CN104670299B - For the unmanned steering system of vehicle and the vehicle with the unmanned steering system - Google Patents

For the unmanned steering system of vehicle and the vehicle with the unmanned steering system Download PDF

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Publication number
CN104670299B
CN104670299B CN201310627605.9A CN201310627605A CN104670299B CN 104670299 B CN104670299 B CN 104670299B CN 201310627605 A CN201310627605 A CN 201310627605A CN 104670299 B CN104670299 B CN 104670299B
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China
Prior art keywords
control valve
solenoid directional
directional control
valve
steering system
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CN201310627605.9A
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CN104670299A (en
Inventor
任毅
杨胜麟
刘彦
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BYD Co Ltd
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BYD Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D1/00Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/06Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle

Abstract

The invention discloses a kind of vehicle and its unmanned steering system, the unmanned steering system includes:Power cylinder, being provided with power cylinder is used for power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber;Rotary valve, rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and the left part hydraulic fluid port of rotary valve is connected by the first solenoid directional control valve with left part chamber, and the right part hydraulic fluid port of rotary valve is connected by the second solenoid directional control valve with right part chamber;And oil pump, oil pump is connected with oil inlet by the 3rd solenoid directional control valve and is connected by the 3rd solenoid directional control valve with the first solenoid directional control valve and the second solenoid directional control valve.The unmanned steering system of the present invention has manual mode and remote control mode, and the unmanned steering system architecture is simple, easy to control and cost is low.

Description

For the unmanned steering system of vehicle and the vehicle with the unmanned steering system
Technical field
The present invention relates to automobile construction field, more particularly, to a kind of unmanned steering system for vehicle and distant with this Control the vehicle of steering.
Background technology
The function of automobile steering system is to ensure that automobile can carry out Turning travel according to the will of driver.Motor turning System can be divided into mechanical steering system and power steering system.Mechanical steering system is used as steering energy using the muscle power of driver Source, wherein all force transmission elements are all mechanical structure, mainly by operating mechanism, steering gear and steering gear three parts group Into.The steering that power steering system is a set of dual-purpose driver muscle power and engine power is steerable energy, electronic-controlled power steering System is mainly additionally arranged steering augmentor, and the steering augmentor is mainly hydraulic steering unit, in driver turn During steering wheel, turning to augmentor can aid in completing go to action, reduce the torque of driver turn steering wheel.
In correlation technique known for inventor, unmanned steering system is occurred in that again on the basis of power steering system System, with manually and automatically both of which, it is possible to achieve such as automatic parking function, but related remote control known for inventor The structure of steering is more complicated, control is cumbersome and cost is high, and practicality is poor, and these remote driving technologies are all based on Electric power-assisted steering apparatus(EPS)Exploitation, but many electric power-assisted steering apparatus(EPS)Also be not it is especially ripe, especially For the heavier automobile of front axle load, it is necessary to develop powerful brushless electric machine, during remote driving, electric power steering Device(EPS)Pivot stud can be often carried out, now the load of transfer is maximum, electric power-assisted steering apparatus(EPS)Electricity Chance produces very big heat and causes motor to enter self-protection pattern, greatly reduces electric power-assisted steering apparatus(EPS)Electricity The life-span of machine.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem of the prior art to a certain extent.
Therefore, it is an object of the present invention to propose a kind of unmanned steering system for vehicle, the unmanned steering system System has manual mode and remote control mode, and the unmanned steering system architecture is simple, easy to control and cost is low.
It is another object of the present invention to propose a kind of vehicle, the vehicle includes above-mentioned unmanned steering system.
The unmanned steering system for vehicle of embodiment according to an aspect of the present invention, including:Power cylinder, described turn Being provided with into power cylinder is used for the power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber;Turn Valve, the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and the left part hydraulic fluid port of the rotary valve passes through the first electricity Magnetic reversal valve is connected with the left part chamber, and the right part hydraulic fluid port of the rotary valve passes through the second solenoid directional control valve and the right part chamber It is connected;And oil pump, the oil pump is connected with the oil inlet by the 3rd solenoid directional control valve and changed by the 3rd electromagnetism It is connected to valve with first solenoid directional control valve and second solenoid directional control valve;Wherein, the unmanned steering system has hand Dynamic steering situation and unmanned steering operating mode:The unmanned steering system be in the manual steering operating mode when, the oil pump according to It is secondary by the 3rd solenoid directional control valve, the rotary valve, first solenoid directional control valve into the left part chamber fuel feeding, or By the 3rd solenoid directional control valve, the rotary valve, second solenoid directional control valve into the right part chamber fuel feeding;Described When unmanned steering system is in the unmanned steering operating mode, the oil pump passes through the 3rd solenoid directional control valve and first electricity Magnetic reversal valve fuel feeding into the left part chamber, or by the 3rd solenoid directional control valve and second solenoid directional control valve to Fuel feeding in the right part chamber.
Unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode, in vehicle just Often during traveling, driver is manually operable steering wheel so as to control vehicle to turn to the left, turn to the right or keep straight on, and is needing to drive When member's Remote Control Vehicle is turned to, such as in vehicle automatic parking, driver easily Remote Control Vehicle can rotate to the left or to the right, now Driver can in the car, certainly also can the remote control outside car, easy to operate, control is simple.
In addition, according to the unmanned steering system for vehicle of the present invention, can also have following additional technical feature:
According to some embodiments of the present invention, the oil pump is driven by motor, is set between the motor and the oil pump There is speed adjusting gear.
According to some embodiments of the present invention, first solenoid directional control valve, second solenoid directional control valve and described Each in three solenoid directional control valves is respectively provided with the first normally open, the second normally open and normally closed port, wherein
First normally open of first solenoid directional control valve is connected with the left part hydraulic fluid port, first solenoid directional control valve Second normally open is connected with the left part chamber;
First normally open of second solenoid directional control valve is connected with the right part hydraulic fluid port, second solenoid directional control valve Second normally open is connected with the right part chamber;
First normally open of the 3rd solenoid directional control valve is connected with the oil pump, and the second of the 3rd solenoid directional control valve Normally open is connected with the oil inlet, and the normally closed port of the 3rd solenoid directional control valve is normal with first solenoid directional control valve respectively Remain silent and the normally closed port of second solenoid directional control valve is connected.
According to some embodiments of the present invention, the normally closed port of first solenoid directional control valve and second solenoid directional control valve Normally closed port be connected by control valve with the normally closed port of the 3rd solenoid directional control valve, the control valve be used for prevent the left part Hydraulic oil in chamber or the right part chamber inversely flows back to the 3rd solenoid directional control valve.
According to some embodiments of the present invention, the control valve is check valve.
According to some embodiments of the present invention, the unmanned steering system also includes:Safety valve, the safety valve is located at institute Between the normally closed port for stating control valve and the 3rd solenoid directional control valve.
According to some embodiments of the present invention, piston rod is respectively arranged with the two sides of the power cylinder piston, it is each The piston rod of side extends the knuckle for being suitable for driving the vehicle side from inside to outside from corresponding chamber respectively.
According to some embodiments of the present invention, first solenoid directional control valve and second solenoid directional control valve are integrated in institute State on power cylinder.
According to some embodiments of the present invention, first solenoid directional control valve and second solenoid directional control valve are integrated into One.
According to the vehicle of embodiment, including unmanned steering system according to a further aspect of the invention, the unmanned steering system The unmanned steering system for vehicle of the above embodiment of the present invention.
Brief description of the drawings
Schematic diagram when Fig. 1 is unmanned steering system straight trip according to embodiments of the present invention;
Fig. 2 is schematic diagram when unmanned steering system according to embodiments of the present invention is in manual left-hand rotation operating mode;
Fig. 3 is schematic diagram when unmanned steering system according to embodiments of the present invention is in manual right-hand rotation operating mode;
Fig. 4 is schematic diagram when unmanned steering system according to embodiments of the present invention is in remote control left-hand rotation operating mode;
Fig. 5 is schematic diagram when unmanned steering system according to embodiments of the present invention is in remote control right-hand rotation operating mode;
Fig. 6 is the schematic diagram of unmanned steering system according to embodiments of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of The description present invention and simplified description, rather than indicate or imply that the device or element of meaning must have specific orientation, Yi Te Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more, Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc. Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally;Can be that machinery connects Connect or electrically connect;Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under " Can directly it be contacted including the first and second features, it is not direct contact but by it that can also include the first and second features Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists Second feature " under ", " lower section " and " following " fisrt feature that includes are immediately below second feature and obliquely downward, or be merely representative of Fisrt feature level height is less than second feature.
The unmanned steering system for vehicle according to embodiments of the present invention is described in detail below with reference to Fig. 1-Fig. 6.Wherein, Fig. 1 is the schematic diagram when vehicle is kept straight on according to the unmanned steering system of the embodiment of the present invention, and Fig. 2 is according to the embodiment of the present invention Unmanned steering system vehicle be in manual left-hand rotation operating mode when schematic diagram, Fig. 3 be according to the remote control of the embodiment of the present invention turn To schematic diagram of the system when vehicle is in manual right-hand rotation operating mode, Fig. 4 is to be existed according to the unmanned steering system of the embodiment of the present invention Vehicle is in schematic diagram during remote control left-hand rotation operating mode, and Fig. 5 is to be according to the unmanned steering system of the embodiment of the present invention in vehicle Schematic diagram during remote control right-hand rotation operating mode.And it should be noted that in Fig. 1-Fig. 5 example, between two different parts The arrow that solid line can be represented on pipeline, solid line schematically shows the void between the flow direction of fluid, two different parts Line can represent that the arrow on electrical connection, dotted line schematically shows the transmission of signal.
As Figure 1-Figure 5, unmanned steering system according to embodiments of the present invention can include power cylinder 1, rotary valve 2nd, the first solenoid directional control valve 31, the second solenoid directional control valve 32, the 3rd solenoid directional control valve 33 and oil pump 4.
Being provided with shown in reference picture 1- Fig. 5, in power cylinder 1 is used for the internal insulation of power cylinder 1 into left part chamber 14 and the power cylinder piston 12 of right part chamber 15.Specifically, power cylinder 1 can be the hydraulic jack of elongated shape column, Power cylinder piston 12 is provided with power cylinder 1, power cylinder piston 12 is sealingly fitted in power cylinder 1 to turn to The inner space of power cylinder 1 is isolated into left part chamber 14 and right part chamber 15, and left part chamber 14 and right part chamber 15 are independent of one another, mutually Do not interfere, i.e., the hydraulic oil in the hydraulic oil and right part chamber 15 in left part chamber 14 can not pass through phase at power cylinder piston 12 Mutually circulation.
Power cylinder piston 12 can be moved back and forth along the axial direction of power cylinder 1 in power cylinder 1, thus left part chamber 14 and the volume of right part chamber 15 can also be change, such as power cylinder piston 12 is to left movement(Reference picture 3 and Fig. 5 institutes Show), then the volume of left part chamber 14 diminish, the volume of right part chamber 15 becomes big, and and for example power cylinder piston 12 is moved right(Reference Shown in Fig. 2 and Fig. 4), then the volume of right part chamber 15 diminish, the volume of left part chamber 14 is mutually strained greatly.
According to one embodiment of present invention, piston rod 13 is respectively arranged with the two sides of power cylinder piston 12, changes speech It, piston rod 13 is provided with the left surface and right flank of power cylinder piston 12.Piston rod 13 per side is respectively from corresponding Chamber extend the knuckle for being suitable for driving the vehicle side from inside to outside, that is to say, that the piston rod 13 in left side is from left part chamber Power cylinder 1 is extended beyond in room 14 to the left, the left end of the piston rod 13 on the left of this is suitable to the knuckle with vehicle left side Coordinate, to drive the knuckle on the left of this to act.Equally, the piston rod 13 on right side is extended beyond to the right out of right part chamber 15 Power cylinder 1, the right-hand member of the piston rod 13 on the right side of this is suitable to coordinate with the knuckle of vehicle right side, to drive turning on the right side of this Acted to section.What piston rod 13 can be integrally formed with power cylinder piston 12, certain power cylinder piston 12 and piston rod 13 Can be that then Split type structure is assembled together.
Shown in reference picture 1- Fig. 5, rotary valve 2 has oil inlet 21, oil return opening 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24, turns The left part hydraulic fluid port 23 of valve 2 is connected by the first solenoid directional control valve 31 with left part chamber 14, and the right part hydraulic fluid port 24 of rotary valve 2 passes through second Solenoid directional control valve 32 is connected with right part chamber 15.In other words, rotary valve 2 and left part chamber 14 and right part chamber 15 and indirect phase Even, but it is indirectly connected to by corresponding solenoid directional control valve.
It should be appreciated that the specific configuration and operation principle of rotary valve 2 have been prior art, and it is the common skill of this area Known to art personnel.Specifically, rotary valve 2(That is rotary valve type)Valve core rotatable around its axis can control fluid Flow, rotary valve 2 has the oil inlet 21, oil return opening 22, left part hydraulic fluid port 23 and the right part hydraulic fluid port 24 that interconnect, left part hydraulic fluid port 23 Suitable for being connected with left part chamber 14, right part hydraulic fluid port 24 is suitable to connect with right part chamber 15, when valve core turns over a very little clockwise Angle when, can be supplied to right part hydraulic fluid port 24 from the pressure oil of oil pump 4 through oil inlet 21(It is schematically illustrate), now left part hydraulic fluid port 23 Separated.When valve core turns over the angle of very little counterclockwise, left part is can be supplied to from the pressure oil of oil pump 4 through oil inlet 21 Hydraulic fluid port 23(It is schematically illustrate), now right part hydraulic fluid port 24 separated.In other words, rotary valve 2 be in neutral position when, oil inlet 21, return Hydraulic fluid port 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24 are interconnected, and the angle of very little is turned over along a direction in the valve core of rotary valve 2 Afterwards, oil inlet 21 connects left part hydraulic fluid port 23 simultaneously with right part hydraulic fluid port 24 and connected with oil return opening 22 or oil inlet 21 and left part oil Right part hydraulic fluid port 24 is connected the connection of mouth 23 with oil return opening 22 simultaneously.
According to some embodiments of the present invention, the assembling mode of rotary valve 2 can use assembling mode same as the prior art, For example so that steering gear is pinion and-rack manual steering gear as an example(Not limited to this), the pinion and-rack manual steering gear, steering Power cylinder 1 and rotary valve 2 can make into a single integrated structure, constitute in-line power steering, but the present invention is not limited thereto.Power Cylinder piston 12 can be formed integrally with steering rack, and the front end pin of torsion bar is connected with tooth sector, and rear end is connected with valve core, valve core It is fixed together again with turning to the tip of the axis, thus steering spindle can drive tooth sector to be driven by torsion bar.
When rotary valve 2 is in neutral position, 15 liang of chambers of left part chamber 14 and right part chamber are communicated(Rotary valve 2 is in neutral position When putting, each hydraulic fluid port intercommunication of rotary valve 2, therefore left part chamber 14 and right part chamber 15 are the intercommunications by rotary valve 2), fluid Fuel tank is flowed back to by oil return opening 22, therefore power cylinder 1 does not work completely, now vehicle is in straight trip operating mode, reference picture 1 It is shown.When clockwise together with valve core upon starting rotation steering wheel, steering spindle(It is schematically illustrate)During rotation, because being turned to The road surface steering drag that joint arm is transmitted, power cylinder piston 12 and steering rack can not temporarily be moved, therefore tooth sector is temporarily Can not be with steering axes.
So, the torque for passing to tooth sector by steering spindle can only make torsion bar produce a little torsional deflection, make steering spindle(I.e. Valve core)It is able to relative tooth sector(That is valve pocket)Little angle is turned over, so that rotary valve 2 makes the right part chamber of power cylinder 1 15 turn into the oil suction chamber of high pressure, and left part chamber 14 turns into the oil back chamber of low pressure.Act on hydraulic pressure to the left on power cylinder piston 12 Active force, helps tooth sector to force steering rack to start action, so as to drive knuckle band motor car wheel to deflect to the right.
Meanwhile, tooth sector also begins to rotate in same direction with steering spindle in itself, if steering wheel is rotated further, and turns round torsion of bar and becomes Shape just exists always, and the right turn position residing for rotary valve 2 is also constant, once steering wheel stops operating, power cylinder 1 is temporarily gone back Work on, cause tooth sector to be rotated further, reduce the torsional deflection of torsion bar, until torsion bar affranchises state, rotary valve 2 Neutral position is returned to, power cylinder 1 is stopped, now, steering wheel is to be parked in motionless on a certain position, then wheel steering angle Also it is maintained for certain.
When being rotated counterclockwise for steering wheel, the movement of torsion bar, the rotation direction of the valve core of rotary valve 2 and power cylinder piston 12 Direction is contrary to the above, and deflecting roller is deflected to the left, is not detailed herein.
It should be appreciated that described above is only illustrative, it is impossible to be not understood as the hint to the present invention or limitation.It is right For those skilled in the art, reading on the basis of specification above disclosure, prior art can be combined Above-mentioned technical proposal or technical characteristic are replaced and/or changed.
Shown in reference picture 1- Fig. 5, oil pump 4 is connected and passed through with the oil inlet 21 of rotary valve 2 by the 3rd solenoid directional control valve 33 3rd solenoid directional control valve 33 is connected with the first solenoid directional control valve 31 and the second solenoid directional control valve 32, in other words, the 3rd electromagnetic switch Valve 33 is located between the solenoid directional control valve 31 of oil pump 4 and first, the second solenoid directional control valve 32 and rotary valve 2, and oil pump 4 can pass through the 3rd electricity Magnetic reversal valve 33, or can be by the 3rd solenoid directional control valve 33 to the first solenoid directional control valve 31 or the second electromagnetism to the fuel feeding of rotary valve 2 The fuel feeding of reversal valve 32.
Wherein, unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode.
Specifically, when unmanned steering system is in manual steering operating mode, shown in reference picture 2 and Fig. 3, oil pump 4 leads to successively The 3rd solenoid directional control valve 33, rotary valve 2, the first solenoid directional control valve 31 fuel feeding into left part chamber 14 are crossed, or passes through the 3rd electromagnetism Reversal valve 33, rotary valve 2, the second solenoid directional control valve 32 fuel feeding into right part chamber 15.Unmanned steering is in unmanned steering system During operating mode, oil pump 4 is by the 3rd solenoid directional control valve 33, the first solenoid directional control valve 31 fuel feeding into left part chamber 14, or passes through 3rd solenoid directional control valve 33, the second solenoid directional control valve 32 fuel feeding into right part chamber 15.That is, controller is passed through(That is, ECU)To control The first solenoid directional control valve 31, the second solenoid directional control valve 32, the conducting state of the 3rd solenoid directional control valve 33 are made, it is achieved thereby that remote control The purpose that steering switches between unmanned steering operating mode and manual steering operating mode.
More specifically, shown in reference picture 2, when unmanned steering system is in manual operating mode, turning if driver turns left To disk, fluid pump is given the 3rd solenoid directional control valve 33 by oil pump 4, controller can control the 3rd solenoid directional control valve 33 by oil export to Rotary valve 2, rotary valve 2 is exported fluid to the first solenoid directional control valve 31 by left part hydraulic fluid port 23, and fluid passes through the first solenoid directional control valve Enter in left part chamber 14, oil pressure increases in left part chamber 14, so that propulsion power cylinder piston 12 moves right, move after 31 Power cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned left.Now, because right part chamber 15 is by power Cylinder piston 12 compresses, and the fluid in right part chamber 15 passes through the oil return opening 22 after the second solenoid directional control valve 32, rotary valve 2 from rotary valve 2 It is back to fuel tank.
Equally, shown in reference picture 3, when unmanned steering system is in manual operating mode, the steering wheel if driver turns right, Fluid pump is given the 3rd solenoid directional control valve 33 by oil pump 4, and controller can control the 3rd solenoid directional control valve 33 to export oil to rotary valve 2, rotary valve 2 is exported fluid to the second solenoid directional control valve 32, after fluid is by the second solenoid directional control valve 32 by right part hydraulic fluid port 24 Enter in right part chamber 15, oil pressure increases in right part chamber 15, so that propulsion power cylinder piston 12 is moved to the left, power cylinder Piston 12 drives knuckle to act by piston rod 13, wheel is turned left.Now, because left part chamber 14 is lived by power cylinder Plug 12 compresses, and the fluid in left part chamber 14 after the first solenoid directional control valve 31, rotary valve 2 from the oil return opening 22 of rotary valve 2 by flowing back Fuel tank.
Shown in reference picture 4, when unmanned steering system is in unmanned steering operating mode, the remote-controlled wheel steering system of driver Work, if driver's control pivoted wheels on vehicle turns left, fluid pump is given the 3rd solenoid directional control valve 33, controller by oil pump 4 The 3rd solenoid directional control valve 33 can be controlled again to export fluid to the first solenoid directional control valve 31, fluid passes through the first solenoid directional control valve 31 enter in left part chamber 14, and oil pressure increases in left part chamber 14, so that propulsion power cylinder piston 12 moves right, power Cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned left.Now, because right part chamber 15 is by power cylinder Piston 12 compresses, and the fluid in right part chamber 15 passes through the oil return opening 22 times after the second solenoid directional control valve 32, rotary valve 2 from rotary valve 2 Flow fuel tank.
Shown in reference picture 5, when unmanned steering system is in unmanned steering operating mode, the remote-controlled wheel steering system of driver Work, if driver's Remote Control Vehicle deflecting roller turns right, fluid pump is given the 3rd solenoid directional control valve 33, controller by oil pump 4 The 3rd solenoid directional control valve 33 can be controlled again to export fluid to the second solenoid directional control valve 32, fluid passes through the second solenoid directional control valve 32 enter in right part chamber 15, and oil pressure increases in right part chamber 15, so that propulsion power cylinder piston 12 is moved to the left, power Cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned right.Now, because left part chamber 14 is by power cylinder Piston 12 compresses, and the fluid in left part chamber 14 passes through the oil return opening 22 times after the first solenoid directional control valve 31, rotary valve 2 from rotary valve 2 Flow fuel tank.
Thus, unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode, During normal vehicle operation, driver is manually operable steering wheel so as to control vehicle to turn to the left, turn to the right or keep straight on, and is needing When wanting the steering of driver's Remote Control Vehicle, such as in vehicle automatic parking, driver easily Remote Control Vehicle can turn to the left or to the right It is dynamic, now driver can in the car, certainly also can the remote control outside car, easy to operate, control is simple.
It should be appreciated that during the steering of driver's Remote Control Vehicle, RPB can be arranged on the control of vehicle centre console It on panel, may alternatively be integrated within certainly on car key, facilitate user's remote control outside car, certain RPB can also be provided separately within one On individual portable steering remote control.
It should be noted that in the above-described embodiment, due to the first solenoid directional control valve 31, the and of the second solenoid directional control valve 32 3rd solenoid directional control valve 33 is electrically-controlled valve, with commutation and/or flow regulating function, therefore controls by controller switching Upper electricity, the power-down state of three valves can realize the switching of different operating modes.Due to the vehicle plenty of time be in it is manually operated State, it is preferred that when controller controls three valves to be in power-down state, unmanned steering system can be at manual steering Operating mode, and in controller controls three valves when being partially in power-up state, unmanned steering system can be at unmanned steering Operating mode, so not only saves energy consumption, while easy to control.
According to some embodiments of the present invention, the first solenoid directional control valve 31 has the first normally open 311, the second normally open 312 and normally closed port 313.Second solenoid directional control valve 32 has the first normally open 321, the second normally open 322 and normally closed port 323.The Three solenoid directional control valves 33 have the first normally open 331, the second normally open 332 and normally closed port 333.
Shown in reference picture 1, the first normally open 311 of the first solenoid directional control valve 31 is connected with left part hydraulic fluid port 23, the first electromagnetism Second normally open 312 of reversal valve 31 is connected with left part chamber 14.The first normally open 321 and right part of second solenoid directional control valve 32 Hydraulic fluid port 24 is connected, and the second normally open 322 of the second solenoid directional control valve 32 is connected with right part chamber 15.3rd solenoid directional control valve 33 First normally open 331 is connected with oil pump 4, the second normally open 332 of the 3rd solenoid directional control valve 33 and the phase of oil inlet 21 of rotary valve 2 Even, normally closed port 313 and second electromagnetism of the normally closed port 333 of the 3rd solenoid directional control valve 33 respectively with the first solenoid directional control valve 31 is changed It is connected to the normally closed port 323 of valve 32.
The operation principle of unmanned steering system according to embodiments of the present invention is briefly described below.
When vehicle is in straight trip, as shown in figure 1, controller controls the first solenoid directional control valve 31, the second solenoid directional control valve 32 and the 3rd all no power of solenoid directional control valve 33, three valves are all in initial position, and fluid is from oil pump 4 through the 3rd solenoid directional control valve 33 and rotary valve 2 after flow back to fuel tank.
When unmanned steering system is in manual steering operating mode:As shown in figure 3, controller controls the first solenoid directional control valve 31st, the second solenoid directional control valve 32 and the 3rd solenoid directional control valve 33 all no powers, three valves are all in initial position, and fluid is from oil pump Enter rotary valve 2 after 4 the first normally opens 331 through the 3rd solenoid directional control valve 33 and the second normally open 332, rotate clockwise turn manually To disk, fluid flows out from the right part hydraulic fluid port 24 of rotary valve 2, normal by the first normally open 321 and second of the second solenoid directional control valve 32 Entered after opening 322 in the right part chamber 15 of power cylinder 1, power cylinder piston 12 is to left movement to be driven by knuckle Pivoted wheels on vehicle is turned right.Meanwhile, the fluid in left part chamber 14 passes sequentially through the second normally open of the first solenoid directional control valve 31 312nd, enter rotary valve 2 after the first normally open 311 and left part hydraulic fluid port 23, then fuel tank is back to from the oil return opening 22 of rotary valve 2.
As shown in Fig. 2 when rotating counterclockwise steering disk manually, pivoted wheels on vehicle will turn left, its principle with it is above-mentioned big Cause is identical, refer to above description, no longer describes in detail here.
When unmanned steering system is in unmanned steering operating mode:As shown in figure 5, controller controls the 3rd solenoid directional control valve 33 Be powered commutation so that the normally closed port 333 of the 3rd solenoid directional control valve 33 is turned on its first normally open 321, its second normally open 322 It can be separated, controller also controls the no power of the first solenoid directional control valve 31 to be in initial position, and the second electromagnetic switch of control Valve 32 be powered commutation so that the normally open 322 of normally closed port 323 and second of the second solenoid directional control valve 32 is turned on, fluid through oil pump 4 according to Flowed out after secondary the first normally open 331 and normally closed port 333 by the 3rd solenoid directional control valve 33, then by the second solenoid directional control valve 32 The normally open 322 of normally closed port 323 and second enter in right part chamber 15, propulsion power cylinder piston 12 is moved to the left, thus turn Turned to the right to wheel.Now the first solenoid directional control valve 31 is still in off-position, and the fluid in left part chamber 14 passes sequentially through Enter rotary valve 2 after the second normally open 312, the first normally open 311 and the left part hydraulic fluid port 23 of one solenoid directional control valve 31, then from rotary valve 2 oil return opening 22 is back to fuel tank, realizes the steering to the right under remote control mode.
Equally, shown in reference picture 4, when being turned to the left under remote control mode, the first solenoid directional control valve 31 is powered, the second electromagnetism Reversal valve 32 is powered off, and its principle is roughly the same with above description, repeats no more here.
Further, shown in reference picture 1- Fig. 5, the solenoid directional control valve 32 of normally closed port 313 and second of the first solenoid directional control valve 31 Normally closed port 323 be connected by control valve 34 with the normally closed port 333 of the 3rd solenoid directional control valve 33, control valve 34 be used for prevent left part Fluid in chamber 14 or right part chamber 15 inversely flows back to the 3rd solenoid directional control valve 33.Thus, turn in unmanned steering system remote control To after a certain angle, control valve 34 can lock the fluid in power cylinder 1 so that vehicle keeps certain angle when travelling Degree is constant.Alternatively, control valve 34 is check valve.Thus, simple in construction, cost is low.
Further, according to one embodiment of present invention, unmanned steering system also includes safety valve 35, and safety valve 35 is set Between the normally closed port 333 of the solenoid directional control valve 33 of control valve 34 and the 3rd.Safety valve 35 can be overflow valve, for preventing remote control Oil pressure is excessive and damage system during steering, increases the reliability of system.
According to one embodiment of present invention, the first solenoid directional control valve 31 and the second solenoid directional control valve 32, which can be integrated in, turns To on power cylinder 1, so that unmanned steering system architecture is compacter, while convenient arrangement.
But, the present invention is not limited thereto, in another embodiment of the present invention, the first solenoid directional control valve 31 and second Solenoid directional control valve 32 can become one.Or, the first solenoid directional control valve 31 and the second solenoid directional control valve 32 may alternatively be integrated within and turn To on device, it is connected by pipeline with power cylinder 1, or the first solenoid directional control valve 31 and the second solenoid directional control valve 32 also can be mutual It is mutually independent, it is connected to each other by pipeline.Furthermore, the first solenoid directional control valve 31, the second solenoid directional control valve 32 and the 3rd electromagnetic switch Valve 33 can be fabricated to an integrated valve block structure, be installed on existing hydraulic steering gear, reduce oil pipe, reduce cost.
In short, those skilled in the art is being read on the basis of specification disclosure, with reference to hydraulic pressure The ABC in field, can be to the cloth of the first solenoid directional control valve 31, the second solenoid directional control valve 32 and the 3rd solenoid directional control valve 33 Form, assembling mode is put to be improved, to cause unmanned steering system according to embodiments of the present invention to be adapted to different automobile types, Make that unmanned steering system architecture according to embodiments of the present invention is compacter, simple, cost is lower, and the scope of application is wider.
According to some embodiments of the present invention, oil pump 4 can be directly driven by the engine of vehicle, due to the rotating speed of engine Moment is becoming, therefore the oil pump 4 can have flow control device and overflow mechanism, and the flow of the oil pump 4 output can be controlled In a less mobility scale, maximum oil pressure is constant, that is to say, that those skilled in the art can be according to unmanned steering The output flow and maximum oil pressure of the requirement setting oil pump 4 of system.
But, the present invention is not limited thereto, in other embodiments of the present invention, and oil pump 4 also can be directly by individually electricity Machine is driven, i.e., oil pump 4 is not directly driven by engine.In such an embodiment, it is preferable the output speed of oil pump 4 is adjustable, example As that can set speed adjusting gear between oil pump 4 and motor, speed adjusting gear can be single-row single-stage planetary gear train and/or single Double pinions mechanism and/or ravigneaux planetary gear mechanism, such oil pump 4 are driven by single motor, and are set up Speed adjusting gear, so that the output speed of oil pump 4 is adjustable, Vehicular turn can be controlled by the pump oil amount for adjusting oil pump 4 Corresponding speed and turning velocity.Moreover, by setting single motor and speed adjusting gear, motor can be set and pass through speed governing Mechanism exports the maximum (top) speed of oil-feed pump 4 so that oil pump 4 can be at declared working condition under the maximum (top) speed, can so cancel excessive Mechanism is flowed, cost is reduced.But, the present invention is not limited thereto.
Vehicle according to embodiments of the present invention is briefly described below.
Vehicle according to embodiments of the present invention, including the unmanned steering system according to described in the above embodiment of the present invention.
Vehicle according to some embodiments of the invention can be car, car, truck, lorry, SUV etc..
It should be noted that the other structures of vehicle according to embodiments of the present invention such as speed changer, differential mechanism, decelerator Deng being prior art, and it is well known for ordinary skill in the art, therefore be no longer described in detail one by one here.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office What combined in an appropriate manner in one or more embodiments or example.In addition, those skilled in the art can say this Not be the same as Example or example described in bright book are engaged and combined.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned Embodiment is changed, changed, replacing and modification.

Claims (9)

1. a kind of unmanned steering system for vehicle, it is characterised in that including:
Power cylinder, being provided with the power cylinder is used for the power cylinder internal insulation into left part chamber and the right side The power cylinder piston of portion's chamber;
Rotary valve, the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and the left part hydraulic fluid port of the rotary valve passes through First solenoid directional control valve is connected with the left part chamber, and the right part hydraulic fluid port of the rotary valve passes through the second solenoid directional control valve and the right side Portion's chamber is connected;And
Oil pump, the oil pump be connected by the 3rd solenoid directional control valve with the oil inlet and by the 3rd solenoid directional control valve with First solenoid directional control valve is connected with second solenoid directional control valve;
Wherein, the unmanned steering system has manual steering operating mode and unmanned steering operating mode:
When the unmanned steering system is in the manual steering operating mode, the oil pump passes sequentially through the 3rd electromagnetic switch Valve, the rotary valve, first solenoid directional control valve fuel feeding into the left part chamber, or pass through the 3rd electromagnetic switch Valve, the rotary valve, second solenoid directional control valve fuel feeding into the right part chamber;
When the unmanned steering system is in the unmanned steering operating mode, the oil pump by the 3rd solenoid directional control valve and First solenoid directional control valve fuel feeding into the left part chamber, or pass through the 3rd solenoid directional control valve and second electricity Magnetic reversal valve fuel feeding into the right part chamber;
Each in first solenoid directional control valve, second solenoid directional control valve and the 3rd solenoid directional control valve is respectively provided with First normally open, the second normally open and normally closed port, wherein
First normally open of first solenoid directional control valve is connected with the left part hydraulic fluid port, and the second of first solenoid directional control valve Normally open is connected with the left part chamber;
First normally open of second solenoid directional control valve is connected with the right part hydraulic fluid port, and the second of second solenoid directional control valve Normally open is connected with the right part chamber;
First normally open of the 3rd solenoid directional control valve is connected with the oil pump, and the second of the 3rd solenoid directional control valve is normally opened Mouthful it is connected with the oil inlet, the normally closed port of the normally closed port of the 3rd solenoid directional control valve respectively with first solenoid directional control valve And the normally closed port of second solenoid directional control valve is connected.
2. the unmanned steering system according to claim 1 for vehicle, it is characterised in that the oil pump is driven by motor It is dynamic, it is provided with speed adjusting gear between the motor and the oil pump.
3. the unmanned steering system according to claim 2 for vehicle, it is characterised in that first solenoid directional control valve Normally closed port and the normally closed port of second solenoid directional control valve pass through the normally closed port phase of control valve and the 3rd solenoid directional control valve Even, the control valve is used to prevent the hydraulic oil in the left part chamber or the right part chamber from inversely flowing back to the 3rd electromagnetism Reversal valve.
4. the unmanned steering system according to claim 3 for vehicle, it is characterised in that the control valve is unidirectional Valve.
5. the unmanned steering system according to claim 3 for vehicle, it is characterised in that also include:Safety valve, it is described Safety valve is located between the normally closed port of the control valve and the 3rd solenoid directional control valve.
6. the unmanned steering system according to claim 1 for vehicle, it is characterised in that the two of the power cylinder piston Piston rod is respectively arranged with side, the piston rod per side extends from inside to outside from corresponding chamber respectively to be suitable for driving The knuckle of the motor-car side.
7. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first solenoid directional control valve It is integrated in second solenoid directional control valve on the power cylinder.
8. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first solenoid directional control valve Become one with second solenoid directional control valve.
9. a kind of vehicle, it is characterised in that including unmanned steering system, the unmanned steering system is according to claim 1-8 Any one of unmanned steering system.
CN201310627605.9A 2013-11-29 2013-11-29 For the unmanned steering system of vehicle and the vehicle with the unmanned steering system Active CN104670299B (en)

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CN108382457B (en) * 2018-01-05 2021-09-10 清博(昆山)智能科技有限公司 Automatic steering transformation method and control method for tractor

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JP3412642B2 (en) * 1993-11-08 2003-06-03 マツダ株式会社 Automotive steering control device
JP3731956B2 (en) * 1996-12-02 2006-01-05 光洋精工株式会社 Steering device
JP4247986B2 (en) * 2003-12-10 2009-04-02 株式会社小松製作所 Vehicle steering control device
FR2955305A1 (en) * 2010-01-20 2011-07-22 Mauguin Citagri Device for aligning wheels assembled on mobile axle of e.g. agricultural machinery with tractor, has automatic pressure regulating system provided with aligning pressure regulation mechanism connected to hydraulic transmission system
CN202827716U (en) * 2012-09-12 2013-03-27 上海宝冶集团有限公司 Steering electro-hydraulic control system for remote-control loader

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