The invention provides a steering control method for a crawler walking vehicle, and belongs to the technical field of railway pavement self-walking operation machinery. Comprising a laying and replacing machine, the laying and replacing machine comprises a main beam assembly, a first track supporting leg A, a second track supporting leg B, a third track supporting leg C and a fourth track supporting leg D, the first track supporting leg A, the second track supporting leg B, the third track supporting leg C and the fourth track supporting leg D are sequentially arranged on the two sides of a hoisting beam respectively, and the two track supporting legs on the two sides of the same end of the laying and replacing machine are asymmetrically arranged; the transverse extension displacement of the supporting legs is detected in real time to participate in steering angle calculation, and a rotary encoder is installed on each crawler supporting leg and used for feeding back the angle of a crawler wheel in real time. According to the invention, the problems of single-machine four-wheel crawler belt and double-machine reconnection eight-wheel crawler belt walking steering control of the turnout paving and replacing machine are solved, single-machine walking steering control and double-machine reconnection steering control of the turnout paving and replacing device are realized, and the safety of the whole vehicle and the intelligent level of the vehicle are improved.

    提供一种履带走行车辆转向控制方法,属于铁路路面自走行作业机械技术领域。包括铺换机,铺换机包括主梁总成和在吊装梁两侧分别依次设置的第一履带支腿A、第二履带支腿B、第三履带支腿C以及第四履带支腿D,铺换机同一端两侧的两个履带支腿非对称设置,每个履带支腿上安装一个横向位移传感器,用于实时检测支腿横向伸出位移参与转向角度计算,每条履带支腿上安装一个旋转编码器,用于实时反馈履带轮角度。本发明解决了道岔铺换机单机四轮履带以及双机重连八轮履带走行转向控制问题,实现道岔铺换装置单机的走行转向控制、双机重连的转向控制,提升了整车的安全性及车辆的智能化水平。


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    Title :

    Steering control method for crawler walking vehicle


    Additional title:

    一种履带走行车辆转向控制方法


    Contributors:
    YUN ZE (author) / MENG GANGGANG (author) / ZHANG XIYUN (author) / ZHU HONGJUN (author) / LI HUAWEI (author) / WANG MANCHENG (author) / CHANG XINGCHEN (author) / MA JIABIN (author) / TENG XINGDONG (author) / CHEN ZETAO (author)

    Publication date :

    2024-02-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / E01B PERMANENT WAY , Gleisoberbau



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