WO2022101582A1 - Hydraulic steering system for a wheeled machine and wheeled machine equipped with such a steering system - Google Patents
Hydraulic steering system for a wheeled machine and wheeled machine equipped with such a steering system Download PDFInfo
- Publication number
- WO2022101582A1 WO2022101582A1 PCT/FR2021/051990 FR2021051990W WO2022101582A1 WO 2022101582 A1 WO2022101582 A1 WO 2022101582A1 FR 2021051990 W FR2021051990 W FR 2021051990W WO 2022101582 A1 WO2022101582 A1 WO 2022101582A1
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- WO
- WIPO (PCT)
- Prior art keywords
- steering
- hydraulic
- pump
- circuit
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/14—Steering gears hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/093—Telemotor driven by steering wheel movement
- B62D5/097—Telemotor driven by steering wheel movement gerotor type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
- B62D5/32—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means for telemotor systems
Definitions
- the present invention relates to a hydraulic steering system for a machine provided with wheels as well as the machine provided with wheels equipped with such a steering system.
- a rotary steering control member such as a steering wheel, manually operable
- At least one hydraulic actuation device for controlling orientation, in particular steering, of at least one of the wheels of the machine -an element for determining a parameter representative of a movement of the steering control unit
- first circuit and second circuit for supplying fluid to the actuating device each connectable to a source of fluid, and a steering box arranged on the first circuit, the actuating device comprising at at least one hydraulic actuator in fluid communication with the first and second circuits.
- Steering systems for producing power-assisted steering incorporate one or more pumps.
- Such a solution is in particular described in patent DE 10 2004 062 387.
- One of the drawbacks of the current solutions is that these solutions require a flow rate from the pump, including in the absence of a direction request. Some solutions even generate excess throughput that is difficult to manage.
- Some solutions incorporate means for adjusting the bit rate to enable the power consumption to be optimized. In this case, however, these solutions do not allow for variable steering assistance to reduce the number of turns of the steering wheel in a variable manner (variable gear ratio).
- some hydraulic steering systems are unable to operate in the event of, for example, a power failure of the or one of the pumps.
- An object of the invention is to provide a hydraulic steering system of the aforementioned type, the design of which makes it possible to optimize power consumption without harming the simplicity of the system or the possibility of operating in all circumstances.
- Another object of the invention is to provide a hydraulic steering system of the aforementioned type, the design of which makes it possible to optimize power consumption without harming the possibility of variable steering assistance.
- the subject of the invention is a hydraulic steering system for a machine (20) provided with wheels, said system comprising
- a rotary steering control member such as a steering wheel, manually operable
- first circuit and second circuit for supplying fluid to the actuating device, each connectable to a source of fluid
- the actuating device comprising at least one hydraulic actuator in fluid communication with the first and second circuits
- the steering system also comprises, arranged on the second circuit, an electric pump unit comprising a variable-speed pump coupled to an electric motor for driving the rotation of the pump, and the control unit is configured to control the speed of rotation of the pump of the electric pump unit according to the data supplied by the organ of determination of a parameter representative of a movement of the steering control member
- the steering box comprises a fixed-displacement pump and a distributor, in that the so-called manually actuated pump and distributor are configured to permanently supply fluid to the actuating device in the rotationally driven state of the steering control member.
- the steering box has a fixed-displacement steering pump that can be operated manually under the effect of the drive from the steering control member allows operation of the steering pump in all circumstances, in particular in the event of power outage, without generating energy consumption in the absence of a direction request.
- the presence of a first circuit and a second hydraulic circuit makes it possible to vary the steering ratio defined by the ratio of the steering angle of the wheels to the angle of angular displacement or turning of the steering wheel and to limit the number of turns to be applied to the rotary steering control member to bring the wheels into abutment in one direction or the other when the driver of the vehicle wishes to steer the wheels quickly.
- the or at least one of the hydraulic actuators of the actuation device is in fluid communication with the first and second circuits, that is to say that the or at least one of the hydraulic actuators of the actuation device is configured to be supplied with fluid by the first circuit and by the second circuit leads to a simplicity of the system.
- the or at least one of the hydraulic actuators in fluid communication with the first and second circuits is a cylinder or a hydraulic motor.
- the distributor of the steering box is a rotary distributor. This results in a simplicity of construction of the system.
- the member for determining a parameter representative of a movement of the steering control member is an angular sensor configured to determine the direction of displacement in rotation and the amplitude and/or speed of rotational movement of the steering control member. Again, such an arrangement allows a simplification of the steering system.
- the rotary steering control member is connected to the steering box by a steering column and the member for determining a parameter representative of a movement of the steering control member is arranged at least partially on said column.
- the member for determining a parameter representative of a movement of the steering control member is an angular sensor comprising at least one part is fixed and one part called movable, said movable part being mounted integral in rotational movement of the column.
- the second circuit is equipped, on the portion of said second circuit extending between the electric pump unit and the actuating device, with an at least partial shutter member of said second circuit mounted mobile between at least two positions and the control unit is configured to control the displacement of the shutter member as a function of the data provided by the member for determining a parameter representative of a movement of the steering control member.
- the closure member is a distributor.
- the at least partial shutter member of the second circuit is a preferably 4/3 distributor with electrical control and spring return and in that said distributor forms, in the position in which it is spring-returned, a loop between the pump of the electropump unit and a reservoir constituted by the or one of the sources of fluid so that the fluid brought to the distributor by the pump is returned directly by the distributor to the reservoir without power to the part of the second circuit extending between the distributor and the actuating device.
- control unit is configured to control the speed of rotation of the pump of the electric pump unit according to the speed of rotation of the rotary steering control member.
- Another subject of the invention is a machine provided with wheels equipped with a hydraulic steering system for at least one of the wheels of the machine, characterized in that the hydraulic steering system is of the aforementioned type .
- FIG. 1 represents a partial and very schematic view of a machine equipped with a steering system in accordance with the invention
- FIG. 2 represents a schematic view of a steering system according to the invention.
- the subject of the invention is a hydraulic steering system 1 for controlling the orientation of steering wheels 21 of a machine 20 and such a machine 20 provided with such steering wheels 21 controlled in displacement at using such a steering system 1.
- the rolling machine 20 can be a load handling machine 20 whose wheels 21 are turned in a first direction to reach a first unloading zone and, in an opposite direction, to reach a second loading zone.
- the hydraulic steering system 1, object of the invention is intended to allow such a movement of the steering wheels 21 of the machine while making the maneuver as easy as possible with optimized power consumption.
- the steering system 1 comprises a rotary steering control member 2 made here in the form of a steering wheel.
- This steering wheel is mechanically coupled to a column 12 of direction. Driving the flywheel in rotation causes the column 12 to be driven in rotation on itself in a manner known per se.
- the steering system 1 further comprises a member 7 for determining a parameter representative of a movement of the steering control member 2, in this case the rotational movement of the steering control member 2. direction.
- this member 7 for determining a parameter representative of a movement of the steering control member 2 is an angular sensor configured to determine the direction of rotational displacement and the amplitude and/or or the rotational displacement speed of the steering control member 2.
- This rotary steering control member 2 is arranged at least partially on the column 12 and is in the form of an angular sensor comprising a fixed part 71 and a movable part 72, the movable part 72 being mounted integral in rotational movement of the column 12.
- the rotational drive of the flywheel causes a rotational movement of the column whose characteristics are detected by said angular sensor.
- the management system 1 further includes a steering unit 11.
- This control unit 11 is in particular configured to acquire the data provided by the member 7 for determining a parameter representative of a movement of the member 2 for steering control, and in particular by the angular sensor forming said member 7
- This control unit 11 takes the form of an electronic and computer system which comprises for example a microprocessor and a working memory.
- the control unit can take the form of a programmable automaton.
- the functions and steps described can be put implemented as a computer program or via hardware components (e.g. programmable gate arrays).
- control unit or its modules can be performed by instruction sets or computer modules implemented in a processor or controller or be performed by dedicated electronic components or components of the FPGA type or ASIC. It is also possible to combine computer parts and electronic parts.
- unit or means or modules of said unit are configured to carry out a given operation, this means that the unit comprises computer instructions and the corresponding means of execution which make it possible to carry out said operation and/ or that the unit includes corresponding electronic components.
- the steering system 1 further comprises a hydraulic actuation device 3 for the orientation control, in particular the turning of the wheels 21 of the machine 20.
- this actuation device 3 is formed by a hydraulic actuator 31 in the form of a cylinder.
- the hydraulic actuator 31 could have been made in the form of a hydraulic motor.
- This cylinder comprises a body and a piston dividing the body into two chambers. Each face of the piston is connected by a rod, preferably hinged to a steering wheel 21.
- the linear movement of the piston towards one end of the body causes the wheels 21 to turn towards a first direction, for example to the right, while the linear movement of the piston towards the opposite end of the body causes the wheels 21 to turn towards a direction opposite to the first direction.
- the steering system 1 comprises a first circuit 4 and a second hydraulic circuit 5 for supplying fluid to the actuating device 3 .
- These first and second circuits 4 and 5 can each be connected to a source 8 of fluid, such as an oil reservoir.
- a source 8 of fluid such as an oil reservoir.
- these first and second circuits each extend between the fluid source 8 and the actuating device 3 .
- the first and second circuits 4 and 5 are in fluid communication with the hydraulic actuator 31 of the actuating device 3.
- the first circuit 4 and the second circuit 5 comprise each, over at least part of their length, two branches with one branch supplying one of the chambers of the actuator 31 of the actuating device 3 and the other branch supplying the other chamber of the actuator 31 . These first and second circuits are therefore configured to supply the same actuator 31 and preferably the same chamber of the actuator 31 . These first and second circuits can be at least partially common over part of their length.
- the first circuit 4 comprises a steering box 6 disposed on the first circuit 4.
- the branches of said first circuit 4 develop from the fluid supply source 8 to each be connected to the steering box 6 and supply fluid the steering box 6.
- This steering box 6 comprises in particular a fixed-displacement pump 61 and a distributor 62. This fixed-displacement pump 61 is generally called a steering pump.
- the pump 61 and the so-called manually actuated distributor 62 are configured to permanently supply fluid to the actuating device 3, in particular one or the other of the chambers of the actuator 31 in the stressed state. of the steering control member 2, that is to say in the rotationally driven state of said steering control member 2.
- the rotational drive of the steering control member 2 causes the actuation of the fixed-displacement pump 61 and of the distributor 62 to allow a fluid supply to the actuator 31 of the device 3 d actuation in all configurations of the hydraulic steering system.
- the manually operable direction control member 2 therefore forms the actuating member of the pump 61 and of the distributor 62.
- the fluid connection between the pump 61 and the distributor 62 and the actuator 31 of the device 3 of actuation is an always open connection.
- a part of the first circuit 4 is arranged between the steering box 6 and the actuator 31 of the actuating device 3 with one of the branches of the first circuit supplying one of the chambers and the other of the branches of the first circuit 4 supplying the other of the chambers of the actuator 31 .
- the distributor 62 of the housing 6 direction distribution is a rotary distributor.
- the steering box 6 can be a hydrostatic servo-control device also known as Orbitrol (registered trademark). Such a steering box 6 is well known to those versed in this art. Thanks to this first circuit 4, the drive in rotation of the steering wheel generates an actuation of the pump 61 and of the distributor 62 of the steering box 6 and consequently, a fluid supply to the actuator 31 for an angular displacement steering wheels 21 of the machine 20. To help this movement, when necessary, depending on the action exerted by the driver of the machine on the rotary member 2 of the steering control, the system 1 of steering comprises an electric pump unit 9 disposed on the second circuit 5.
- This electric pump unit 9 comprises a pump 91 coupled to an electric motor 92 for driving the pump 91 in rotation.
- the control unit 11 is configured to control the electric pump unit 9 according to the data provided by the member 7 for determining a parameter representative of a movement of the member 2 for steering control.
- the electric pump unit 9 is here arranged between the fluid supply source 8 and the actuator 31 .
- the pump 91 of the electric pump group 9 is supplied with fluid from said source 8 of fluid.
- the fluid can return to the reservoir constituting the source 8 of fluid or supply a member 10 for at least one-time closure of the second circuit 5 here in the form of a distributor.
- This distributor can be, for example, a 4/3 distributor with electrical control and spring return.
- the second circuit 5 is divided into two branches supplying for one, one of the two chambers of the actuator 31, and for the other, the other of the two chambers of the actuator 31 .
- This member 10 for at least partially closing off the second circuit 5 produced here in the form of a distributor is arranged on the portion of the second circuit 5 extending between the electric pump unit 9 and the actuating device 3 and movably mounted between the least two positions.
- additional fluid is supplied to the actuator 31 via this second circuit 5 if necessary, depending on the actuation of the steering control member 2 and as a result of the data provided by the member 7 for determining a parameter representative of a movement of the steering control member 2 to the steering unit 11 .
- the hydraulic actuator 31 is therefore in fluid communication with the first and second circuits 4 and 5.
- the pump 91 of the electric pump group 9 is a variable speed pump and the control unit 11 is configured to control the speed of rotation of the pump 91 of the electric pump group 9 according to the data provided by the member 7 for determining a parameter representative of a movement of the member 2 for steering control.
- the control unit 11 is configured to control the speed of rotation of the pump 91 of the electric pump unit 9 as a function of the speed of rotation of the rotary member 2 of the direction control, said control unit being configured to control an increase in the speed of rotation of the pump of the electric pump unit when the speed of rotation of the member 2 of the direction control increases.
- other control laws can be envisaged without departing from the scope of the invention.
- the steering system 1 it is possible to actuate the actuator 31 of the device 3 for actuating the wheels of the vehicle only using the first circuit 4 or resort to steering assistance using the second circuit 5.
- the first circuit 4 is always active in the driven state in rotation of the rotary control member 2 and the connection between the source 8 of fluid and the actuating device 3 resulting from the presence of this first circuit 4 is always open so that the pump 61 and the distributor 62 permanently supply fluid to the actuating device 3 under the action of the rotational drive of the steering control member 2.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Description Description
Titre de l'invention : système de direction hydraulique pour un engin muni de roues et engin muni de roues équipé d’un tel système de direction Title of the invention: hydraulic steering system for a machine fitted with wheels and machine fitted with wheels equipped with such a steering system
[0001] La présente invention concerne un système de direction hydraulique pour un engin muni de roues ainsi que l’engin muni de roues équipé d’un tel système de direction. The present invention relates to a hydraulic steering system for a machine provided with wheels as well as the machine provided with wheels equipped with such a steering system.
[0002] Elle concerne en particulier un système de direction hydraulique pour engin muni de roues, ledit système comprenant [0002] It relates in particular to a hydraulic steering system for a machine fitted with wheels, said system comprising
-un organe rotatif de commande de direction, tel qu’un volant, actionnable manuellement, - a rotary steering control member, such as a steering wheel, manually operable,
-au moins un dispositif d’actionnement hydraulique pour la commande d’orientation, en particulier de braquage, d’au moins l’une des roues de l’engin -un organe de détermination d’un paramètre représentatif d’un mouvement de l’organe de commande de direction, -at least one hydraulic actuation device for controlling orientation, in particular steering, of at least one of the wheels of the machine -an element for determining a parameter representative of a movement of the steering control unit,
- une unité de pilotage - a control unit
-au moins deux circuits, dits respectivement premier circuit et deuxième circuit, d’alimentation en fluide du dispositif d’actionnement raccordables chacun à une source de fluide, et un boîtier de direction disposé sur le premier circuit, le dispositif d’actionnement comprenant au moins un actionneur hydraulique en communication fluidique avec les premier et deuxième circuits .. -at least two circuits, respectively called first circuit and second circuit, for supplying fluid to the actuating device each connectable to a source of fluid, and a steering box arranged on the first circuit, the actuating device comprising at at least one hydraulic actuator in fluid communication with the first and second circuits..
[0003] Un grand nombre d’engins roulants, en particulier d’engins de manutention de charge, sont équipés d’une direction assistée pour aider au déplacement en particulier au braquage des roues directrices de l’engin. Les systèmes de direction pour la réalisation d’une direction assistée intègrent une ou plusieurs pompes. Une telle solution est notamment décrite dans le brevet DE 10 2004 062 387. L’un des inconvénients des solutions actuelles est que ces solutions nécessitent un débit de la pompe y compris en l’absence de demande de direction. Certaines solutions engendrent même un excédent de débit difficile à gérer. Certaines solutions intègrent des moyens d’ajustement du débit pour permettre d’optimiser la consommation de puissance. Dans ce cas, toutefois, ces solutions ne permettent pas de réaliser une assistance variable de la direction pour réduire de manière variable le nombre de tours de volant (démultiplication variable). Enfin, certains systèmes de direction hydrauliques sont incapables de fonctionner en cas par exemple de panne d’alimentation en électricité de la ou de l’une des pompes. [0003] A large number of rolling machines, in particular load-handling machines, are equipped with power steering to help with movement, in particular with turning the steered wheels of the machine. Steering systems for producing power-assisted steering incorporate one or more pumps. Such a solution is in particular described in patent DE 10 2004 062 387. One of the drawbacks of the current solutions is that these solutions require a flow rate from the pump, including in the absence of a direction request. Some solutions even generate excess throughput that is difficult to manage. Some solutions incorporate means for adjusting the bit rate to enable the power consumption to be optimized. In this case, however, these solutions do not allow for variable steering assistance to reduce the number of turns of the steering wheel in a variable manner (variable gear ratio). Finally, some hydraulic steering systems are unable to operate in the event of, for example, a power failure of the or one of the pumps.
[0004] Un but de l’invention est de proposer un système de direction hydraulique du type précité dont la conception permet d’optimiser la consommation de puissance sans nuire à la simplicité du système ni à la possibilité de fonctionner en toutes circonstances. An object of the invention is to provide a hydraulic steering system of the aforementioned type, the design of which makes it possible to optimize power consumption without harming the simplicity of the system or the possibility of operating in all circumstances.
[0005] Un autre but de l’invention est de proposer un système de direction hydraulique du type précité dont la conception permet d’optimiser la consommation de puissance sans nuire à une possibilité d’assistance variable à la direction. Another object of the invention is to provide a hydraulic steering system of the aforementioned type, the design of which makes it possible to optimize power consumption without harming the possibility of variable steering assistance.
[0006] A cet effet, l’invention a pour objet un système de direction hydraulique pour engin (20) muni de roues, ledit système comprenant To this end, the subject of the invention is a hydraulic steering system for a machine (20) provided with wheels, said system comprising
- un organe rotatif de commande de direction, tel qu’un volant, actionnable manuellement, - a rotary steering control member, such as a steering wheel, manually operable,
- au moins un dispositif d’actionnement hydraulique pour la commande d’orientation, en particulier de braquage, d’au moins l’une des roues de l’engin,- at least one hydraulic actuating device for steering control, in particular steering, of at least one of the wheels of the machine,
- un organe de détermination d’un paramètre représentatif d’un mouvement de l’organe de commande de direction, - a device for determining a parameter representative of a movement of the steering control device,
- une unité de pilotage, - a control unit,
- au moins deux circuits, dits respectivement premier circuit et deuxième circuit, d’alimentation en fluide du dispositif d’actionnement raccordables chacun à une source de fluide, - at least two circuits, called respectively first circuit and second circuit, for supplying fluid to the actuating device, each connectable to a source of fluid,
- et un boîtier de direction disposé sur le premier circuit, le dispositif d’actionnement comprenant au moins un actionneur hydraulique en communication fluidique avec les premier et deuxième circuits, caractérisé en ce que le système de direction comprend également, disposé sur le deuxième circuit, un groupe électropompe comprenant une pompe à vitesse variable couplée à un moteur électrique d’entraînement en rotation de la pompe, et l’unité de pilotage est configurée pour commander la vitesse de rotation de la pompe du groupe électropompe en fonction des données fournies par l’organe de détermination d’un paramètre représentatif d’un mouvement de l’organe de commande de direction, et en ce que le boîtier de direction comprend une pompe à cylindrée fixe et un distributeur, en ce que la pompe et le distributeur dits à actionnement manuel sont configurés pour alimenter de manière permanente, en fluide, le dispositif d’actionnement, à l’état entraîné en rotation de l’organe de commande de direction. La possibilité d’alimenter de manière permanente en fluide le dispositif d’actionnement pour la commande d’orientation des roues dites directrices de l’engin par simple entraînement en rotation de l’organe rotatif de commande de direction offre une fiabilité accrue du système et une optimisation de la consommation de puissance. Le fait d’actionner la pompe du groupe électropompe à l’aide d’un moteur électrique et non à l’aide du moteur thermique de l’engin comme cela est classiquement le cas permet à nouveau d’optimiser la consommation de puissance et de commander au mieux la pompe. Ainsi, en l’absence de demande de direction, le moteur électrique ne tourne pas et n’entraine pas en fonctionnement la pompe du groupe électropompe. Il ne génère donc pas de consommation d’énergie inutile. Le fait que le boitier de direction dispose d’une pompe de direction à cylindrée fixe actionnable manuellement sous l’effet de l’entrainement de l’organe de commande de direction permet un fonctionnement de la pompe de direction en toute circonstance, notamment en cas de coupure d’électricité, sans générer de consommation d’énergie en l’absence d’une demande de direction. La présence d’un premier circuit et d’un deuxième circuit hydrauliques permet de faire varier le rapport de direction défini par le rapport de l’angle de braquage des roues sur l’angle de déplacement angulaire ou braquage du volant et de limiter le nombre de tours à appliquer à l’organe rotatif de commande de direction pour amener les roues en butée dans un sens ou dans l’autre lorsque le conducteur de l’engin souhaite braquer rapidement les roues. Enfin, le fait que le ou au moins l’un des actionneurs hydrauliques du dispositif d’actionnement soit en communication fluidique avec les premier et deuxième circuits, c’est-à-dire que le ou au moins l’un des actionneurs hydrauliques du dispositif d’actionnement soit configuré pour être alimenté en fluide par le premier circuit et par le deuxième circuit entraîne une simplicité du système. [0007] Selon un mode de réalisation de l’invention, le ou au moins l’un des actionneurs hydrauliques en communication fluidique avec les premier et deuxième circuits est un vérin ou un moteur hydraulique. - and a steering box arranged on the first circuit, the actuating device comprising at least one hydraulic actuator in fluid communication with the first and second circuits, characterized in that the steering system also comprises, arranged on the second circuit, an electric pump unit comprising a variable-speed pump coupled to an electric motor for driving the rotation of the pump, and the control unit is configured to control the speed of rotation of the pump of the electric pump unit according to the data supplied by the organ of determination of a parameter representative of a movement of the steering control member, and in that the steering box comprises a fixed-displacement pump and a distributor, in that the so-called manually actuated pump and distributor are configured to permanently supply fluid to the actuating device in the rotationally driven state of the steering control member. The possibility of permanently supplying fluid to the actuating device for controlling the orientation of the so-called steerable wheels of the machine by simply driving the rotating steering control member in rotation offers increased reliability of the system and optimization of power consumption. The fact of actuating the pump of the electric pump unit using an electric motor and not using the heat engine of the machine as is conventionally the case again makes it possible to optimize the consumption of power and better control the pump. Thus, in the absence of a direction request, the electric motor does not turn and does not drive the pump of the electric pump unit in operation. It therefore does not generate unnecessary energy consumption. The fact that the steering box has a fixed-displacement steering pump that can be operated manually under the effect of the drive from the steering control member allows operation of the steering pump in all circumstances, in particular in the event of power outage, without generating energy consumption in the absence of a direction request. The presence of a first circuit and a second hydraulic circuit makes it possible to vary the steering ratio defined by the ratio of the steering angle of the wheels to the angle of angular displacement or turning of the steering wheel and to limit the number of turns to be applied to the rotary steering control member to bring the wheels into abutment in one direction or the other when the driver of the vehicle wishes to steer the wheels quickly. Finally, the fact that the or at least one of the hydraulic actuators of the actuation device is in fluid communication with the first and second circuits, that is to say that the or at least one of the hydraulic actuators of the actuation device is configured to be supplied with fluid by the first circuit and by the second circuit leads to a simplicity of the system. According to one embodiment of the invention, the or at least one of the hydraulic actuators in fluid communication with the first and second circuits is a cylinder or a hydraulic motor.
[0008] Selon un mode de réalisation de l’invention, le distributeur du boîtier de direction est un distributeur rotatif. Il en résulte une simplicité de construction du système. According to one embodiment of the invention, the distributor of the steering box is a rotary distributor. This results in a simplicity of construction of the system.
[0009] Selon un mode de réalisation de l’invention, l’organe de détermination d’un paramètre représentatif d’un mouvement de l’organe de commande de direction est un capteur angulaire configuré pour déterminer le sens de déplacement en rotation et l’amplitude et/ou la vitesse de déplacement en rotation de l’organe de commande de direction. A nouveau, une telle disposition permet une simplification du système de direction. According to one embodiment of the invention, the member for determining a parameter representative of a movement of the steering control member is an angular sensor configured to determine the direction of displacement in rotation and the amplitude and/or speed of rotational movement of the steering control member. Again, such an arrangement allows a simplification of the steering system.
[0010] Selon un mode de réalisation de l’invention, l’organe rotatif de commande de direction est relié au boîtier de direction par une colonne de direction et l’organe de détermination d’un paramètre représentatif d’un mouvement de l’organe de commande de direction est disposé au moins partiellement sur ladite colonne. Ainsi, il est possible de faire varier le rapport de direction en fonction de la manipulation de l’organe rotatif de commande de direction notamment en termes d’amplitude et/ou de vitesse de déplacement en rotation de l’organe de commande de direction. According to one embodiment of the invention, the rotary steering control member is connected to the steering box by a steering column and the member for determining a parameter representative of a movement of the steering control member is arranged at least partially on said column. Thus, it is possible to vary the steering ratio as a function of the manipulation of the rotary steering control member, in particular in terms of amplitude and/or speed of displacement in rotation of the steering control member.
[0011] Selon un mode de réalisation de l’invention, l’organe de détermination d’un paramètre représentatif d’un mouvement de l’organe de commande de direction est un capteur angulaire comprenant au moins une partie est fixe et une partie dite mobile, ladite partie mobile étant montée solidaire en déplacement en rotation de la colonne. According to one embodiment of the invention, the member for determining a parameter representative of a movement of the steering control member is an angular sensor comprising at least one part is fixed and one part called movable, said movable part being mounted integral in rotational movement of the column.
[0012] Selon un mode de réalisation de l’invention, le deuxième circuit est équipé, sur la portion dudit deuxième circuit s’étendant entre le groupe électropompe et le dispositif d’actionnement, d’un organe d’obturation au moins partielle dudit deuxième circuit monté mobile entre au moins deux positions et l’unité de pilotage est configurée pour commander le déplacement de l’organe d’obturation en fonction des données fournies par l’organe de détermination d’un paramètre représentatif d’un mouvement de l’organe de commande de direction. De préférence, l’organe d’obturation est un distributeur. According to one embodiment of the invention, the second circuit is equipped, on the portion of said second circuit extending between the electric pump unit and the actuating device, with an at least partial shutter member of said second circuit mounted mobile between at least two positions and the control unit is configured to control the displacement of the shutter member as a function of the data provided by the member for determining a parameter representative of a movement of the steering control member. Preferably, the closure member is a distributor.
[0013] Selon un mode de réalisation de l’invention, l’organe d’obturation au moins partielle du deuxième circuit est un distributeur de préférence 4/3 à commande électrique et retour par ressort et en ce que ledit distributeur forme, dans la position dans laquelle il est rappelé par ressort, une boucle entre la pompe du groupe électropompe et un réservoir constitué par la ou l’une des sources de fluide de sorte que le fluide amené au distributeur par la pompe est retourné directement par le distributeur au réservoir sans alimentation de la partie du deuxième circuit s’étendant entre le distributeur et le dispositif d’actionnement. According to one embodiment of the invention, the at least partial shutter member of the second circuit is a preferably 4/3 distributor with electrical control and spring return and in that said distributor forms, in the position in which it is spring-returned, a loop between the pump of the electropump unit and a reservoir constituted by the or one of the sources of fluid so that the fluid brought to the distributor by the pump is returned directly by the distributor to the reservoir without power to the part of the second circuit extending between the distributor and the actuating device.
[0014] Selon un mode de réalisation de l’invention, l’unité de pilotage est configurée pour commander la vitesse de rotation de la pompe du groupe électropompe en fonction de la vitesse de rotation de l’organe rotatif de commande de direction. According to one embodiment of the invention, the control unit is configured to control the speed of rotation of the pump of the electric pump unit according to the speed of rotation of the rotary steering control member.
[0015] L’invention a encore pour objet un engin muni de roues équipé d’un système de direction hydraulique d’au moins l’une des roues de l’engin, caractérisé en ce que le système de direction hydraulique est du type précité. [0015] Another subject of the invention is a machine provided with wheels equipped with a hydraulic steering system for at least one of the wheels of the machine, characterized in that the hydraulic steering system is of the aforementioned type .
Brève description des dessins Brief description of the drawings
[0016] L'invention sera bien comprise à la lecture de la description suivante d'exemples de réalisation, en référence aux dessins annexés dans lesquels : The invention will be better understood on reading the following description of exemplary embodiments, with reference to the appended drawings in which:
[0017] [Fig. 1] représente une vue partielle et très schématique d’un engin équipé d’un système de direction conforme à l’invention et [0017] [Fig. 1] represents a partial and very schematic view of a machine equipped with a steering system in accordance with the invention and
[0018] [Fig. 2] représente une vue schématique d’un système de direction conforme à l’invention. [0018] [Fig. 2] represents a schematic view of a steering system according to the invention.
[0019] Comme mentionné ci-dessus, l'invention a pour objet un système 1 de direction hydraulique pour commander l'orientation de roues 21 directrices d'un engin 20 et un tel engin 20 muni de telles roues 21 directrices commandées en déplacement à l'aide d'un tel système 1 de direction. L'engin 20 roulant peut être un engin 20 de manutention de charge dont les roues 21 sont braquées dans une première direction pour atteindre une première zone de déchargement et, dans une direction opposée, pour atteindre une seconde zone de chargement. Le système 1 de direction hydraulique, objet de l'invention, a pour objet de permettre un tel déplacement des roues 21 directrices de l'engin tout en rendant la manœuvre la plus aisée possible avec une consommation de puissance optimisée. As mentioned above, the subject of the invention is a hydraulic steering system 1 for controlling the orientation of steering wheels 21 of a machine 20 and such a machine 20 provided with such steering wheels 21 controlled in displacement at using such a steering system 1. The rolling machine 20 can be a load handling machine 20 whose wheels 21 are turned in a first direction to reach a first unloading zone and, in an opposite direction, to reach a second loading zone. The hydraulic steering system 1, object of the invention, is intended to allow such a movement of the steering wheels 21 of the machine while making the maneuver as easy as possible with optimized power consumption.
[0020] De manière en soi connue, le système 1 de direction comprend un organe 2 rotatif de commande de direction réalisé ici sous forme d'un volant. Ce volant est couplé mécaniquement à une colonne 12 de direction. L'entraînement en rotation du volant entraîne l'entraînement en rotation de la colonne 12 sur elle-même de manière en soi connue. In a manner known per se, the steering system 1 comprises a rotary steering control member 2 made here in the form of a steering wheel. This steering wheel is mechanically coupled to a column 12 of direction. Driving the flywheel in rotation causes the column 12 to be driven in rotation on itself in a manner known per se.
[0021] Le système 1 de direction comprend encore un organe 7 de détermination d’un paramètre représentatif d’un mouvement de l’organe 2 de commande de direction, en l'occurrence du mouvement de rotation de l'organe 2 de commande de direction. The steering system 1 further comprises a member 7 for determining a parameter representative of a movement of the steering control member 2, in this case the rotational movement of the steering control member 2. direction.
[0022] Dans les exemples représentés, cet organe 7 de détermination d'un paramètre représentatif d'un mouvement de l'organe 2 de commande de direction est un capteur angulaire configuré pour déterminer le sens de déplacement en rotation et l'amplitude et/ou la vitesse de déplacement en rotation de l'organe 2 de commande de direction. Cet organe 2 rotatif de commande de direction est disposé au moins partiellement sur la colonne 12 et se présente sous forme d'un capteur angulaire comprenant une partie 71 fixe et une partie 72 mobile, la partie 72 mobile étant montée solidaire en déplacement en rotation de la colonne 12. Ainsi, l'entraînement en rotation du volant entraîne un mouvement de rotation de la colonne dont les caractéristiques sont détectées par ledit capteur angulaire. In the examples shown, this member 7 for determining a parameter representative of a movement of the steering control member 2 is an angular sensor configured to determine the direction of rotational displacement and the amplitude and/or or the rotational displacement speed of the steering control member 2. This rotary steering control member 2 is arranged at least partially on the column 12 and is in the form of an angular sensor comprising a fixed part 71 and a movable part 72, the movable part 72 being mounted integral in rotational movement of the column 12. Thus, the rotational drive of the flywheel causes a rotational movement of the column whose characteristics are detected by said angular sensor.
[0023] Le système 1 de direction comprend encore une unité 11 de pilotage. Cette unité 11 de pilotage est notamment configurée pour acquérir les données fournies par l’organe 7 de détermination d’un paramètre représentatif d’un mouvement de l’organe 2 de commande de direction, et en particulier par le capteur angulaire formant ledit organe 7. Cette unité 11 de pilotage se présente sous la forme d’un système électronique et informatique qui comprend par exemple un microprocesseur et une mémoire de travail. Selon un aspect particulier, l’unité de pilotage peut se présenter sous la forme d’un automate programmable. Autrement dit, les fonctions et étapes décrites peuvent être mises en œuvre sous forme de programme informatique ou via des composants matériels (p. ex. des réseaux de portes programmables). En particulier, les fonctions et étapes opérées par l’unité de pilotage ou ses modules peuvent être réalisées par des jeux d’instructions ou modules informatiques implémentés dans un processeur ou contrôleur ou être réalisées par des composants électroniques dédiés ou des composants de type FPGA ou ASIC. Il est aussi possible de combiner des parties informatiques et des parties électroniques. Lorsqu’il est précisé que l’unité ou des moyens ou modules de ladite unité sont configurés pour réaliser une opération donnée, cela signifie que l’unité comprend des instructions informatiques et les moyens d’exécution correspondants qui permettent de réaliser ladite opération et/ou que l’unité comprend des composants électroniques correspondants. The management system 1 further includes a steering unit 11. This control unit 11 is in particular configured to acquire the data provided by the member 7 for determining a parameter representative of a movement of the member 2 for steering control, and in particular by the angular sensor forming said member 7 This control unit 11 takes the form of an electronic and computer system which comprises for example a microprocessor and a working memory. According to a particular aspect, the control unit can take the form of a programmable automaton. In other words, the functions and steps described can be put implemented as a computer program or via hardware components (e.g. programmable gate arrays). In particular, the functions and steps operated by the control unit or its modules can be performed by instruction sets or computer modules implemented in a processor or controller or be performed by dedicated electronic components or components of the FPGA type or ASIC. It is also possible to combine computer parts and electronic parts. When it is specified that the unit or means or modules of said unit are configured to carry out a given operation, this means that the unit comprises computer instructions and the corresponding means of execution which make it possible to carry out said operation and/ or that the unit includes corresponding electronic components.
[0024] Le système 1 de direction comprend encore un dispositif 3 d'actionnement hydraulique pour la commande d'orientation, en particulier de braquage des roues 21 de l'engin 20. Dans les exemples représentés, ce dispositif 3 d'actionnement est formé par un actionneur 31 hydraulique se présentant sous forme d'un vérin. De manière équivalente, l'actionneur 31 hydraulique aurait pu être réalisé sous forme d'un moteur hydraulique. Ce vérin comprend un corps et un piston divisant le corps en deux chambres. Chaque face du piston est reliée par une tige, de préférence articulée à une roue 21 directrice. Ainsi, le déplacement linéaire du piston vers une extrémité du corps entraîne un braquage des roues 21 vers une première direction, par exemple vers la droite, tandis que le déplacement linéaire du piston vers l'extrémité opposée du corps entraîne un braquage des roues 21 vers une direction opposée à la première direction. Ce déplacement linéaire du piston est obtenu par alimentation en fluide de l'une ou l'autre des chambres du vérin. A cet effet, le système 1 de direction comprend un premier circuit 4 et un deuxième circuit 5 hydraulique d'alimentation en fluide du dispositif 3 d'actionnement. Ces premier et deuxième circuits 4 et 5 sont raccordables chacun à une source 8 de fluide, telle qu'un réservoir d'huile. Ainsi, ces premier et deuxième circuits s'étendent chacun entre la source 8 de fluide et le dispositif 3 d'actionnement. En particulier, les premier et deuxième circuits 4 et 5 sont en communication fluidique avec l'actionneur 31 hydraulique du dispositif 3 d'actionnement. Le premier circuit 4 et le deuxième circuit 5 comprennent chacun, sur au moins une partie de leur longueur, deux branches avec une branche alimentant l'une des chambres de l'actionneur 31 du dispositif 3 d'actionnement et l'autre branche alimentant l'autre chambre de l'actionneur 31 . Ces premier et deuxième circuits sont donc configurés pour alimenter un même actionneur 31 et de préférence une même chambre de l'actionneur 31 . Ces premier et deuxième circuits peuvent être au moins partiellement communs sur une partie de leur longueur. Le premier circuit 4 comprend quant à lui un boîtier 6 de direction disposé sur le premier circuit 4. Les branches dudit premier circuit 4 se développent depuis la source 8 d'alimentation en fluide pour venir chacune se raccorder au boîtier 6 de direction et alimenter en fluide le boîtier 6 de direction. Ce boîtier 6 de direction comprend en particulier une pompe 61 à cylindrée fixe et un distributeur 62. Cette pompe 61 à cylindrée fixe est généralement appelée pompe de direction. La pompe 61 et le distributeur 62 dits à actionnement manuel sont configurés pour alimenter de manière permanente, en fluide, le dispositif 3 d’actionnement, en particulier l'une ou l'autre des chambres de l'actionneur 31 à l’état sollicité de l'organe 2 de commande de direction, c'est-à- dire à l'état entraîné en rotation dudit organe 2 de commande de direction. En d'autres termes, l'entraînement en rotation de l'organe 2 de commande de direction entraîne l'actionnement de la pompe 61 à cylindrée fixe et du distributeur 62 pour permettre une alimentation en fluide de l'actionneur 31 du dispositif 3 d'actionnement et ce, dans toutes les configurations du système de direction hydraulique. L'organe 2 de commande de direction actionnable manuellement forme donc l'organe d'actionnement de la pompe 61 et du distributeur 62. Ainsi, la liaison fluidique entre la pompe 61 et le distributeur 62 et l'actionneur 31 du dispositif 3 d'actionnement est une liaison toujours ouverte. The steering system 1 further comprises a hydraulic actuation device 3 for the orientation control, in particular the turning of the wheels 21 of the machine 20. In the examples shown, this actuation device 3 is formed by a hydraulic actuator 31 in the form of a cylinder. Equivalently, the hydraulic actuator 31 could have been made in the form of a hydraulic motor. This cylinder comprises a body and a piston dividing the body into two chambers. Each face of the piston is connected by a rod, preferably hinged to a steering wheel 21. Thus, the linear movement of the piston towards one end of the body causes the wheels 21 to turn towards a first direction, for example to the right, while the linear movement of the piston towards the opposite end of the body causes the wheels 21 to turn towards a direction opposite to the first direction. This linear movement of the piston is obtained by supplying fluid to one or the other of the cylinder chambers. To this end, the steering system 1 comprises a first circuit 4 and a second hydraulic circuit 5 for supplying fluid to the actuating device 3 . These first and second circuits 4 and 5 can each be connected to a source 8 of fluid, such as an oil reservoir. Thus, these first and second circuits each extend between the fluid source 8 and the actuating device 3 . In particular, the first and second circuits 4 and 5 are in fluid communication with the hydraulic actuator 31 of the actuating device 3. The first circuit 4 and the second circuit 5 comprise each, over at least part of their length, two branches with one branch supplying one of the chambers of the actuator 31 of the actuating device 3 and the other branch supplying the other chamber of the actuator 31 . These first and second circuits are therefore configured to supply the same actuator 31 and preferably the same chamber of the actuator 31 . These first and second circuits can be at least partially common over part of their length. The first circuit 4 comprises a steering box 6 disposed on the first circuit 4. The branches of said first circuit 4 develop from the fluid supply source 8 to each be connected to the steering box 6 and supply fluid the steering box 6. This steering box 6 comprises in particular a fixed-displacement pump 61 and a distributor 62. This fixed-displacement pump 61 is generally called a steering pump. The pump 61 and the so-called manually actuated distributor 62 are configured to permanently supply fluid to the actuating device 3, in particular one or the other of the chambers of the actuator 31 in the stressed state. of the steering control member 2, that is to say in the rotationally driven state of said steering control member 2. In other words, the rotational drive of the steering control member 2 causes the actuation of the fixed-displacement pump 61 and of the distributor 62 to allow a fluid supply to the actuator 31 of the device 3 d actuation in all configurations of the hydraulic steering system. The manually operable direction control member 2 therefore forms the actuating member of the pump 61 and of the distributor 62. Thus, the fluid connection between the pump 61 and the distributor 62 and the actuator 31 of the device 3 of actuation is an always open connection.
[0025] A cet effet, une partie du premier circuit 4 est disposée entre le boîtier 6 de direction et l'actionneur 31 du dispositif 3 d'actionnement avec l'une des branches du premier circuit alimentant l'une des chambres et l'autre des branches du premier circuit 4 alimentant l'autre des chambres de l'actionneur 31 . For this purpose, a part of the first circuit 4 is arranged between the steering box 6 and the actuator 31 of the actuating device 3 with one of the branches of the first circuit supplying one of the chambers and the other of the branches of the first circuit 4 supplying the other of the chambers of the actuator 31 .
[0026] Dans les exemples représentés, le distributeur 62 du boîtier 6 de distribution de direction est un distributeur rotatif. Le boîtier 6 de direction peut être un dispositif de servocommande hydrostatique encore connu sous le nom d'Orbitrol (marque déposée). Un tel boîtier 6 de direction est bien connu à ceux versés dans cet art. Grâce à ce premier circuit 4, l'entraînement en rotation du volant génère un actionnement de la pompe 61 et du distributeur 62 du boîtier 6 de direction et par suite, une alimentation en fluide de l'actionneur 31 en vue d'un déplacement angulaire des roues 21 directrices de l'engin 20. Pour aider à ce déplacement, lorsque cela est nécessaire, en fonction de l'action exercée par le conducteur de l'engin sur l'organe 2 rotatif de commande de direction, le système 1 de direction comprend un groupe électropompe 9 disposé sur le deuxième circuit 5. Ce groupe électropompe 9 comprend une pompe 91 couplée à un moteur électrique 92 d'entraînement en rotation de la pompe 91 . L'unité 11 de pilotage est configurée pour commander le groupe électropompe 9 en fonction des données fournies par l’organe 7 de détermination d’un paramètre représentatif d’un mouvement de l’organe 2 de commande de direction. Le groupe électropompe 9 est ici disposé entre la source 8 d'alimentation du fluide et l'actionneur 31 . La pompe 91 du groupe 9 électropompe est alimentée en fluide à partir de ladite source 8 de fluide. En sortie de pompe, le fluide peut retourner au réservoir constituant la source 8 de fluide ou alimenter un organe 10 d'obturation au moins ponctuelle du deuxième circuit 5 se présentant ici sous forme d'un distributeur. Ce distributeur peut être, par exemple, un distributeur 4/3 à commande électrique et retour par ressort. En sortie de ce distributeur, le deuxième circuit 5 est divisé en deux branches alimentant pour l'une, l'une des deux chambres de l'actionneur 31 , et pour l'autre, l'autre des deux chambres de l'actionneur 31 . Cet organe 10 d'obturation au moins partielle du deuxième circuit 5 réalisé ici sous forme d'un distributeur est disposé sur la portion du deuxième circuit 5 s'étendant entre le groupe 9 électropompe et le dispositif 3 d'actionnement et monté mobile entre au moins deux positions. Ainsi, du fluide supplémentaire est amené à l'actionneur 31 via ce deuxième circuit 5 si nécessaire, en fonction de l'actionnement de l'organe 2 de commande de direction et par suite des données fournies par l'organe 7 de détermination d'un paramètre représentatif d'un mouvement de l'organe 2 de commande de direction à l'unité 11 de pilotage. Du fait du montage décrit ci-dessus, l'actionneur 31 hydraulique est donc, en communication fluidique, avec les premier et deuxième circuits 4 et 5. [0027] En pratique, la pompe 91 du groupe 9 électropompe est une pompe à vitesse variable et l'unité 11 de pilotage est configurée pour commander la vitesse de rotation de la pompe 91 du groupe 9 électropompe en fonction des données fournies par l'organe 7 de détermination d'un paramètre représentatif d'un mouvement de l'organe 2 de commande de direction. En particulier, l'unité 11 de pilotage est configurée pour commander la vitesse de rotation de la pompe 91 du groupe 9 électropompe en fonction de la vitesse de rotation de l'organe 2 rotatif de commande de direction, ladite unité de pilotage étant configurée pour commander une augmentation de la vitesse de rotation de la pompe du groupe électropompe lorsque la vitesse de rotation de l'organe 2 de commande de direction augmente. Bien évidemment, d'autres lois de commande peuvent être envisagées sans sortir du cadre de l'invention. In the examples shown, the distributor 62 of the housing 6 direction distribution is a rotary distributor. The steering box 6 can be a hydrostatic servo-control device also known as Orbitrol (registered trademark). Such a steering box 6 is well known to those versed in this art. Thanks to this first circuit 4, the drive in rotation of the steering wheel generates an actuation of the pump 61 and of the distributor 62 of the steering box 6 and consequently, a fluid supply to the actuator 31 for an angular displacement steering wheels 21 of the machine 20. To help this movement, when necessary, depending on the action exerted by the driver of the machine on the rotary member 2 of the steering control, the system 1 of steering comprises an electric pump unit 9 disposed on the second circuit 5. This electric pump unit 9 comprises a pump 91 coupled to an electric motor 92 for driving the pump 91 in rotation. The control unit 11 is configured to control the electric pump unit 9 according to the data provided by the member 7 for determining a parameter representative of a movement of the member 2 for steering control. The electric pump unit 9 is here arranged between the fluid supply source 8 and the actuator 31 . The pump 91 of the electric pump group 9 is supplied with fluid from said source 8 of fluid. At the pump outlet, the fluid can return to the reservoir constituting the source 8 of fluid or supply a member 10 for at least one-time closure of the second circuit 5 here in the form of a distributor. This distributor can be, for example, a 4/3 distributor with electrical control and spring return. At the output of this distributor, the second circuit 5 is divided into two branches supplying for one, one of the two chambers of the actuator 31, and for the other, the other of the two chambers of the actuator 31 . This member 10 for at least partially closing off the second circuit 5 produced here in the form of a distributor is arranged on the portion of the second circuit 5 extending between the electric pump unit 9 and the actuating device 3 and movably mounted between the least two positions. Thus, additional fluid is supplied to the actuator 31 via this second circuit 5 if necessary, depending on the actuation of the steering control member 2 and as a result of the data provided by the member 7 for determining a parameter representative of a movement of the steering control member 2 to the steering unit 11 . Due to the assembly described above, the hydraulic actuator 31 is therefore in fluid communication with the first and second circuits 4 and 5. In practice, the pump 91 of the electric pump group 9 is a variable speed pump and the control unit 11 is configured to control the speed of rotation of the pump 91 of the electric pump group 9 according to the data provided by the member 7 for determining a parameter representative of a movement of the member 2 for steering control. In particular, the control unit 11 is configured to control the speed of rotation of the pump 91 of the electric pump unit 9 as a function of the speed of rotation of the rotary member 2 of the direction control, said control unit being configured to control an increase in the speed of rotation of the pump of the electric pump unit when the speed of rotation of the member 2 of the direction control increases. Obviously, other control laws can be envisaged without departing from the scope of the invention.
[0028] Grâce à la conception du système 1 de direction décrit ci-dessus, il est possible d'actionner l'actionneur 31 du dispositif 3 d'actionnement des roues de l'engin uniquement à l'aide du premier circuit 4 ou de recourir à une assistance de direction à l'aide du deuxième circuit 5. En tout état de cause, le premier circuit 4 est toujours actif à l'état entraîné en rotation de l'organe 2 rotatif de commande et la liaison entre la source 8 de fluide et le dispositif 3 d'actionnement résultant de la présence de ce premier circuit 4 est toujours ouverte de sorte que la pompe 61 et le distributeur 62 alimentent de manière permanente en fluide le dispositif 3 d'actionnement sous l'action de l'entraînement en rotation de l'organe 2 de commande de direction. Thanks to the design of the steering system 1 described above, it is possible to actuate the actuator 31 of the device 3 for actuating the wheels of the vehicle only using the first circuit 4 or resort to steering assistance using the second circuit 5. In any case, the first circuit 4 is always active in the driven state in rotation of the rotary control member 2 and the connection between the source 8 of fluid and the actuating device 3 resulting from the presence of this first circuit 4 is always open so that the pump 61 and the distributor 62 permanently supply fluid to the actuating device 3 under the action of the rotational drive of the steering control member 2.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FRFR2011598 | 2020-11-12 | ||
| FR2011598A FR3116090B1 (en) | 2020-11-12 | 2020-11-12 | hydraulic steering system for a wheeled machine and wheeled machine equipped with such a steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2022101582A1 true WO2022101582A1 (en) | 2022-05-19 |
Family
ID=74045888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/FR2021/051990 Ceased WO2022101582A1 (en) | 2020-11-12 | 2021-11-10 | Hydraulic steering system for a wheeled machine and wheeled machine equipped with such a steering system |
Country Status (2)
| Country | Link |
|---|---|
| FR (1) | FR3116090B1 (en) |
| WO (1) | WO2022101582A1 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004062387A1 (en) | 2004-06-30 | 2006-01-26 | Brueninghaus Hydromatik Gmbh | Hydraulic steering with protection against uncontrolled steering movements |
| EP3031699A2 (en) * | 2014-12-09 | 2016-06-15 | CLAAS Selbstfahrende Erntemaschinen GmbH | Steering system for an agricultural vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4804016A (en) * | 1988-06-09 | 1989-02-14 | Eaton Corporation | Fluid controller with improved pressure balancing |
-
2020
- 2020-11-12 FR FR2011598A patent/FR3116090B1/en active Active
-
2021
- 2021-11-10 WO PCT/FR2021/051990 patent/WO2022101582A1/en not_active Ceased
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004062387A1 (en) | 2004-06-30 | 2006-01-26 | Brueninghaus Hydromatik Gmbh | Hydraulic steering with protection against uncontrolled steering movements |
| EP3031699A2 (en) * | 2014-12-09 | 2016-06-15 | CLAAS Selbstfahrende Erntemaschinen GmbH | Steering system for an agricultural vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| FR3116090B1 (en) | 2023-01-06 |
| FR3116090A1 (en) | 2022-05-13 |
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