Independent steering system of mining electric vehicle
By designing an independent steering system, using hydraulic steering control of the front and rear axles, independent control of the front and rear wheels is achieved, solving the problem of single steering system mode in the existing technology, and improving the narrow passage of mining electric vehicles flexibility and stability in.
Patent Information
- Application Number
- CN202421209942.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-29
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-05-29
AI Technical Summary
Due to the single mode of the existing steering system of the mining electric vehicles, it is difficult to achieve the minimum turning radius and steering of multiple driving modes in narrow coal mine passages, limiting the flexibility and stability of the vehicle.
A separate steering system for mining electric vehicles was designed. The hydraulic steering control system of the front axle and the rear axle is included in the independent steering lock valve group and hydraulic lock of the front and rear wheels, respectively, using an absolute value encoder and control unit. It realizes independent control of the front axle and the rear axle, and supports multiple steering methods.
Independent steering control of the front and rear wheels is achieved, external pipe connections are reduced, space utilization efficiency is improved, and multiple steering modes are supported, enhancing the flexibility and stability of the vehicle in narrow passages.
Smart Images
Figure CN222329816U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to an independent steering system of an electric mining vehicle, belonging to the technical field of mining traveling equipment. Background Art
[0002] Electric mining vehicles in coal mines generally use built-in steering systems to assist the vehicle's steering, ensuring that the vehicle can move in the set direction. The flexibility and stability of the steering system are closely related to the stability and reliability of the vehicle. In the prior art, most mining vehicles only have front axle steering, which drives the steering gear by turning the steering wheel, uses a hydraulic pump to deliver high-pressure oil to the steering cylinder through the steering gear, and drives the rubber wheel to deflect it, thereby achieving steering action.
[0003] However, since the driving passages underground in coal mines are relatively narrow, if the vehicle only has front wheel steering, it cannot smoothly pass through the tunnels to reach the destination. Therefore, the current steering of mining vehicles is subject to large space restrictions due to the single mode, and there is an urgent need to find a steering method with the smallest turning radius and a steering mode with multiple driving modes. Utility Model Content
[0004] In order to solve the above problems, the utility model provides an independent steering system for a mining electric vehicle, comprising:
[0005] An integrated axle, comprising a front axle steering cylinder connected to the front axle and a rear axle steering cylinder connected to the rear axle;
[0006] A front wheel steering lock valve group, connected to the front axle steering cylinder;
[0007] A rear wheel steering hydraulic lock connected to the rear axle steering cylinder;
[0008] A hydraulic steering gear and a front axle steering proportional valve coupled to the front wheel steering lock valve group; the hydraulic steering gear is connected to the steering wheel of the mining electric vehicle; and
[0009] The rear axle steering proportional valve is connected to the rear wheel steering hydraulic lock.
[0010] The front wheel steering lock valve group includes a first front axle hydraulic lock and a second front axle hydraulic lock which are integrated into one body. The first front axle hydraulic lock and the second front axle hydraulic lock are respectively connected to a hydraulic steering gear and a front axle steering proportional valve.
[0011] Further, the first front axle hydraulic lock is configured to control the front axle steering cylinder and isolate the hydraulic steering gear.
[0012] Furthermore, the hydraulic steering gear comprises a rotary valve group and a rotor-stator meshing pair connected to each other. When the steering wheel is turned, the oil output from the steering system oil supply pump flows to the left or right chamber (depending on the direction of rotation) of the front axle steering cylinder through the rotary valve group and the rotor-stator meshing pair; the oil discharged from the rotor-stator meshing pair is proportional to the steering angle of the steering wheel.
[0013] Furthermore, the front axle steering proportional valve includes a front axle connection block, a front axle reversing valve, and a front axle tail plate connected in sequence. Among them, the front axle connection block can be an oil inlet joint with a pressure oil inlet P and an oil return tank interface R, as well as a control interface LS and measurement interfaces Z and M; the front axle reversing valve is fixed between the front axle connection block and the front axle tail plate with three screws (pull rods), and a group can be equipped with up to 12 reversing valves; the front axle tail plate is the terminal of the combined multi-way valve, with an internal or external return oil interface T for control oil, with or without an additional LS, as well as features such as an oil inlet P and an oil return port R.
[0014] Furthermore, the front axle steering proportional valve and the rear axle steering proportional valve are connected to a control unit configured in the mining electric vehicle.
[0015] Further, the rear wheel steering hydraulic lock is configured to control the rear axle steering cylinder and isolate the rear axle steering proportional valve.
[0016] In one embodiment of the utility model, the rear axle steering proportional valve comprises a rear axle connection block, a rear axle reversing valve, and a rear axle tail plate connected in sequence. The rear axle connection block can be an oil inlet joint with a pressure oil inlet P and an oil return tank interface R, as well as a control interface LS and measurement interfaces Z and M; the rear axle reversing valve is fixed between the rear axle connection block and the rear axle tail plate with three screws (pull rods), and a group can be equipped with up to 12 reversing valves; the rear axle tail plate is the terminal of the combined multi-way valve, with an internal or external return oil interface T for control oil, with or without an additional LS, as well as features such as an oil inlet P and an oil return port R.
[0017] Furthermore, the front axle and the rear axle are respectively provided with a front axle absolute encoder and a rear axle absolute encoder, and the front axle absolute encoder and the rear axle absolute encoder are configured to respectively feed back the steering angle of the front wheels and the steering angle of the rear wheels to a control unit configured in the mining electric vehicle; the absolute encoder can accurately detect the steering angle of the front wheels or the rear wheels, so that the control unit can control the front axle steering proportional valve and the rear axle steering proportional valve according to the steering angle information measured by the absolute encoder.
[0018] Furthermore, the control unit is provided with a return module, which can cooperate with the absolute value encoder and the control unit to control the front wheel or the rear wheel to achieve one-key return.
[0019] In one embodiment of the utility model, the front axle steering proportional valve and the rear axle steering proportional valve are connected to a control unit configured in the mining electric vehicle; through the electronic control command communication of the control unit, the front axle steering proportional valve and the rear axle steering proportional valve can be controlled to operate independently without interfering with each other, thereby realizing a variety of steering methods.
[0020] Beneficial effects of the utility model:
[0021] The utility model realizes separate and independent control of the steering conditions of the front and rear wheels by setting up a hydraulic steering control system for the front and rear axles in parallel, wherein the front wheel steering valve group integrates two front axle hydraulic locks to respectively isolate the hydraulic steering gear and the front axle steering proportional valve to form a minimum number of oil inlets and outlets, thereby reducing the connection of external pipelines to a certain extent; in addition, the utility model utilizes modular thinking to integrate multiple hydraulic components into the front and rear axle steering proportional valves and the hydraulic steering gear, thereby effectively improving the space utilization efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 This is a schematic diagram of the overall structure of an implementation method of the utility model;
[0023] Figure 2 A schematic diagram of five steering modes in one embodiment of the utility model;
[0024] In the figure: 1. Hydraulic steering gear; 2. First front axle hydraulic lock; 3. Front axle steering cylinder; 4. Second front axle hydraulic lock; 5. Front axle steering proportional valve; 6. Rear axle steering cylinder; 7. Rear wheel steering hydraulic lock; 8. Rear axle steering proportional valve. DETAILED DESCRIPTION
[0025] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0026] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.
[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0028] Example 1
[0029] The utility model provides an independent steering system for an electric mining vehicle, comprising:
[0030] An integrated axle, comprising a front axle steering cylinder 3 connected to the front axle and a rear axle steering cylinder 6 connected to the rear axle;
[0031] A front wheel steering lock valve group, connected to the front axle steering cylinder 3;
[0032] A rear wheel steering hydraulic lock 7, connected to the rear axle steering cylinder 6;
[0033] A hydraulic steering gear 1 and a front axle steering proportional valve 5 coupled to the front wheel steering lock valve group; and
[0034] The rear axle steering proportional valve 8 is connected to the rear wheel steering hydraulic lock 7 .
[0035] The front wheel steering lock valve group includes a first front axle hydraulic lock 2 and a second front axle hydraulic lock 4 integrated into one body. The first front axle hydraulic lock 2 and the second front axle hydraulic lock 4 are respectively connected to a hydraulic steering gear 1 and a front axle steering proportional valve 3. The hydraulic steering gear 1 is connected to the steering wheel of the mining electric vehicle.
[0036] Further, the first front axle hydraulic lock 2 is configured to control and isolate the front axle steering cylinder and isolate the hydraulic steering gear 1 .
[0037] Furthermore, the hydraulic steering gear comprises a rotary valve group and a rotor-stator meshing pair connected to each other. When the steering wheel is turned, the oil output from the steering system oil supply pump flows to the left or right chamber (depending on the direction of rotation) of the front axle steering cylinder through the rotary valve group and the rotor-stator meshing pair; the oil discharged from the rotor-stator meshing pair is proportional to the steering angle of the steering wheel.
[0038] Furthermore, the front axle steering proportional valve includes a front axle connection block, a front axle reversing valve, and a front axle tail plate connected in sequence. Among them, the front axle connection block can be an oil inlet joint with a pressure oil inlet P and an oil return tank interface R, as well as a control interface LS and measurement interfaces Z and M; the front axle reversing valve is fixed between the front axle connection block and the front axle tail plate with three screws (pull rods), and a group can be equipped with up to 12 reversing valves; the front axle tail plate is the terminal of the combined multi-way valve, with an internal or external return oil interface T for control oil, with or without an additional LS, as well as features such as an oil inlet P and an oil return port R.
[0039] Furthermore, the front axle steering proportional valve 5 and the rear axle steering proportional valve 8 are connected to a control unit configured in the mining electric vehicle.
[0040] Furthermore, the rear wheel steering hydraulic lock 7 is configured to control and isolate the rear axle steering cylinder 6 and isolate the rear axle steering proportional valve 8 .
[0041] In one embodiment of the utility model, the rear axle steering proportional valve comprises a rear axle connection block, a rear axle reversing valve, and a rear axle tail plate connected in sequence. The rear axle connection block can be an oil inlet joint with a pressure oil inlet P and an oil return tank interface R, as well as a control interface LS and measurement interfaces Z and M; the rear axle reversing valve is fixed between the rear axle connection block and the rear axle tail plate with three screws (pull rods), and a group can be equipped with up to 12 reversing valves; the rear axle tail plate is the terminal of the combined multi-way valve, with an internal or external return oil interface T for control oil, with or without an additional LS, as well as features such as an oil inlet P and an oil return port R.
[0042] Furthermore, the front axle and the rear axle are respectively provided with a front axle absolute encoder and a rear axle absolute encoder, and the front axle absolute encoder and the rear axle absolute encoder are configured to respectively feed back the steering angle of the front wheels and the steering angle of the rear wheels to a control unit configured in the mining electric vehicle; the absolute encoder can accurately detect the steering angle of the front wheels or the rear wheels, so that the control unit can control the front axle steering proportional valve 5 and the rear axle steering proportional valve 8 according to the steering angle information measured by the absolute encoder.
[0043] Furthermore, the control unit is provided with a return module, which can cooperate with the absolute value encoder and the control unit to control the front wheel or the rear wheel to achieve one-key return.
[0044] The front axle steering proportional valve 5 and the rear axle steering proportional valve 8 are connected to a control unit configured in the mining electric vehicle; through the electronic control command communication of the control unit, the front axle steering proportional valve 5 and the rear axle steering proportional valve 8 can be controlled to operate independently without interfering with each other, thereby realizing a variety of steering modes.
[0045] Example 2
[0046] For the front axle, when the steering wheel controls the steering of the front axle through the hydraulic steering gear, the coil DY1 of the front axle steering proportional valve 5 shall not be energized; when the control unit controls the connection of the front axle steering proportional valve 5, the front axle steering proportional valve 5 is transformed into a free control mode according to the electrical signal transmitted by the control unit, and the analog signal is freely input, so that the steering of the front axle can be freely controlled.
[0047] For the rear axle, when the control unit controls the connected rear axle steering proportional valve 8, the rear axle steering proportional valve 8 is transformed into a free control mode according to the electrical signal transmitted by the control unit, and the analog signal is freely input, so that the steering of the rear axle can be freely controlled.
[0048] When the control unit requires switching to the front and rear axle synchronous steering mode, there are two ways: if the "crab walk" is to be achieved, the electrical signal of the rear axle steering proportional valve 8 is to control the steering angle of the rear axle to be consistent with that of the front axle, and in the same direction; if the "bending" is to be achieved, the electrical signal of the rear axle steering proportional valve 8 is to control the steering angle of the rear axle to be consistent with that of the front axle, and in the opposite direction.
[0049] Therefore, if Figure 2 As shown, based on the above principle, the utility model can realize four steering modes in total: steering of the front axle alone (front axle steering), steering of the rear axle alone (rear axle steering), steering of the front and rear axles in the same direction (crab walking), and steering of the front and rear axles in opposite directions (bending); when both the front and rear wheels do not turn and keep the initial position constant, it is straight driving.
[0050] When the return button is pressed, the control system controls the coil DY1 of the front axle steering proportional valve 5 and the coil DY2 of the rear axle steering proportional valve 8 to be energized and work at the same time according to the return signal of the control unit, thereby driving the front axle steering cylinder 3 and the rear axle steering cylinder 6 until the absolute encoders of the front and rear axles detect the zero position.
[0051] Although the present invention has been disclosed as above in terms of preferred embodiments, it is not intended to limit the present invention. Anyone familiar with the technology may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the definition of the claims.
Claims
1. An independent steering system for a mining electric vehicle, characterized in that: include: An integrated axle, comprising a front axle steering cylinder connected to the front axle and a rear axle steering cylinder connected to the rear axle; A front wheel steering lock valve group, connected to the front axle steering cylinder; A rear wheel steering hydraulic lock connected to the rear axle steering cylinder; A hydraulic steering gear and a front axle steering proportional valve coupled to the front wheel steering lock valve group; The hydraulic steering gear is connected to the steering wheel of the mining electric vehicle; as well as The rear axle steering proportional valve is connected to the rear wheel steering hydraulic lock.
2. The independent steering system of an electric mining vehicle according to claim 1, characterized in that: The front wheel steering lock valve group includes a first front axle hydraulic lock and a second front axle hydraulic lock which are integrated into one body. The first front axle hydraulic lock and the second front axle hydraulic lock are respectively connected to a hydraulic steering gear and a front axle steering proportional valve.
3. The independent steering system of an electric mining vehicle according to claim 2, characterized in that: The first front axle hydraulic lock is configured to control the front axle steering cylinder and isolate the hydraulic steering gear.
4. The independent steering system of an electric mining vehicle according to claim 1, characterized in that: The hydraulic steering gear comprises a rotary valve group and a rotor-stator meshing pair which are connected to each other.
5. The independent steering system of an electric mining vehicle according to claim 1, characterized in that: The front axle steering proportional valve comprises a front axle connecting block, a front axle reversing valve and a front axle tail plate which are connected in sequence.
6. The independent steering system of an electric mining vehicle according to claim 5, characterized in that: The front axle steering proportional valve and the rear axle steering proportional valve are connected to a control unit configured in the mining electric vehicle.
7. The independent steering system of an electric mining vehicle according to claim 1, characterized in that: The rear wheel steering hydraulic lock is configured to control the rear axle steering cylinder and isolate the rear axle steering proportional valve.
8. The independent steering system of an electric mining vehicle according to claim 1, characterized in that: The rear axle steering proportional valve comprises a rear axle connecting block, a rear axle reversing valve and a rear axle tail plate which are connected in sequence.
9. The independent steering system of an electric mining vehicle according to claim 1, characterized in that: The front axle and the rear axle are respectively provided with a front axle absolute encoder and a rear axle absolute encoder, and the front axle absolute encoder and the rear axle absolute encoder are configured to feed back the steering angle of the front wheels and the steering angle of the rear wheels to a control unit configured in the mining electric vehicle respectively.
10. The independent steering system of an electric mining vehicle according to claim 9, characterized in that: The control unit is equipped with a return module.