CN104670301B - Unmanned steering system for vehicle and the vehicle with the unmanned steering system - Google Patents
Unmanned steering system for vehicle and the vehicle with the unmanned steering system Download PDFInfo
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- CN104670301B CN104670301B CN201310628268.5A CN201310628268A CN104670301B CN 104670301 B CN104670301 B CN 104670301B CN 201310628268 A CN201310628268 A CN 201310628268A CN 104670301 B CN104670301 B CN 104670301B
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- hydraulic fluid
- fluid port
- control valve
- steering system
- unmanned steering
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
-
- 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
- B62D5/08—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 type of steering valve used
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of vehicle and its unmanned steering system.The unmanned steering system includes：Power cylinder, it is provided with power cylinder and is used for power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber；Rotary valve, rotary valve have oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and left part hydraulic fluid port is connected by the first control valve with left part chamber, and right part hydraulic fluid port is connected by the second control valve with right part chamber；Oil pump, oil pump are connected with oil inlet；Two-way oil pump, two-way oil pump has the first and second hydraulic fluid ports, first hydraulic fluid port is connected by the first control valve with left part chamber, second hydraulic fluid port is connected by the second control valve with right part chamber, first hydraulic fluid port and the second hydraulic fluid port are respectively adapted to connect with fuel tank, and one of the first hydraulic fluid port and the second hydraulic fluid port form import and another forms outlet.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
Technical field
It is more particularly, to a kind of unmanned steering system for vehicle and distant with this present invention relates to automobile construction field
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, there is unmanned steering system again on the basis of power steering system
System, there is 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, controls that 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 solves 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.
Unmanned steering system for vehicle according to embodiments of the present invention, including：Power cylinder, the steering power
It is provided with cylinder and is used for the power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber；Rotary valve, institute
Stating rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and a right part hydraulic fluid port, the left part hydraulic fluid port of the rotary valve by the first control valve with
The left part chamber is connected, and the right part hydraulic fluid port of the rotary valve is connected by the second control valve with the right part chamber；Oil pump, it is described
Oil pump is connected with the oil inlet；Two-way oil pump, the two-way oil pump have the first hydraulic fluid port and the second hydraulic fluid port, first hydraulic fluid port
It is connected by first control valve with the left part chamber, second hydraulic fluid port passes through second control valve and the right part
Chamber is connected, and first hydraulic fluid port and second hydraulic fluid port are respectively adapted to connect with fuel tank, wherein in the two-way oil pump
One of first hydraulic fluid port described in during operation and second hydraulic fluid port form import and another forms outlet；Wherein, the remote control turns
There is manual steering operating mode and unmanned steering operating mode to system：The manual steering operating mode is in the unmanned steering system
When, the oil pump passes sequentially through the rotary valve, first control valve fuel feeding into the left part chamber, or passes through described turn
Valve, second control valve fuel feeding into the right part chamber；The unmanned steering operating mode is in the unmanned steering system
When, two-way oil pump fuel feeding into the left part chamber by first hydraulic fluid port and first control valve, or pass through
Second hydraulic fluid port and second control valve fuel feeding into 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, turns to the right or keep straight on, and is needing to drive
When member's Remote Control Vehicle turns to, such as in vehicle automatic parking, driver easily Remote Control Vehicle can rotate to the left or to the right, now
Driver can also can be remotely controlled outside car certainly in the car, easy to operate, and control is simple.
In addition, the unmanned steering system for vehicle according to embodiments of the present invention, can also have following supplementary technology
Feature：
According to some embodiments of the present invention, first control valve is identical with the structure of second control valve.
Thus, the versatility of control valve is improved, the cost of unmanned steering system can be reduced.
According to some embodiments of the present invention, first control valve and second control valve are solenoid directional control valve.
According to some embodiments of the present invention, each in first control valve and second control valve is respectively provided with
First normally open, the second normally open and normally closed port, wherein
First normally open of first control valve is connected with the left part hydraulic fluid port, and the second of first control valve is normally opened
Mouth is connected with the left part chamber, and the normally closed port of first control valve is connected with first hydraulic fluid port；
First normally open of second control valve is connected with the right part hydraulic fluid port, and the second of second control valve is normally opened
Mouth is connected with the right part chamber, and the normally closed port of second control valve is connected with second hydraulic fluid port.
According to some embodiments of the present invention, the unmanned steering system also includes：First check valve and the second check valve,
First check valve is located between first hydraulic fluid port and the fuel tank and the port of export of first check valve and described the
One hydraulic fluid port is connected, and second check valve is located between second hydraulic fluid port and the fuel tank and the outlet of second check valve
End is connected with second hydraulic fluid port.
According to some embodiments of the present invention, the entrance point of the entrance point of first check valve and second check valve
It is connected by connecting line, wherein the common pall is connected with the pipeline.
Thus, it is possible to simplify oil circuit.
According to some embodiments of the present invention, the unmanned steering system also includes：Pressure sensor, the pressure sensing
Device is used to detect the oil pressure at the oil inlet, and the unmanned steering operating mode and the pressure are in the unmanned steering system
When force snesor detects that the oil pressure exceedes predetermined value, the unmanned steering system switches to from the unmanned steering operating mode
The manual steering operating mode.
Thus, it is possible to improve travel safety.
According to some embodiments of the present invention, piston rod is respectively arranged with the two sides of the piston, the institute per side
State piston rod and extend 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, the oil pump is driven by motor, is set between the oil pump and the motor
There is speed adjusting gear.
Vehicle according to embodiments of the present invention, including unmanned steering system, the unmanned steering system are according in the present invention
State the unmanned steering system for vehicle of embodiment.
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 is 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, are for only for ease of
Description is of the invention to be described with simplified, rather than the device or element of instruction or hint meaning must be with 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 instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed 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 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 directly to contact but pass through 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
Sign is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is 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
Schematic diagram of the unmanned steering system when vehicle is in manual left-hand rotation operating mode, Fig. 3 is to be turned according to the remote control of the embodiment of the present invention
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
It is remotely controlled schematic diagram during right-hand rotation operating mode.And it should be noted that in Fig. 1-Fig. 5 example, between two different parts
Solid line can represent pipeline, and the arrow on solid line schematically shows the flow direction of fluid, the void between two different parts
Line can represent to be electrically connected, and the arrow on 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 11, rotary valve
2nd, the first control valve 31, the second control valve 32, oil pump 41 and two-way oil pump 42.
It is provided with and is used for the internal insulation of power cylinder 11 into left part chamber shown in reference picture 1- Fig. 5, in power cylinder 11
Room 14 and the power cylinder piston 12 of right part chamber 15.Specifically, power cylinder 11 can be the hydraulic oil of elongated shape column
Cylinder, is provided with power cylinder piston 12 in power cylinder 11, power cylinder piston 12 be sealingly fitted in power cylinder 11 with
The inner space of power cylinder 11 is isolated into left part chamber 14 and right part chamber 15, left part chamber 14 and right part chamber 15 are each other
Independent, non-interference, i.e., the hydraulic oil in hydraulic oil and right part chamber 15 in left part chamber 14 can not pass through power cylinder piston
Mutually circulated at 12.
Power cylinder piston 12 can axially move back and forth along power cylinder 11 in power cylinder 11, thus left part chamber
The volume of room 14 and 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 moves 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 mutually strains 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 11 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 extends beyond to the right out of right part chamber 15
Power cylinder 11, 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 on the right side of this
Knuckle acts.What piston rod 13 can be integrally formed with power cylinder piston 12, certain power cylinder piston 12 and piston rod 13
Can also be 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 control valve 31 with left part chamber 14, and the right part hydraulic fluid port 24 of rotary valve 2 passes through the second control
Valve 32 is connected with right part chamber 15.In other words, rotary valve 2 is not joined directly together with left part chamber 14 and right part chamber 15, but logical
Corresponding control valve is crossed to be indirectly connected.
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 through oil inlet 21 from the pressure oil of oil pump 41（It is schematically illustrate）, now left part hydraulic fluid port
23 are separated.When valve core turns over the angle of very little counterclockwise, be can be supplied to from the pressure oil of oil pump 41 through oil inlet 21
Left part hydraulic fluid port 23（It is schematically illustrate）, now right part hydraulic fluid port 24 separated.In other words, when rotary valve 2 is in neutral position, oil inlet
21st, oil return opening 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24 are interconnected, and very little is turned over along a direction in the valve core of rotary valve 2
After angle, oil inlet 21 connects with right part hydraulic fluid port 24 while left part hydraulic fluid port 23 connects with oil return opening 22 or oil inlet 21 and a left side
Right part hydraulic fluid port 24 connects the connection of portion's hydraulic fluid port 23 with oil return opening 22 simultaneously.
According to some embodiments of the present invention, the assembly method of rotary valve 2 can use assembly method same as the prior art,
Such as 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, turn to
Power cylinder 11 and rotary valve 2 can make into a single integrated structure, composition in-line power steering, but the present invention is not limited thereto.It is dynamic
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
The heart is fixed together with turning to the tip of the axis again, 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 communicate（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 and intercommunication by rotary valve 2）, fluid
Fuel tank is flowed back to by oil return opening 22, therefore power cylinder 11 does not work completely, now vehicle is in straight trip operating mode, reference picture
Shown in 1.When clockwise together with valve core upon starting rotation steering wheel, steering spindle（It is schematically illustrate）During rotation because by turn
The road surface steering drag transmitted to joint arm, power cylinder piston 12 and steering rack can not temporarily move, therefore tooth sector is temporary transient
Can not be with steering axes.
So, the torque for tooth sector being passed to 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 as to which rotary valve 2 makes the right part chamber of power cylinder 11
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, tooth sector is helped to force steering rack to start to act, 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, turns round torsion of bar and become
Shape just exists always, and the right turn position residing for rotary valve 2 is also constant, once steering wheel stops operating, power cylinder 11 is temporary transient
Work is also continued to, causes tooth sector to be rotated further, reduces the torsional deflection of torsion bar, until torsion bar affranchises state, is turned
Valve 2 returns to neutral position, and power cylinder 11 is stopped, and now, steering wheel is parked in motionless on a certain position, then wheel
Corner is also maintained for necessarily.
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 deflects to the left, is not detailed herein.
It should be appreciated that described above is only illustrative, it is impossible to is not understood as the hint to the present invention or limitation.It is right
For those skilled in the art, on the basis for having read specification above disclosure, prior art can be combined
Above-mentioned technical proposal or technical characteristic are replaced and/or changed.
Oil pump 41 is connected with oil inlet 21, and oil pump 41 is used to the fluid in fuel tank supplying rotary valve 2.Two-way oil pump 42 has
First hydraulic fluid port 421 and the second hydraulic fluid port 422, the first hydraulic fluid port 421 are connected by the first control valve 31 with left part chamber 14, the second hydraulic fluid port
422 are connected by the second control valve 32 with right part chamber 15, and the first hydraulic fluid port 421 and the second hydraulic fluid port 422 are respectively adapted to and oil
Case is connected, and when two-way oil pump 42 runs work, one of the first hydraulic fluid port 421 and the second hydraulic fluid port 422 form import and another is formed
Outlet.In other words, two-way oil pump 42 has two kinds of mode of operations, and one kind is outlet for the first hydraulic fluid port 421, and two-way oil pump 42 passes through
Second pump oil from fuel tank of hydraulic fluid port 422, another kind are outlet for the second hydraulic fluid port 422, two-way oil pump 42 by the first hydraulic fluid port 421 from
Pump oil in fuel tank.
It should be appreciated that the specific configuration and operation principle of two-way oil pump 42 have been prior art, and it is the common of this area
Known to technical staff, therefore no longer describe in detail here.
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, as shown in Figures 2 and 3, oil pump 41 passes sequentially through
Rotary valve 2, the first control valve 31 fuel feeding into left part chamber 14, or oil pump 41 by rotary valve 2, the second control valve 32 to right part chamber
Fuel feeding in room 15.As shown in Figure 4 and Figure 5, when unmanned steering system is in unmanned steering operating mode, two-way oil pump 42 passes through first
The control valve 31 of hydraulic fluid port 421 and first fuel feeding into left part chamber 14, or two-way oil pump 42 pass through the second hydraulic fluid port 422 and the second control
Valve 32 processed fuel feeding into right part chamber 15.
More specifically, shown in reference picture 2, when unmanned steering system is in manual operating mode, the turn if driver turns left
To disk, fluid is pumped to rotary valve 2 by oil pump 41, and rotary valve 2 is exported fluid to the first control valve 31, fluid by left part hydraulic fluid port 23
By being entered after the first control valve 31 in left part chamber 14, oil pressure increases in left part chamber 14, so as to which propulsion power cylinder is lived
Plug 12 moves right, and power cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned left.Now, due to
Right part chamber 15 is compressed by power cylinder piston 12, the fluid in right part chamber 15 by after the second control valve 32, rotary valve 2 from rotary valve
2 oil return opening 22 is back to fuel tank.Under this operating mode, two-way oil pump 42 does not work.
Equally, shown in reference picture 3, when unmanned steering system is in manual operating mode, the steering wheel if driver turns right,
Fluid is pumped to rotary valve 2 by oil pump 41, and rotary valve 2 is exported fluid to the second control valve 32 by right part hydraulic fluid port 24, and fluid passes through
Entered after second control valve 32 in right part chamber 15, oil pressure increases in right part chamber 15, so as to propulsion power cylinder piston 12
It is moved to the left, power cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned right.Now, due to left part
Chamber 14 is compressed by power cylinder piston 12, the fluid in left part chamber 14 by after the first control valve 31, rotary valve 2 from rotary valve 2
The backflow fuel tank of oil return opening 22.Under this operating mode, two-way oil pump 42 does not work.
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, rotary valve 2 is in neutral position, and oil pump 41 exports oil to rotary valve
2, the part fluid is directly back to fuel tank by oil return opening 22.Now, controller（That is, ECU）Two-way oil pump 42 can be controlled
Work, the first hydraulic fluid port 421 are outlet, and the second hydraulic fluid port 422 is import, and two-way oil pump 42 passes through the second pump from fuel tank of hydraulic fluid port 422
Oil, and by being exported after the first hydraulic fluid port 421 and the first control valve 31 to left part chamber 14, oil pressure increase in left part chamber 14,
Move right so as to propulsion power cylinder piston 12, power cylinder piston 12 drives knuckle to act by piston rod 13, make wheel to
Turn left dynamic.Now, because right part chamber 15 is compressed by power cylinder piston 12, the fluid in right part chamber 15 passes through the second control valve
32nd, from the backflow fuel tank of oil return opening 22 of rotary valve 2 after rotary valve 2.
Shown in reference picture 5, unmanned steering system is in unmanned steering operating mode, if driver's Remote Control Vehicle deflecting roller is turned right
When dynamic, rotary valve 2 is in neutral position, and oil pump 41 exports oil to rotary valve 2, and the part fluid is directly back to by oil return opening 22
Fuel tank.Now, controller can control two-way oil pump 42 to work, and the first hydraulic fluid port 421 is import, and the second hydraulic fluid port 422 is outlet, double
To oil pump 42 by the first pump oil from fuel tank of hydraulic fluid port 421, and by being exported after the second hydraulic fluid port 422 and the second control valve 32 to the right side
Portion's chamber 15, oil pressure increase in right part chamber 15, so as to which propulsion power cylinder piston 12 is moved to the left, power cylinder piston 12 passes through
Piston rod 13 drives knuckle action, wheel is turned right.Now, because left part chamber 14 is compressed by power cylinder piston 12,
Fluid in left part chamber 14 passes through the backflow fuel tank of oil return opening 22 after the first control valve 31, rotary valve 2 from rotary valve 2.
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, turns 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
Dynamic, now driver can also can be remotely controlled outside car certainly in the car, easy to operate, and control is simple.
It should be appreciated that when driver's Remote Control Vehicle turns to, 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 to be remotely controlled outside car, certain RPB can also be provided separately within one
On individual portable steering remote control.
According to some embodiments of the present invention, the first control valve 31 is identical with the structure of the second control valve 32.So can be with
The versatility of control valve is improved, reduces the cost of unmanned steering system.For example, the first control valve 31 and the second control valve 32
For solenoid directional control valve.
It should be noted that in the above-described embodiment, because the first control valve 31, the second control valve 32 are automatically controlled
Valve, there is commutation function, therefore control the upper electricity, the power-down state that switch two valves to realize different operating modes by controller
Switching.Because the vehicle plenty of time is in manual operation state, it is preferred that controlling two valves to be in controller
During power-down state, unmanned steering system can be at manual steering operating mode, and being partially in controller controls two valves
During power-up state, unmanned steering system can be at unmanned steering operating mode, so not only save energy consumption, while easy to control.
According to some embodiments of the present invention, the first control valve 31 has the first normally open 311, the and of the second normally open 312
Normally closed port 313, the second control valve 32 have the first normally open 321, the second normally open 322 and normally closed port 323, wherein the first control
First normally open 311 of valve 31 is connected with left part hydraulic fluid port 23, the second normally open 312 and the phase of left part chamber 14 of the first control valve 31
Even, the normally closed port 313 of the first control valve 31 is connected with the first hydraulic fluid port 421.The first normally open 321 and right part of second control valve 32
Hydraulic fluid port 24 is connected, and the second normally open 322 of the second control valve 32 is connected with right part chamber 15, the normally closed port of the second control valve 32
323 are connected with the second hydraulic fluid port 422.
According to some currently preferred embodiments of the present invention, unmanned steering system also includes the first check valve 51 and the second check valve
52, the first check valve 51 is located between the first hydraulic fluid port 421 and fuel tank, the port of export and the phase of the first hydraulic fluid port 421 of the first check valve 51
Even, the entrance point of the first check valve 51 is connected with fuel tank, and the first check valve 51 is used for the direction along fuel tank towards the first hydraulic fluid port 421
Pipeline between one-way conduction fuel tank and the first hydraulic fluid port 421.Second check valve 52 is located between the second hydraulic fluid port 422 and fuel tank, the
The port of export of two check valves 52 is connected with the second hydraulic fluid port 422, and the entrance point of the second check valve 52 is connected with fuel tank, the second check valve
52 are used for along the pipeline between the direction one-way conduction fuel tank and the second hydraulic fluid port 422 of fuel tank the second hydraulic fluid port 422 of direction.Pass through setting
First check valve 51 and the second check valve 52, fluid adverse current can be prevented to fuel tank.
Further, as Figure 1-Figure 5, the entrance point of the entrance point of the first check valve 51 and the second check valve 52 be connected with
It is connected by common pall 53 with fuel tank.Further, the entrance point of the entrance point of the first check valve 51 and the second check valve 52
It is connected by connecting line 54, connecting line is connected with common pall 53.So, fluid can first pass through common pall 53 in fuel tank
Connecting line 54 is flowed into, then the first hydraulic fluid port 421 or the second hydraulic fluid port 422 are selectively supplied by connecting line 54.It is thus, it is possible to simple
Carburetion road, reduce unmanned steering system cost.It is to be understood that the connected mode not limited to this of above-mentioned oil circuit, such as
The entrance point of first check valve 51 and the second check valve 52 directly can also be connected with fuel tank.
Below with the unmanned steering with the first check valve 51, the second check valve 52, common pall 53 and connecting line 54
System while so that the first control valve 31 and the second control valve 32 are solenoid directional control valve as an example, is briefly described and is implemented according to the present invention
The operation principle of the unmanned steering system of example.
When vehicle is in straight trip, as shown in figure 1, controller can control the first control valve 31, the second control valve 32 all
No power, two valves export from oil pump 41 all in initial position, fluid and flow back to fuel tank to after rotary valve 2.Now two-way oil pump 42
Do not work.
When unmanned steering system is in manual steering operating mode：As shown in figure 3, controller can control the first control valve
31st, the second control valve 32 all no powers, all in initial position, fluid is exported to turning two valves from oil pump 41 by oil inlet 21
Valve 2, steering wheel is rotated clockwise manually, the oil inlet 21 of rotary valve 2 is connected with right part hydraulic fluid port 24 and left part hydraulic fluid port 23 and oil return opening
22 connections, fluid flow out from the right part hydraulic fluid port 24 of rotary valve 2, and the first normally open 321 and second by the second control valve 32 is normally opened
Entered after mouthfuls 322 in the right part chamber 15 of power cylinder 11, 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 312 of the first control valve 31,
Enter rotary valve 2 after one 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 rotating counterclockwise manually when turning to disk, pivoted wheels on vehicle will turn left, its principle with it is above-mentioned big
Cause identical, refer to above description, no longer describe in detail here.
When unmanned steering system is in unmanned steering operating mode：As shown in figure 5, if driver's Remote Control Vehicle turns to the right
When, the controller control no power of the first control valve 31 is in initial position, while controller controls the energization of the second control valve 32 to change
To so that the normally open 322 of normally closed port 323 and second of the second control valve 32 turns on, the first normally open 321 of the second control valve 32
Separated.Oil is exported and is in neutral position to rotary valve 2, rotary valve 2 by oil pump 41 by oil inlet 21, the part fluid directly from return
Hydraulic fluid port 22 is back to fuel tank.
At the same time, controller control two-way oil pump 42 runs work so that the second hydraulic fluid port 422 forms outlet, the first oil
Mouthfuls 421 form imports, two-way oil pump 42 by common pall 53, the pump oil from fuel tank of check valve 51 of connecting line 54 and first,
And by fluid by the second hydraulic fluid port 422, the second control valve 32 the normally open 322 of normally closed port 323 and second after output to right part chamber
In room 15, propulsion power cylinder piston 12 is moved to the left, so as to which deflecting roller turns to the right.Now the first control valve 31 is still in power-off
State, the fluid in left part chamber 14 pass sequentially through the second normally open 312 of the first control valve 31, the first normally open 311 and
Enter rotary valve 2 after left part hydraulic fluid port 23, then fuel tank is back to from the oil return opening 22 of rotary valve 2, realize 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, controller controls the first control valve 31 to be powered and changed
To so that the normally open 312 of normally closed port 313 and second of the first control valve 31 turns on, the first normally open 311 of the first control valve 31
Separated.Second control valve 32 is in power down original state, and its principle is roughly the same with above description, repeats no more here.
In short, controlling the conducting state of the first control valve 31 and the second control valve 32 by controller, control simultaneously
The working condition of two-way oil pump, it is possible to achieve what unmanned steering system switched between unmanned steering operating mode and manual steering operating mode
Purpose.
According to one embodiment of present invention, the first control valve 31 and the second control valve 32 can be integrated in power cylinder
On 11, 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 control valve 31 and the second control
Valve 32 can become one.Or first control valve 31 and the second control valve 32 may alternatively be integrated within steering gear, by pipeline with
Power cylinder 11 connects, or the first control valve 31 and the second control valve 32 also can be independent mutually, are connected to each other by pipeline.
In short, those skilled in the art is on the basis for having read specification disclosure, with reference to hydraulic pressure
The ABC in field, the first control valve 31, the arrangement form of the second control valve 32, assembly method can be improved, with
So that unmanned steering system according to embodiments of the present invention is adapted to different automobile types, turn remote control according to embodiments of the present invention
Compacter, simple to system architecture, cost is lower, and the scope of application is wider.
According to some embodiments of the present invention, oil pump 41 can be directly driven by the engine of vehicle, due to turning for engine
The fast moment is becoming, therefore the oil pump 41 can have flow control device and an overflow mechanism, and the flow of the oil pump 41 output can be with
Control is in a less mobility scale, and maximum oil pressure is constant, that is to say, that those skilled in the art can be according to remote control
The output flow and maximum oil pressure of the requirement setting oil pump 41 of steering.
But the present invention is not limited thereto, in other embodiments of the present invention, oil pump 41 also can be directly by individually electricity
Machine is driven, i.e., oil pump 41 is not directly driven by engine.In such an embodiment, it is preferable the output speed of oil pump 41 is adjustable,
Such as speed adjusting gear can be set between oil pump 41 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 41 are driven by single motor, and
Speed adjusting gear is set up, so that the output speed of oil pump 41 is adjustable, vehicle can be controlled by the pump oil amount for adjusting oil pump 41
The response speed and turning velocity turned to during manual steering., can be with moreover, by setting single motor and speed adjusting gear
Setting the maximum (top) speed that motor exports oil-feed pump by speed adjusting gear so that oil pump can be at declared working condition under the maximum (top) speed,
Overflow mechanism can so be cancelled, reduce cost.But the present invention is not limited thereto.
According to some embodiments of the present invention, unmanned steering system also includes pressure sensor 6, and pressure sensor 6 can be with
Controller is connected, and pressure sensor 6 is used to detect the oil pressure at oil inlet 21, and unmanned steering work is in unmanned steering system
When oil pressure during condition and at the detection oil inlet 21 of pressure sensor 6 exceedes predetermined value, controller can control unmanned steering system
System switches to manual steering operating mode from unmanned steering operating mode, such as controls the first control valve 31 or the power down of the second control valve 32, from
And enter manual steering operating mode.
Specifically, when unmanned steering system is in unmanned steering operating mode, rotary valve 2 is intervened manually if having, such as driver
Acted by rotating steering dish driving rotary valve 2, changed so as to the conducting state of rotary valve 2, the oil pressure of the oil inlet 21 of rotary valve 2
Power can increase, now ECU can be detected according to pressure sensor 6 pressure exceed predetermined value after, force the first control valve 31 or
The power down of second control valve 32 and the motor power down for controlling two-way oil pump 42, force unmanned steering system to enter manual steering work
Condition so that manual steering operating mode, so as to greatly improve vehicle safety, ensures traffic safety prior to unmanned steering operating mode.
It should be appreciated that above-mentioned " predetermined value " can according to applied to the unmanned steering system in different vehicle and/or its
Its factor and adaptive settings, this all will be appreciated that for the ordinary skill in the art.
Vehicle according to embodiments of the present invention is briefly described below.
Vehicle according to embodiments of the present invention, including according to the unmanned steering system 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 be well known for ordinary skill in the art, therefore no longer it is 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 specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.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
Different embodiments 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 (8)
- A kind of 1. unmanned steering system for vehicle, it is characterised in that including：Power cylinder, it is provided with the power cylinder and 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 have 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 control valve is connected with the left part chamber, and the right part hydraulic fluid port of the rotary valve passes through the second control valve and the right part chamber phase Even；Oil pump, the oil pump are connected with the oil inlet；Two-way oil pump, the two-way oil pump have the first hydraulic fluid port and the second hydraulic fluid port, and first hydraulic fluid port controls by described first Valve is connected with the left part chamber, and second hydraulic fluid port is connected by second control valve with the right part chamber, and institute State the first hydraulic fluid port and second hydraulic fluid port is respectively adapted to connect with fuel tank, wherein the first oil described in when the two-way oil pump is run One of mouth and second hydraulic fluid port form import and another forms outlet；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 rotary valve, described One control valve fuel feeding into the left part chamber, or by the rotary valve, second control valve into the right part chamber Fuel feeding；When the unmanned steering system is in the unmanned steering operating mode, the two-way oil pump passes through first hydraulic fluid port and institute State the first control valve fuel feeding into the left part chamber, or by second hydraulic fluid port and second control valve to the right side Fuel feeding in portion's chamber；First control valve and second control valve are solenoid directional control valve；Each in first control valve and second control valve is respectively provided with the first normally open, the second normally open and normally closed Mouthful, whereinFirst normally open of first control valve is connected with the left part hydraulic fluid port, the second normally open of first control valve with The left part chamber is connected, and the normally closed port of first control valve is connected with first hydraulic fluid port；First normally open of second control valve is connected with the right part hydraulic fluid port, the second normally open of second control valve with The right part chamber is connected, and the normally closed port of second control valve is connected with second hydraulic fluid port.
- 2. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first control valve and institute The structure for stating the second control valve is identical.
- 3. the unmanned steering system according to claim 1 for vehicle, it is characterised in that also include：First check valve With the second check valve, first check valve is located between first hydraulic fluid port and the fuel tank and first check valve goes out Mouthful end is connected with first hydraulic fluid port, and second check valve is located between second hydraulic fluid port and the fuel tank and described second The port of export of check valve is connected with second hydraulic fluid port.
- 4. the unmanned steering system according to claim 3 for vehicle, it is characterised in that first check valve enters The entrance point of mouth end and second check valve is connected to be connected by common pall with the fuel tank.
- 5. the unmanned steering system for vehicle according to any one of claim 1-4, it is characterised in that also include： Pressure sensor, the pressure sensor are used to detect the oil pressure at the oil inlet, are in the unmanned steering system When the unmanned steering operating mode and the pressure sensor detect that the oil pressure exceedes predetermined value, the unmanned steering system The manual steering operating mode is switched to from the unmanned steering operating mode.
- 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 the oil pump is driven by motor It is dynamic, it is provided with speed adjusting gear between the oil pump and the motor.
- 8. a kind of vehicle, it is characterised in that including unmanned steering system, the unmanned steering system is according to claim 1-7 Any one of unmanned steering system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310628268.5A CN104670301B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310628268.5A CN104670301B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
Publications (2)
| Publication Number | Publication Date |
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| CN104670301A CN104670301A (en) | 2015-06-03 |
| CN104670301B true CN104670301B (en) | 2017-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310628268.5A Active CN104670301B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379405A (en) * | 2016-09-30 | 2017-02-08 | 雷沃重工股份有限公司 | Steering control system of tractor |
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|---|---|---|---|---|
| JPH10157643A (en) * | 1996-12-02 | 1998-06-16 | Koyo Seiko Co Ltd | Steering device |
| CN1709757A (en) * | 2004-06-18 | 2005-12-21 | 容海因里希股份公司 | Drive device driven by pressure medium, in particular for vehicle steering apparatus |
| CN201592732U (en) * | 2010-02-09 | 2010-09-29 | 北京农业信息技术研究中心 | Automatically steering device of tractor preferring manual operation |
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|---|---|---|---|---|
| US4219093A (en) * | 1978-08-04 | 1980-08-26 | Zahnradfabrik Friedrichshafen Ag | Vehicle steering assist |
| JPH09254800A (en) * | 1996-03-22 | 1997-09-30 | Kayaba Ind Co Ltd | Steering force controller for power steering |
| DE102005035171A1 (en) * | 2005-07-27 | 2007-02-01 | Bosch Rexroth Aktiengesellschaft | Electrohydraulic steering |
| US7931112B2 (en) * | 2008-05-02 | 2011-04-26 | Eaton Corporation | Isolation valve for a load-reaction steering 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 |
| CN203078587U (en) * | 2012-12-29 | 2013-07-24 | 比亚迪股份有限公司 | Hydraulic power steering device capable of being remotely controlled and steering system |
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- 2013-11-29 CN CN201310628268.5A patent/CN104670301B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10157643A (en) * | 1996-12-02 | 1998-06-16 | Koyo Seiko Co Ltd | Steering device |
| CN1709757A (en) * | 2004-06-18 | 2005-12-21 | 容海因里希股份公司 | Drive device driven by pressure medium, in particular for vehicle steering apparatus |
| CN201592732U (en) * | 2010-02-09 | 2010-09-29 | 北京农业信息技术研究中心 | Automatically steering device of tractor preferring manual operation |
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| CN104670301A (en) | 2015-06-03 |
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