.

[0012] Preferably, a safety valve is fixedly installed between the first oil path and the second oil path, and the safety valve is used for controlling the oil flow from the high-pressure main oil path to the low-pressure main oil path when the pressure of the main oil path exceeds a set value.

[0013] Preferably, the safety valve comprises a valve body, the valve body is provided with a first pressure safety assembly and a second pressure safety assembly, the flow directions of the oil in the first pressure safety assembly and the second pressure safety assembly are opposite, the first pressure safety assembly and the second pressure safety assembly each comprise an oil inlet, an oil outlet, a valve cavity communicated between the oil inlet and the oil outlet, and an overflow unit provided in the valve cavity, the overflow unit comprises a valve core axially moving in the valve cavity, a spring is fixedly connected between the valve core and the valve body, and a flow-through groove is formed in one end of the valve core.

[0014] Preferably, an angle sensor is arranged on the rotating disc, and the angle sensor is signal-connected with a control system of the self-propelled hydraulic module vehicle.

[0015] Preferably, a supplementary oil valve group is further integrated on the integrated valve block, the supplementary oil valve group comprises two one-way valves, the inlets of the two one-way valves are commonly connected to a supplementary oil port, and the outlets of the two one-way valves are respectively connected to the first oil path and the second oil path.

[0016] Preferably, the steering mechanism further comprises a supplementary oil module fixed in a power box of the self-propelled hydraulic module vehicle, the supplementary oil module comprises an oil tank and a supplementary oil pump, the outlet of the supplementary oil pump is connected with a supplementary oil main pipe, each supplementary oil port of the steering wheel group is connected with a supplementary oil branch pipe between the supplementary oil main pipe, a first electromagnetic valve is arranged on the supplementary oil branch pipe, the first electromagnetic valve is signal-connected with the control system of the self-propelled hydraulic module vehicle, and the supplementary oil branch pipe is a high-pressure hydraulic hose.

[0017] Preferably, a support seat is fixedly connected on the cylinder barrel, the support seat is hingedly connected with a vehicle frame, and the electro-hydraulic power module and the integrated valve block are fixed on the support seat.

[0018] Preferably, the shell of the integrated valve block is made of a metal material, and the outer surface of the integrated valve block is provided with integrally-formed heat dissipation fins.

[0019] Preferably, a heat dissipation fan is fixedly installed on the support seat, and an air outlet direction of the heat dissipation fan is opposite to the heat dissipation fin area; a temperature sensor is installed on the first oil path or the second oil path; and the heat dissipation fan and the temperature sensor are signal connected with a control system of the self-propelled hydraulic module vehicle.

[0020] Preferably, the bidirectional hydraulic pump is an axial piston pump or a gear pump.

[0021] By adopting the foregoing technical solutions, the present application has the following beneficial effects:

[0022] 1. A compact electro-hydraulic power module is formed by adopting a servo motor to drive a bidirectional hydraulic pump, and is directly connected with a steering hydraulic cylinder to form a closed hydraulic circuit. This design perfectly combines the dual advantages of electric control and hydraulic transmission. On the one hand, the servo motor receives instructions from a control system, and can realize accurate, rapid and stepless control of the rotating speed and steering. Thus, the flow direction and flow rate of the output oil liquid are accurately controlled through the bidirectional hydraulic pump, and a high-precision input source is provided for steering execution. On the other hand, the closed hydraulic circuit avoids the throttling loss and response delay caused by the reversing valve in the traditional open system. The energy transmission path is direct and efficient, and the system generates little heat. The steering hydraulic cylinder serves as an actuator, converts hydraulic energy into a large thrust linear motion, drives a steering knuckle arm through a piston rod, and finally drives a heavy wheel assembly to flexibly steer. This combination of accurate electric signal control, hydraulic large torque output and closed efficient transmission enables the entire steering mechanism to have high control precision, rapid dynamic response and strong load driving capacity, and is particularly suitable for the stringent requirements of the steering system of a self-propelled hydraulic module vehicle under heavy load and low-speed precise movement working conditions.

[0023] 2. The electro-hydraulic power module and the integrated valve block are directly fixed on the support seat of the steering hydraulic cylinder to form a rigid power, control and execution integrated unit. This layout greatly shortens the high-pressure connecting pipeline between them, reduces potential leakage points, enhances the overall anti-vibration and anti-impact capability, and improves the reliability of working on complex roads. Secondly, the integrated valve block encapsulates the core hydraulic logic in a solid metal block, replacing a large number of dispersed pipe joints and independent valves, and the structure is extremely compact, saving installation space. The heat dissipation fins on the surface of the integrated valve block further assist system heat management. This modular design enables a single steering wheel group to become a functionally complete independent subsystem. When the vehicle is assembled, only a few interface operations such as frame hinging, piston rod and steering knuckle arm hinging, oil supplementing and signal line connection are required, greatly simplifying the wiring, installation and debugging processes of the entire vehicle. When maintaining, a single faulty module can be quickly diagnosed and replaced as a whole, greatly reducing the complexity and time cost of maintenance.

[0024] 3、In the active control layer, through the servo motor and the control system, and the angle sensor forms a position closed loop, realizes the accurate following and stable keeping of the steering angle, avoids the deviation or drift; In the passive safety layer, the safety valve integrated in the valve block provides the overpressure relief capacity for the closed hydraulic circuit, prevents the system pressure from increasing sharply and damaging the hydraulic elements due to the extreme impact load; In the system guarantee layer, the oil supplement valve group, the oil supplement module, the oil supplement main pipe and the oil supplement branch pipe with the first electromagnetic valve constitute an automatic and independently controllable oil supplement system, which can continuously compensate the leakage in the system, maintain the circuit pressure and the oil filling, and ensure the steering force; In addition, the temperature monitoring and the linkage control of the cooling fan can be extended and integrated, and 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 operation safety and automation level of the self-propelled hydraulic module vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0026] Figure 1 is a structural schematic view of a self-propelled hydraulic module vehicle with a steering mechanism in an embodiment;

[0027] Figure 2 is a structural schematic view of a steering mechanism for a self-propelled hydraulic module vehicle in an embodiment;

[0028] Figure 3 is an enlarged schematic view of the structure at A in Figure 2

[0029] Figure 4 is a structural schematic view of an electro-hydraulic power module in an embodiment;

[0030] Figure 5 is a structural schematic view of a steering mechanism in an embodiment;

[0031] Figure 6 is a sectional structural schematic view of a safety valve and a steering hydraulic cylinder in an embodiment;

[0032] Figure 7 is a structural schematic view of a safety valve in an embodiment;

[0033] Figure 8 is a structural schematic view of an integrated valve block in an embodiment;

[0034] Figure 9 is a structural schematic view of an overflow unit in an embodiment;

[0035] Figure 10 ​Fig. 1 is a schematic diagram of an oil supplement module structure in one embodiment.

[0036] Reference Signs:

[0037] 11, frame; 12, power box; 100, steering wheel set; 110, steering wheel; 120, steering arm; 130, wheel assembly; 200, electro-hydraulic power module; 210, servo motor; 220, bidirectional 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 channel; 410, first oil path; 420, second oil path; 430, safety valve; 431, valve body; 432, first pressure safety assembly; 433, second pressure safety assembly; 434, oil inlet; 435, oil outlet; 436, valve cavity; 437, overflow unit; 440, oil supplement valve group; 441, one-way valve; 442, oil supplement port; 450, heat dissipation fin; 460, heat dissipation fan; 470, temperature sensor; 500, oil supplement module; 510, oil tank; 520, oil supplement pump; 530, oil supplement main pipe; 540, oil supplement branch pipe; 550, first electromagnetic valve; 560, second electromagnetic valve; 570, filter; 600, angle sensor; 700, support seat. DETAILED DESCRIPTION

[0038] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present application unless otherwise specifically stated.

[0039] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the application and its applications or uses.

[0040] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0041] In all examples shown and discussed herein, any specific values should be interpreted as merely illustrative, and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0042] As Figures 1-10 shown in the drawings, a steering mechanism for a self-propelled hydraulic module vehicle includes a steering wheel set 100, an electro-hydraulic power module 200, a steering hydraulic cylinder 300, and an integrated valve block 400.

[0043] Please refer to Figure 1 and Figure 2The steering wheel set 100 comprises a rotating disc 110 rotatably connected to the bottom of the frame 11, a steering knuckle arm 120 fixed to the bottom of the rotating disc 110, and a wheel assembly 130 mounted on the steering knuckle arm 120.

[0044] Please refer to Figure 3 and Figure 4 The electro-hydraulic power module 200 comprises a servo motor 210 and a bidirectional hydraulic pump 220 fixed to the output end of the servo motor 210, and the bidirectional hydraulic pump 220 is provided with a first oil port 230 and a second oil port 240, and the servo motor 210 is signal-connected with the control system of the self-propelled hydraulic module vehicle.

[0045] It should be noted that the bidirectional hydraulic pump 220 is an axial piston pump or a gear pump.

[0046] Please refer to Figure 5 and Figure 6 The steering hydraulic cylinder 300 comprises a cylinder barrel 310, a piston plate 320 slidably connected in the cylinder barrel 310, and a piston rod 330 fixed to the piston plate 320, and the free end of the piston rod 330 is hingedly connected with the steering knuckle arm 120.

[0047] Please refer to Figure 7 and Figure 8 The first oil passage 410 and the second oil passage 420 are integrated in the integrated valve block 400.

[0048] The first oil port 230 is communicated with the rodless cavity of the steering hydraulic cylinder 300 through the first oil passage 410, and the second oil port 240 is communicated with the rod cavity of the steering hydraulic cylinder 300 through the second oil passage 420, so as to form a closed hydraulic circuit.

[0049] The electro-hydraulic power module 200 driven by the servo motor 210 and the bidirectional hydraulic pump 220, and the closed hydraulic circuit composed of the steering hydraulic cylinder 300, the integrated valve block 400 and the steering wheel set 100 realize efficient and accurate control of the steering mechanism. The servo motor 210 responds to the instruction of the control system, accurately controls the oil flow direction and flow rate through the bidirectional hydraulic pump 220, drives the piston rod 330 of the steering hydraulic cylinder 300 to extend and retract, drives the steering knuckle arm 120 and the wheel assembly 130 to steer, and the closed hydraulic circuit structure is compact, energy loss is small, transmission is stable, and is particularly suitable for the high requirements of self-propelled hydraulic module vehicles on steering accuracy and reliability. The specific advantages and improvement mechanisms are as follows:

[0050] 1. Energy efficiency revolutionarily improved

[0051] No throttling loss: the oil passage is directly connected from the bidirectional hydraulic pump 220 to the steering hydraulic cylinder 300 without throttling of the valve.

[0052] No spillage loss: System pressure is determined by load, demand-following, servo motor 210 almost no energy consumption when idle or pressure.

[0053] Energy on demand: Only in steering action servo motor 210 work, and the speed is proportional to the steering speed.

[0054] 2, control accuracy and response greatly improved

[0055] Direct drive: servo motor 210, bidirectional hydraulic pump 220, steering hydraulic cylinder 300 of the direct mechanical connection, eliminating the valve response delay.

[0056] Digital and high resolution: servo motor 210 control resolution is extremely high, can realize the small increment of micro motion.

[0057] High dynamic stiffness: closed-loop control system can quickly suppress load disturbance, maintain angle stability.

[0058] 3, reliability and maintenance simplified

[0059] Structural simplification: Central pump station, complex pipeline and a large number of valve, leakage point sharply reduced.

[0060] Modular: single unit failure does not affect other units, support hot plug replacement.

[0061] Please refer to Figure 6 and Figure 7 , the first oil circuit 410 and the second oil circuit 420 between the fixed installation of safety valve 430, safety valve 430 for when the main oil circuit pressure exceeds the set value, control oil from high pressure main oil circuit to low pressure main oil circuit.

[0062] The safety valve 430 is arranged between the first oil circuit 410 and the second oil circuit 420, which provides overload protection for the closed hydraulic circuit. When the system pressure exceeds the set value due to sudden change of steering resistance or other reasons, the safety valve 430 is automatically opened, so that the oil flows from the high pressure side to the low pressure side, effectively preventing the system pressure from being too high, protecting the key components such as the electro-hydraulic power module 200 and the steering hydraulic cylinder 300 from damage, and improving the safety and service life of the entire steering mechanism.

[0063] Please refer to Figure 6 , Figure 7 and Figure 9The safety valve 430 comprises a valve body 431, a first pressure relief assembly 432 and a second pressure relief assembly 433 are arranged in the valve body 431, the first pressure relief assembly 432 and the second pressure relief assembly 433 are opposite to each other in the flow direction of the oil, the first pressure relief assembly 432 and the second pressure relief assembly 433 each comprise an oil inlet 434, an oil outlet 435, a valve cavity 436 communicated between the oil inlet 434 and the oil outlet 435, and an overflow unit 437 arranged in the valve cavity 436, the overflow unit 437 comprises a valve core 401 axially moving in the valve cavity 436, the valve core 401 is fixedly connected with a spring 402 between the valve core 401 and the valve body 431, and an oil flow groove 403 is arranged at one end of the valve core 401.

[0064] It should be noted that the oil flow groove 403 is communicated with the oil inlet 434, when the oil flows into the oil flow groove 403 from the oil inlet 434, when the pressure at the end face of the valve core 401 at the oil flow groove 403 exceeds the pre-tightening pressure of the spring 402, the valve core 401 moves under the pressure difference at both ends of the valve core 401, so as to open the channel between the valve cavity 436 and the oil outlet 435, so that the oil flows from the high-pressure main oil way to the low-pressure main oil way.

[0065] The safety valve 430 adopts a symmetrical design comprising the first pressure relief assembly 432 and the second pressure relief assembly 433, the oil flow directions of the overflow units 437 of the two assemblies are opposite, the valve core 401 in each assembly controls the opening and closing under the action of the spring 402, the structure realizes the bidirectional overpressure protection, no matter whether the first oil way 410 or the second oil way 420 becomes the high-pressure side, the corresponding pressure relief assembly can timely respond to the pressure relief, and the protection function is more comprehensive and reliable.

[0066] Please refer to Figure 2 The rotating disc 110 is provided with an angle sensor 600, and the angle sensor 600 is signal-connected with a control system of the self-propelled hydraulic module vehicle.

[0067] The angle sensor 600 can detect the actual steering angle of the wheel assembly 130 in real time and accurately, and feed back the signal to the control system, and the control system can perform closed-loop accurate control on the servo motor 210 by comparing the actual angle with a target angle, so as to realize high-precision steering positioning and stable steering keeping, and improve the controllability and operation accuracy of the whole vehicle, and is the basis for realizing automatic steering, multi-vehicle coordinated operation and other functions.

[0068] Please refer to Figure 7 and Figure 8The integrated valve block 400 further integrates a supplementary oil valve group 440, which includes two one-way valves 441, the inlets of which are connected to a supplementary oil port 442, and the outlets of which are connected to the first oil path 410 and the second oil path 420, respectively. The supplementary oil valve group 440 can automatically supplement the oil lost due to leakage and the like in the closed hydraulic circuit, thereby maintaining the necessary pressure and oil amount required by the system, ensuring continuous and stable steering action, preventing steering failure or cavitation phenomenon caused by lack of oil, and improving the reliability and durability of the system.

[0069] Please refer to Figure 8 and Figure 10 The steering mechanism further includes a supplementary oil module 500 fixed in the power box 12 of the self-propelled hydraulic module vehicle, which includes an oil tank 510 and a supplementary oil pump 520. The outlet of the supplementary oil pump 520 is connected to a supplementary oil main pipe 530, and the supplementary oil port 442 of each steering wheel group 100 is connected to the supplementary oil main pipe 530 through a supplementary oil branch pipe 540, which is provided with a first electromagnetic valve 550. The first electromagnetic valve 550 is signal-connected to the control system of the self-propelled hydraulic module vehicle, and the supplementary oil branch pipe 540 is a high-pressure hydraulic hose.

[0070] It should be noted that the supplementary oil main pipe 530 is provided with a second electromagnetic valve 560, and a filter 570 is arranged between the supplementary oil pump 520 and the oil tank 510 to ensure that the oil injected into the closed hydraulic circuit is clean and prevent pollutants from entering the precision servo motor 210 and the steering hydraulic cylinder 300, thereby improving the reliability and service life of the system.

[0071] The specific supplementary oil process is as follows: the feedback value of the angle sensor 600 of each steering wheel group 100 is compared with the target command value in real time; when the deviation of the steering angle of any steering wheel group 100 continuously exceeds the set threshold value, the control system determines that the leakage amount in the closed hydraulic circuit corresponding to the steering wheel group 100 exceeds the normal range; then, the control system only sends a short pulse control signal to the first electromagnetic valve 550 on the supplementary oil branch pipe 540 corresponding to the steering wheel group 100, to drive the supplementary oil module 500 to supplement a small amount of hydraulic oil to the specific closed hydraulic circuit; after the supplementary oil pulse ends, the deviation of the steering angle is detected again, and if the deviation has not been eliminated, the supplementary oil pulse is sent again after a predetermined time interval, until the deviation is eliminated, thereby realizing independent, on-demand, and micro-supplementary oil for each steering wheel group 100, avoiding excessive or insufficient supplementary oil, and ensuring the steering accuracy and system reliability.

[0072] Please refer to Figure 5A 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.

[0073] Please refer to Figure 5 or Figure 8 The 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.

[0074] 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.

[0075] 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.

[0076] While specific embodiments of the application have been described in detail, those skilled in the art will appreciate that the examples provided are for illustrative purposes only and are not meant to limit the scope of the application. Those skilled in the art will appreciate that modifications can be made to the described embodiments without departing from the scope and spirit of the application. The scope of the application is defined by the appended claims.

Claims

1. A steering mechanism for a self-propelled hydraulic module vehicle, characterized by, The utility model relates to a kind of self-propelled hydraulic module vehicle, including: Steering wheel group (100), including rotatingly connected in the bottom of frame (11) turntable (110), fixed in the bottom of turntable (110) steering knuckle arm (120) and wheel assembly (130) installed on steering knuckle arm (120); Electro-hydraulic power module (200), including servo motor (210) and fixed in the output end of servo motor (210) bidirectional hydraulic pump (220), first oil port (230) and second oil port (240) have on the bidirectional hydraulic pump (220), servo motor (210) is connected with the signal of self-propelled hydraulic module vehicle control system; Steering hydraulic cylinder (300), including cylinder barrel (310), slidingly connected in the piston plate (320) of cylinder barrel (310) and fixed on the piston rod (330) of piston plate (320), the free end of piston rod (330) is hinged with steering knuckle arm (120); Integrated valve block (400), first oil path (410) and second oil path (420) are integrated inside; Wherein, the first oil port (230) is communicated with the rodless cavity of steering hydraulic cylinder (300) by first oil path (410), and the second oil port (240) is communicated with the rod cavity of steering hydraulic cylinder (300) by second oil path (420), to constitute a closed hydraulic circuit; Safety valve (430) is fixedly installed between the first oil path (410) and the second oil path (420), and the safety valve (430) is used for when main oil way pressure exceeds set value, control oil flows from high pressure main oil way to low pressure main oil way; Angle sensor (600) is arranged on the turntable (110), and the angle sensor (600) is connected with the signal of self-propelled hydraulic module vehicle control system; Integrated valve block (400) is also integrated with oil supplement valve group (440), and the oil supplement valve group (440) includes two check valves (441), the inlet of two check valves (441) is connected to an oil supplement port (442) in common, and the outlet of two check valves (441) is connected to first oil path (410) and second oil path (420) respectively; Cylinder barrel (310) is fixedly connected with support seat (700), and support seat (700) is hinged with frame (11), and electro-hydraulic power module (200) and integrated valve block (400) are fixed on support seat (700); The shell of integrated valve block (400) is made of metal material, and the outer surface of integrated valve block (400) is provided with integrally-formed heat dissipation fin (450). The turning mechanism further comprises an oil supplement module (500) fixed in the power box (12) of the self-propelled hydraulic module vehicle, the oil supplement module (500) comprises an oil tank (510) and an oil supplement pump (520), an oil supplement main pipe (530) is connected to the outlet of the oil supplement pump (520), an oil supplement branch pipe (540) is connected between the oil supplement port (442) of each turning wheel group (100) and the oil supplement main pipe (530), a first electromagnetic valve (550) is installed on the oil supplement branch pipe (540), the first electromagnetic valve (550) is signal connected to the control system of the self-propelled hydraulic module vehicle, and the oil supplement branch pipe (540) is a high-pressure hydraulic hose. The support seat (700) is fixedly installed with a cooling fan (460).

2. A steering mechanism for a self-propelled hydraulic module vehicle according to claim 1, characterized in that The safety valve (430) comprises a valve body (431), a first pressure safety assembly (432) and a second pressure safety assembly (433) are arranged in the valve body (431), the flow directions of oil in the first pressure safety assembly (432) and the second pressure safety assembly (433) are opposite, the first pressure safety assembly (432) and the second pressure safety assembly (433) each comprise an oil inlet (434), an oil outlet (435), a valve cavity (436) communicated between the oil inlet (434) and the oil outlet (435), and an overflow unit (437) arranged in the valve cavity (436), the overflow unit (437) comprises a valve core (401) axially moving in the valve cavity (436), a spring (402) is fixedly connected between the valve core (401) and the valve body (431), and an oil flow groove (403) is formed in one end of the valve core (401).

3. A steering mechanism for a self-propelled hydraulic module vehicle according to claim 1, wherein The cooling fan (460) is arranged opposite to the area of the heat dissipation fins (450) in the air outlet direction, a temperature sensor (470) is installed on the first oil way (410) or the second oil way (420), and the cooling fan (460) and the temperature sensor (470) are signal connected to the control system of the self-propelled hydraulic module vehicle.

4. A steering mechanism for a self-propelled hydraulic module vehicle according to any one of claims 1 to 3, characterized in that The bidirectional hydraulic pump (220) is an axial piston pump or a gear pump.

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