• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    An apparatus for an articulated vehicle for preventing jackknifing. A sensor for sensing the steered angle has a movable first element coupled to the steered wheel and a stationary second element, one of the first and second elements being divided into sections starting from the position of the steering to the left, with a discrete signal for each single section referring to its relative position and having a value differing from that of the other sections and a digital output signal characteristic of the serial number of each section. A sensor for sensing the angle of articulation has a displaceable third element connected to one of the vehicle parts, and a stationary fourth element, wherein one of the third and fourth elements is divided into sections starting from the position of the fully left articulation with a digital output signal for each section representative of the serial number and a discrete signal representing the relative position thereof and which has a value which is different from that of the other sections. An angular position evaluating unit is receptive of the output signals from the two sensors for comparing same and for indicating a positive differential sign if the serial number of the steering angle section is less than the serial number of the section of the angle of articulation and the difference between the serial numbers is greater than a predetermined value and a negative differential sign if the serial number of the section of the steering angle is larger than the serial number of the section of the angle of articulation and the difference between the serial numbers is greater than a predetermined value.
    公开号:SU1713432A3
    申请号:SU833642040
    申请日:1983-08-26
    公开日:1992-02-15
    发明作者:Ивони Йожеф；Мадочаи Аттила；Ратшко Иштван；Хорват Бела；Мади Йене
    申请人:Аутоипари Кутато Еш Фейлесте Валлалат (Инопредприятие)；Икаруш Карошсериа Еш Ярмюдьяр (Инопредприятие)；
    IPC主号:
    专利说明:

    The invention relates to a transport engineering, in particular to articulated vehicles equipped with a device for preventing their folding.
    The purpose of the invention is to increase operational reliability.
    FIG. 1 shows an articulated vehicle equipped with an anti-folding device, a plan view; in fig. 2 is a control circuit of a power hydraulic cylinder; in fig. 3 - sensor containing movable and fixed elements; in fig. 4 - the movable element of the angle of rotation sensor and the front steered wheels; in fig. 5 a movable element of the relative displacement angle sensor of the links of the vehicle; in fig. 6 - movable element
    a sensor with holes arranged according to the Gre code; in fig. 7 is a block diagram of the device; Figures 8 and 9 are a diagram of an angular position estimation unit, exemplary embodiments; in fig. 10 is a circuit for monitoring the output signals of an angular position estimator. The articulated vehicle 1 includes front 2 and rear 3 links connected by a hinge 4. The front wheels 6 of the front link 2 are located on axis 5 and are made to be controlled. FIG. 1 denotes the angle a of the rotation of the front wheels and the angle with respect to the displacement of the links of the vehicle. The front axle 7 of the front link 2 is not rotary. The rear axle 8 of the rear link 3 can be made rotatable or non-rotary. The steering mechanism 9 is provided with a sensor 10.
    the angle of rotation of the front steerable wheels, which, by means of an electric circuit 11, is connected to a control unit 12, which includes an angle position estimation unit 13. Through the circuit 14, the angular relative displacement sensor 15 is connected to the angular position estimation unit 13. The control unit 12 also includes a blocking system drive unit 16.
    The block 16 is connected by a line 17 to a sensor 18 for directing the change in the angle of relative displacement of the links of the vehicle. A hydraulic cylinder 21 is connected to block 16 via hydraulic lines 19 and 20, the housing 22 of which is pivotally connected to the front link 2 of the vehicle 1. The hydraulic rod 21 of the hydraulic cylinder 21 is pivotally connected to the rear link 3. The hydraulic cylinder 21 has a piston cavity 24 and a rod cavity 25.
    The cylinder 21 is connected by lines 19 and 20 to a three-position four-way valve 26, the spool 27 of which is equipped with electromagnets 28 connected to the angle position estimator 13. The valve 26 has inlets 29 and 30 and outlets 31 and 32, and the hydraulic system also includes a pipeline 33, a pressure limiting valve 34, a pipeline 35, a check valve 36, and a tank 37.
    On the console 38 rear link 3 is fixed bracket 39, in which the bearings 40 are mounted. In bearings 40 a second movable element 41 is placed, which is pivotally connected to front link 2 through a rocking chair 42 and a rod 43. The movable and fixed elements of sensors 10 and 15 respectively the angular relative displacement of the links is made the same. On the movable elements 41, holes are arranged in a certain way on the side surfaces 44 and 45. On the non-movable elements, sources 46 of light are installed, which are located on the side surface 44 of the movable element 41. In addition, on the stationary elements photo cells 47 are mounted on the side surfaces 45 of the moving element 41. Additional sources 48 of light are also mounted on the fixed elements and opposite the photocell 49, which are intended to read the control code field. The movable element 41 is covered by a fixed element 50.
    On the movable element 41 of the sensor of the angular relative displacement of the links of the vehicle, there is a code field 51, on which in six arcs
    There are six rows of 52-57 holes located according to the Gre code. There are also a series of 58 holes on this element, which are the control code field 59: A combination of rows of 52-57 holes divides the entire angle range / 3 into corner sections 60.
    Similarly, on the movable element of the sensor 10 of the angle of rotation of the controlled wheels, the entire range of angle a is divided into corner sections. The element rotates around the axis 62. On the movable element 63 there are portions 64, which always correspond to the blocking of links,
    5 field 65, on six arcs of which there are rows of 66-71 holes and a row of 72 holes, which are the control code field 73. The holes in rows 66-71 are located according to the Gre code. In the range of 72
    The 0 holes of the hole 74 are made on the division into equal parts of the movable element and are located in the same area completely, and partially in the neighboring areas. Thus, zone 75 does not reach the boundaries of the site.
    The angular relative displacement sensor 15 includes a matching circuit 76 and a line powering unit 77, a second output 78 of the powering unit 77 is a control signal output, and the first output 79 is an information signal output. The second output 78 by line 80 is connected to the second input 81, and the first output 79 by line 82 is connected to the first input 83 of the receiving unit 84 from the line, which
    5 has two outputs 85 and 86. Output 85 is used to transmit the control code signal, and output 86 is for signal information. The output 86 via the information transmission line 87 is connected to the second input 90 of the control unit 12. The output 85 via the information transmission line 88 is connected to the fourth input 89 of the control unit 12. In the section between the angle position estimator 13 and the locking system drive unit 16, the portion of the control unit 12 is made 6 in the form of the control circuit 91.
    The angle of rotation sensor 10 comprises a circuit associated with the photo-cells 92
    93 matching and block 94 power line with
    two outputs 95 and 96, which are connected via circuits 97 and 98 to inputs 99 and 100 of a receiving unit 101 from a line, outputs 102 and 103 of which are connected to fifth input 106 and first input 107 of control unit 107 through circuits 104 and 105 5. The control unit 12 has a fixed program memory device 108, the four information inputs of which are identical to the inputs 90, 89, 106 and 107 of the control unit 12.
    The device 108 forms an angular position estimator, at the first output 109 of which a signal appears with a deviation with a negative sign, at the second output
    110 is a signal for mutual coincidence, on the third output 111 there appears an output signal with a deviation with a positive sign, and on the fourth output 112 an error signal appears. Outputs 109 and
    111 are connected to the inputs 113 and 114 of power amplifiers 115 and 116, the outputs 117 and 118 of which are connected to the inputs of block 16. The inputs 119-121 of the control unit 122 are connected to the outputs of block 108, and the inputs 123 and 124 are connected to the outputs 117.and 118. The control unit 122 has an error signal output 125.
    A block of 16 inputs 126 and 127 is connected to the outputs 117 and 118 of power amplifiers. The third input of the block 16 of the drive of the locking system is identical to the third input 128 of the block 12 of the control. The lines 129 and 130 of the outputs 125 and 112 are connected to the inputs 131 and 132 of the control unit 133, to one output 134 of which the main switch 135 is connected, and to the other output 136 - an alarm output 137.
    The angular position estimator 13 may comprise (fig. 8) a code converter 138 that converts the Gre code into a binary code. Its output 139 is connected to the input 140 of the comparator unit 141, the input 143 of which is connected to the output 143 of the converter 144 of the code. The transducers 138 and 144 of the codes are connected to the inputs 107 and 90. The three outputs of the comparator unit 141 are identical to the outputs 109-111 of the angular position estimator 13. To output 139, input 145 of the inverting logic circuit OR NOT 146 is connected, the other input of which is identical to input 106 of the angle position estimator 13. The output 143 is connected to the input 147 of the inverting logic circuit OR NOT 148, the other input of which is identical to the input 89 of the angle position estimation unit 13. To the outputs 149 and 150 of the inverting logic circuit OR-NE 146 and 148 are connected the inputs 151 and 152 of the logic circuit OR 153, the output of which is identical to the output 112 of the angular position estimation unit 13.
    Such an execution of the angular position estimation unit 13 (Fig. 9) is also possible, in which it contains transducers 138 and 144 codes associated with the comparator unit 141, wherein the inputs of the transducers 138 and 144 codes coincide with the inputs 107 and 90 of the angular evaluation unit 13 position Input 107 is connected to input 154 of parity check circuit 155, the other input of which is identical to input 106 of angular position estimator 13. The output 156 of the parity checker 155 is connected to one of the inputs of the OR circuit 152. An input 157 of the input 157 of the parity check circuit 158, the other input of which is identical to the input 89 of the angular position estimator 13. The output 159 of the parity check circuit 158 is connected to one of the inputs of the logic circuit OR 152, the output of which is identical to the output 112
    0 block 13 estimates the angular position.
    The target controlling the output signals of the angle position estimator 13, i.e., the outputs of the power amplifiers 115 and 116, includes light-signaling elements 160-162 connected to the outputs 109-111. The output 109 is connected to the input 163 of the level matching circuit 164, the output 165 of which is connected to the input 166 of the circuit 167 with two stable states. Another entry 168
    0 of the circuit 167 is connected to the output 110, which is also connected to the input 169 of the circuit 170 with two stable states, the input 171 of which is connected to the output 172 of the level matching circuit 173, the input 174 of which sa 5 is assigned to the output 111. The outputs 175 and 176 schemes
    167 and 170 are connected to inputs 177 and 178.
    logical circuit OR 179, the output of which
    identical to the error signal output 125 ..
    The device for preventing the folding of the articulated vehicle operates as follows.
    Located opposite the holes in the rows 66-71 of the code field 65 of the movable element 63 of the angle of rotation 10 sensor six
    5 photo cells 47 provide a code signal corresponding to the combination of holes available. The signal, via a matching circuit 93, is applied to a line powering unit 94. Located against holes in row 72
    0, the code field 73 of the control of the movable element 63, the photocell 49 outputs a control signal, which through the matching circuit 93 is fed to the line powering unit 94. Similar signals come from
    CL1 of the sensor 15 of the angular relative displacement of the links.
    权利要求:
    Claims (2)
    [1]
    . The signals from the senders 10 and 15 are fed to the inputs 107, 103, 90 and 89 of the device 108 of the memory of the fixed program, which, in accordance with the program embedded in it, converts the signals from the Gray code to the binary code received on channels 90 and 107 and controls the code signals. If during the comparison it turns out that the angle a of rotation of the steerable wheels is equal to the angle α / 3 of the relative displacement of the links, then a signal appears at the output 110 and the block 16 of the locking system actuator does not work. If the angle is a. greater than the angle, the signal appears at the output 109. When the angle is less than the angle / 3, the signal appears at the output 111. In the case of signals to the inputs 126 or 127 of the block 16, the electromagnet 28 moves the spool 27 of the hydraulic distributor 26. If, for example, Signals are present at inputs 121 and 124 of the control unit 122, then the control unit 122 does not generate an error signal. If there are no coincident signals on both inputs at the same time, then an error signal appears at output 125, which triggers an alarm 137. In this case, the main switch 135 is disconnected. Claim 1. Arrangement for preventing the folding of an articulated vehicle including articulated links, the front of which is made with steering wheels, containing a hydraulic cylinder connected to the links of the vehicle a three-position four-way valve, which is connected to the control unit, an angle sensor of the front steerable wheels, and an angle sensor relative to The vehicle links, connected to the control unit, are distinguished by the fact that, in order to increase operational reliability, the steering angle sensor of the front steering wheels includes a first movable element connected to the steering wheel, and a fixed element, the angle relative displacement sensor of the links vehicle contains a second movable element connected to one of the links of the vehicle, and a stationary element, and on the moving elements there are holes, located according to the Gre code, and on other elements, light sources and photocells are installed, while the photocells face the light sources and are connected by an electrical circuit to the first and second inputs of the angular position estimator, which contains a memory unit capable of creating two types of output signals , the first of which characterizes the smaller value of the angle of rotation of the front steered wheels in comparison with the value of the angle of relative displacement of the links of the vehicle, exceeding the specified value and the second of which characterizes a larger angle of rotation of the front steerable wheels as compared with the relative displacement angle of the vehicle links exceeding a predetermined value, with the two outputs of the memory unit being connected by an electrical circuit to the control elements of the control valve.
    [2]
    2. Device pop. 1, characterized in that the movable elements of the sensors comprise a control code field, the apertures of which are made on a movable element divided into equal parts and are located in one part completely, and partially in adjacent parts, and part of the apertures are located in areas with even pores and the other part in areas with odd-numbered sequence numbers, while on fixed elements there are additional light sources on one side of moving elements and additional photocells with Another side of the moving parts connected by an electrical circuit to the third and fourth inputs of the angular position estimator, the fourth output of which carries an error signal.
    xm--
    .-I
    / 27
    FIG. 2
    FIG. 3
    FIG L
    61
    85
     7 n Fig, 6
    63
    Fig, 1
    106
    FIG. eight
    89
    FIG. 9
    FIG. YU
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1713432A3|1992-02-15|Device for ruling out jack-knifing of articulated vehicle
    US4315555A|1982-02-16|Electro-hydraulic steering system
    US3933215A|1976-01-20|Digital system for controlling the wheels of a heavy-duty commercial vehicle
    US5101922A|1992-04-07|Rear wheel steering system with fail-safe system
    US5198800A|1993-03-30|Alarm system for constructional machine
    KR100274297B1|2000-12-15|Automotive Brake System
    KR100335715B1|2002-11-13|Electronic brake system
    US5373911A|1994-12-20|Vehicle guidance control system
    US4687214A|1987-08-18|Four wheel steer system with fail-safe control
    US4771851A|1988-09-20|Steering control system for articulated vehicle
    JPH02296569A|1990-12-07|Fail-safe device for vehicle
    GB2248216A|1992-04-01|Variable ratio steering system.
    US4763916A|1988-08-16|Hydraulic jackknifing-affecting apparatus for articulated vehicles
    US6256893B1|2001-07-10|Electric vehicle power steering system with a position calibrating device
    US5366042A|1994-11-22|Device for detecting different steering angles
    US4995472A|1991-02-26|Steering controlling device for wheel crane
    JPH0757611B2|1995-06-21|Rear wheel steering control device
    US4795902A|1989-01-03|Optical master controller having plural tracks each with plural emitter detector pairs
    US5560640A|1996-10-01|Rear suspension for a four-wheel steering system
    CN112172918A|2021-01-05|Double-closed-loop control system and method for multi-axis electro-hydraulic steering system
    US5189616A|1993-02-23|Four-wheel steering system for motor vehicle
    EP0526418B1|1995-09-06|System for the inherently safe control of the steering of the rear wheels of a motor vehicle
    KR100204774B1|1999-06-15|Fail-safe mode converting method of rear wheel steering system
    JP2822574B2|1998-11-11|Four-wheel steering control device
    GB2173460A|1986-10-15|Vehicle front and rear wheel steering mechanisms
    同族专利:
    公开号 | 公开日
    DE3330387A1|1984-04-19|
    HU191474B|1987-02-27|
    DD215507A5|1984-11-14|
    AT388538B|1989-07-25|
    ATA295583A|1988-12-15|
    US4620717A|1986-11-04|
    DE3330387C2|1988-08-18|
    CA1199995A|1986-01-28|
    PL243537A1|1984-12-17|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE2420203C3|1974-04-26|1987-09-10|Hamburger Hochbahn Ag, 2000 Hamburg, De|
    DE2806751C3|1978-02-17|1987-01-22|Wabco Westinghouse Fahrzeugbremsen Gmbh, 3000 Hannover, De|
    US4228384A|1978-05-08|1980-10-14|Kollmorgen Technologies Corporation|Brushless DC printed motor|
    DE2853420C2|1978-12-11|1986-12-18|M A N Nutzfahrzeuge GmbH, 8000 München|Mechanical-hydraulic articulation angle control for the trailer of an articulated train|
    HU182445B|1979-08-21|1984-01-30|Autoipari Kutato Intezet|Device for articulated motro vehicle for hindering the turning in irregular direction|
    DE2935437C2|1979-09-01|1984-03-01|M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8000 München|Breakaway protection device for articulated buses|
    HU179667B|1979-12-28|1982-11-29|Autoipari Kutato Intezet|Turn angle limiting device for jointed vehicle|
    SE435703B|1980-07-03|1984-10-15|Saab Scania Ab|ARRANGEMENTS FOR LEADING VEHICLES, PREFERRED LED BUSES, LIMITED UNCONTROLLED LED ANGLE DISORDERS BETWEEN VEHICLE UNITS|
    HU183341B|1981-02-21|1984-04-28|Autoipari Kutato Intezet|Swing angle influencing device with friction brake for jointed motor vehicle|
    HU188668B|1981-05-14|1986-05-28|Autoipari Kutato Es Fejlesztoe Vallalat,Hu|Swing angle influencing device with friction brake for jointed motor vehicle|
    US4482165A|1982-12-06|1984-11-13|General Motors Corporation|Damping system for articulated vehicle|HU203058B|1984-02-24|1991-05-28|Autoipari Kutato Fejlesztoe|Hydraulic articulation-angle influencing apparatus for articulated vehicle|
    SE8604476L|1986-10-21|1988-04-22|Vbg Prod Ab|DEVICE BY DOLLY|
    US5033798A|1989-12-20|1991-07-23|Eaton Corporation|Trailer brake anti-swing system and method|
    US5022714A|1989-12-20|1991-06-11|Eaton Corporation|Tractor trailer anti-trailer swing system and method|
    US5005130A|1989-12-20|1991-04-02|Eaton Corporation|Trailer swing control|
    US5001639A|1989-12-20|1991-03-19|Eaton Corporation|Tractor trailer articulation control system and method|
    US5029948A|1989-12-20|1991-07-09|Eaton Corporation|Trailer anti-swing system and method|
    US5108158A|1991-01-14|1992-04-28|Eaton Corporation|Trailer brake control|
    US5102202A|1991-01-14|1992-04-07|Eaton Corporation|Method for calculating a value indicative of dynamic turning radius of curvature|
    HU213562B|1993-12-23|1997-08-28|Autoipari Kutato Fejlesztoe|Device for influencing articulation angle of articulated vehicle, mainly bus|
    US5380072A|1994-01-21|1995-01-10|Eaton Corporation|Trailer stability system and method|
    US5957476A|1996-02-28|1999-09-28|Simpson; William A.|Anti-jackknife system for tractor-trailers|
    DE19654862C2|1996-12-04|1999-11-04|Abb Daimler Benz Transp|Method for influencing the articulation angle of rail vehicle car bodies and rail vehicle for carrying out the method|
    US5933063A|1997-07-21|1999-08-03|Rototech Electrical Components, Inc.|Ground fault circuit interrupter|
    DE19742707C2|1997-09-26|2001-04-26|Johannes Gubernath|Anti-roll damper|
    DE20306787U1|2003-05-02|2004-09-16|Georg Fischer Verkehrstechnik Gmbh|Device for detecting the angle between a semitrailer tractor and a semitrailer|
    DE10334971B4|2003-07-31|2013-11-14|Hemscheidt Fahrwerktechnik Gmbh & Co. Kg|Swivel joint for articulated vehicles|
    CN103158462A|2012-09-07|2013-06-19|伊卡路斯车辆系统有限公司|Electronic control system used for articulated passenger car|
    CN103085876A|2013-01-10|2013-05-08|青岛科技大学|Steering angel detecting device of pin roll hinged vehicle|
    CN103112496A|2013-01-10|2013-05-22|青岛科技大学|Pin-hinged vehicle steering angle detection device|
    US9428869B2|2014-10-24|2016-08-30|Gomaco Corporation|Adjustable width trail paver|
    RU2613140C2|2015-07-21|2017-03-15|Федеральное государственное казённое военное образовательное учреждение высшего профессионального образования Рязанское высшее воздушно-десантное командное училищеимени генерала армии В.Ф. Маргелова"|Multifunctional trailer hitch mechanism|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    HU822752A|HU191474B|1982-08-26|1982-08-26|Device for preventing the swinging of irregular direction of articulated motor vehicle|
    [返回顶部]