CN104670310A - Remote control steering system for vehicle and vehicle with remote control steering system - Google Patents
Remote control steering system for vehicle and vehicle with remote control steering system Download PDFInfo
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- CN104670310A CN104670310A CN201310628179.0A CN201310628179A CN104670310A CN 104670310 A CN104670310 A CN 104670310A CN 201310628179 A CN201310628179 A CN 201310628179A CN 104670310 A CN104670310 A CN 104670310A
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- valve
- spool
- hydraulic fluid
- fluid port
- normal opening
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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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/093—Telemotor driven by steering wheel movement
Abstract
The invention discloses a vehicle and a remote control steering system of the vehicle. The remote control steering system comprises a steering power cylinder, a rotary valve, an oil pump and a two-way oil pump. A power cylinder piston is arranged in the steering power cylinder, and the interior of the steering power cylinder is divided by the power cylinder piston into a left cavity and a right cavity. The rotary valve is provided with an oil inlet, an oil return port, a left oil port and a right oil port, wherein the left oil port is connected with the left cavity through a first mechanical sliding valve, and the right oil port is connected with the right cavity through a second mechanical sliding valve. The oil pump is connected with the oil inlet. The two-way oil pump is provided with a first oil port and a second oil port, wherein the first oil port is connected with the left cavity through the first mechanical sliding valve, and the second oil port is connected with the right cavity through the second mechanical sliding valve. The remote control steering system can be operated in a manual mode and a remote control mode, is simple in structure and low in cost, and convenient to control, and can fulfill the function of the preference to the manual mode.
Description
Technical field
The present invention relates to automobile construction field, especially relate to a kind of unmanned steering system for vehicle and there is the vehicle of this unmanned steering system.
Background technology
The function of automobile steering system ensures that automobile can carry out Turning travel according to the will of chaufeur.Automobile steering system can be divided into manual steering system to unify power steering system.Mechanical steering system is using the muscle power of chaufeur as steerable energy, and wherein all force transmission elements are all physical constructions, primarily of steering unit, deflector and steering gear three parts composition.Power steering system is a set of dual-purpose chaufeur muscle power and engine power is the steering swivel system of steerable energy, power steering system has mainly been set up and has been turned to augmenter, this turns to augmenter to be mainly hydraulic steering unit, when chaufeur rotates steering handwheel, turn to augmenter to have assisted handling maneuver, reduce the moment that chaufeur rotates steering handwheel.
In correlation technique known for inventor, unmanned steering system has been there is again on the basis of power steering system, there are manual and automatic two kinds of patterns, such as automatic parking function can be realized, but the structure of relevant unmanned steering system known for inventor is more complicated, control loaded down with trivial details and cost is high, practicality is poor, and these remote driving technology are all developed based on electric power-assisted steering apparatus (EPS), but a lot of electric power-assisted steering apparatus (EPS) is not also ripe especially, especially for the automobile that front axle load is heavier, need to develop high-performance brushless motor, in remote driving process, electric power-assisted steering apparatus (EPS) often can carry out pivot stud, now the load of steering hardware is maximum, the motor of electric power-assisted steering apparatus (EPS) can produce very large heat and cause motor to enter self-protection pattern, greatly reduce the life-span of electric power-assisted steering apparatus (EPS) motor.
Summary of the invention
The present invention is intended to solve one of above-mentioned technical matters of the prior art at least to a certain extent.
For this reason, one object of the present invention is to propose a kind of unmanned steering system for vehicle, and this unmanned steering system has manual mode and remote control mode, and this unmanned steering system architecture is simple, control is convenient and cost is low.
Another object of the present invention is to propose a kind of vehicle, and this vehicle comprises above-mentioned unmanned steering system.
According to the unmanned steering system for vehicle of the embodiment of the present invention, comprising: power cylinder, in described power cylinder, being provided with the power cylinder piston for described power cylinder internal insulation being become left part chamber and right part chamber; Rotary valve, described rotary valve has oil inlet, return opening, left part hydraulic fluid port and right part hydraulic fluid port; First mechanical type guiding valve and the second mechanical type guiding valve, the left part hydraulic fluid port of described rotary valve is connected with described left part chamber by the first mechanical type guiding valve, and the right part hydraulic fluid port of described rotary valve is connected with described right part chamber by the second mechanical type guiding valve; Oil pump, described oil pump is connected with described oil inlet; Two-way oil pump, described two-way oil pump has the first hydraulic fluid port and the second hydraulic fluid port, described first hydraulic fluid port is connected with described left part chamber by described first mechanical type guiding valve, described second hydraulic fluid port is connected with described right part chamber by described second mechanical type guiding valve, and described first hydraulic fluid port and described second hydraulic fluid port are suitable for being communicated with fuel tank respectively, one of the first hydraulic fluid port and described second hydraulic fluid port described in wherein when described two-way oil pump runs form import and another forms outlet; Wherein, described unmanned steering system has manual steering operating mode and unmanned steering operating mode: when described unmanned steering system is in described manual steering operating mode, described oil pump passes through described rotary valve, described first mechanical type guiding valve successively to fuel feeding in described left part chamber, or by described rotary valve, described second mechanical type guiding valve to fuel feeding in described right part chamber; When described unmanned steering system is in described unmanned steering operating mode, described two-way oil pump by described first hydraulic fluid port and described first mechanical type guiding valve to fuel feeding in described left part chamber, or by described second hydraulic fluid port and described second mechanical type guiding valve to fuel feeding in described right part chamber.
According to the unmanned steering system of the embodiment of the present invention, there is manual steering operating mode and unmanned steering operating mode, when normal vehicle operation, chaufeur can M/C steering handwheel thus control vehicle left-handed turning to, right-hand turning to or keep straight on, when needs chaufeur Remote Control Vehicle turns to, as when vehicle automatic parking, chaufeur can rotate by Remote Control Vehicle easily to the left or to the right, now chaufeur can in car, certainly also can in the outer remote control of car, easy to operate, control is simple.
In addition, according to the unmanned steering system for vehicle of the embodiment of the present invention, following additional technical feature can also be had:
According to some embodiments of the present invention, described first mechanical type guiding valve comprises:
First valve body, described first valve body is provided with the first normal opening, the second normal opening, the first normally closed port and the first pressure feedback mouth, described first normal opening is connected with described left part hydraulic fluid port, described second normal opening is connected with described left part chamber, described first normally closed port is connected with described first hydraulic fluid port, and described first pressure feedback mouth is connected with described right part hydraulic fluid port;
First spool and the second spool, described first spool and described second spool are located in described first valve body all movably, so that described first normally closed port and the described second normal opening are cut off by the described first normal opening and the described second normal opening conducting, or the described first normal opening and the described second normal opening are cut off by described first normally closed port and the described second normal opening conducting, described first valve inner is isolated into the first valve pocket being positioned at described first spool side by described first spool and described second spool, the second valve pocket between described first spool and described second spool and be positioned at the 3rd valve pocket of described second spool side, second valve pocket described in described first normal open communication, one of second valve pocket and described 3rd valve pocket described in described second normal open communication, described first pressure feedback mouth is communicated with described first valve pocket, described first normally closed port is communicated with described 3rd valve pocket, and
First spring, described first spring is located in described second valve pocket and the two ends of described first spring flexibly compress described first spool and described second spool respectively.
By arranging mechanical type guiding valve, not only can realize manual priority function, can also reduce the cost of unmanned steering system simultaneously, it is convenient to control.
According to some embodiments of the present invention, the area of thrust surface that described first spool is positioned at described first valve pocket are S1, and the area of thrust surface that described second spool is positioned at described second valve pocket are S2, and the area of thrust surface that described second spool is positioned at described 3rd valve pocket are S3, wherein
S1 and S3 meets relational expression: S1 > S3;
S2 and S3 meets relational expression: S2 > S3.
According to some embodiments of the present invention, described second mechanical type guiding valve comprises:
Second valve body, described second valve body is provided with the 3rd normal opening, the 4th normal opening, the second normally closed port and the second pressure feedback mouth, described 3rd normal opening is connected with described right part hydraulic fluid port, described 4th normal opening is connected with described right part chamber, described second normally closed port is connected with described second hydraulic fluid port, and described second pressure feedback mouth is connected with described left part hydraulic fluid port;
3rd spool and the 4th spool, described 3rd spool and described 4th spool are located in described second valve body all movably, so that described second normally closed port and the described 4th normal opening are cut off by the described 3rd normal opening and the described 4th normal opening conducting, or the described 3rd normal opening and the described 4th normal opening are cut off by described second normally closed port and the described 4th normal opening conducting, described second valve inner is isolated into the 4th valve pocket being positioned at described 3rd spool side by described 3rd spool and described 4th spool, the 5th valve pocket between described 3rd spool and described 4th spool and be positioned at the 6th valve pocket of described 4th spool side, 5th valve pocket described in described 3rd normal open communication, one of 5th valve pocket and described 6th valve pocket described in described 4th normal open communication, described second pressure feedback mouth is communicated with described 4th valve pocket, described second normally closed port is communicated with described 6th valve pocket, and
Second spring, described second spring is located in described 5th valve pocket and the two ends of described second spring flexibly compress described 3rd spool and described 4th spool respectively.
By arranging mechanical type guiding valve, not only can realize manual priority function, can also reduce the cost of unmanned steering system simultaneously, it is convenient to control.
According to some embodiments of the present invention, the area of thrust surface that described 3rd spool is positioned at described 4th valve pocket are S4, and the area of thrust surface that described 4th spool is positioned at described 5th valve pocket are S5, and the area of thrust surface that described 4th spool is positioned at described 6th valve pocket are S6, wherein
S4 and S6 meets relational expression: S4 > S6;
S5 and S6 meets relational expression: S5 > S6.
According to some embodiments of the present invention, described unmanned steering system also comprises: the first check valve and the second check valve, described first check valve be located at described first hydraulic fluid port with between described fuel tank and the exit end of described first check valve be connected with described first hydraulic fluid port, described second check valve be located at described second hydraulic fluid port with between described fuel tank and the exit end of described second check valve be connected with described second hydraulic fluid port.
According to some embodiments of the present invention, the entrance point of described first check valve is connected to be connected with described fuel tank by common line with the entrance point of described second check valve.Thus, oil circuit can be simplified.
According to some embodiments of the present invention, the entrance point of described first check valve is connected by connecting line with the entrance point of described second check valve, and wherein said common line is connected with described pipeline.Thus, oil circuit can be simplified.
According to some embodiments of the present invention, described first oil port is provided with the first damping hole, and described second oil port is provided with the second damping hole.Thus, two-way oil pump can be protected.
According to some embodiments of the present invention, one end of described first damping hole is connected with described first hydraulic fluid port, and the other end of described first damping hole is connected with described connecting line or is directly connected with described fuel tank; One end of described second damping hole is connected with described second hydraulic fluid port, and the other end of described second damping hole is connected with described connecting line or is directly connected with described fuel tank.
According to the vehicle of the embodiment of the present invention, comprise the unmanned steering system for vehicle according to the above embodiment of the present invention.
Accompanying drawing explanation
Schematic diagram when Fig. 1 is the unmanned steering system craspedodrome according to the embodiment of the present invention;
Fig. 2 is schematic diagram when being in manual left-hand rotation operating mode according to the unmanned steering system of the embodiment of the present invention;
Fig. 3 is schematic diagram when being in manual right-hand rotation operating mode according to the unmanned steering system of the embodiment of the present invention;
Fig. 4 is schematic diagram when being in remote control left-hand rotation operating mode according to the unmanned steering system of the embodiment of the present invention;
Fig. 5 is schematic diagram when being in remote control right-hand rotation operating mode according to the unmanned steering system of the embodiment of the present invention;
Fig. 6 is the schematic diagram of the first mechanical type guiding valve according to an embodiment of the invention;
Fig. 7 is the schematic diagram of the second mechanical type guiding valve according to an embodiment of the invention;
The schematic diagram of manually intervening is there is in Fig. 8 and Fig. 9 when being and being in unmanned steering operating mode according to the unmanned steering system of the embodiment of the present invention;
Figure 10 is the schematic diagram of the unmanned steering system according to the embodiment of the present invention.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " cw ", orientation or the position relationship of the instruction such as " conter clockwise " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can comprise the first and second features and directly contact, also can comprise the first and second features and not be directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " comprise fisrt feature directly over second feature and oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " comprise fisrt feature immediately below second feature and tiltedly below, or only represent that fisrt feature level height is less than second feature.
The unmanned steering system for vehicle according to the embodiment of the present invention is described in detail below with reference to Fig. 1-Figure 10.Wherein, Fig. 1 is the schematic diagram of unmanned steering system when vehicle is kept straight on according to the embodiment of the present invention, Fig. 2 is the schematic diagram of unmanned steering system when vehicle is in manual left-hand rotation operating mode according to the embodiment of the present invention, Fig. 3 is the schematic diagram of unmanned steering system when vehicle is in manual right-hand rotation operating mode according to the embodiment of the present invention, Fig. 4 is the schematic diagram of unmanned steering system when vehicle is in remote control left-hand rotation operating mode according to the embodiment of the present invention, and Fig. 5 is the schematic diagram of unmanned steering system when vehicle is in remote control right-hand rotation operating mode according to the embodiment of the present invention.And it should be noted that, in the example of Fig. 1-Fig. 5 and Fig. 8 and Fig. 9, solid line between two different parts can represent pipeline, arrow on solid line schematically shows the flow direction of fluid, dotted line between two different parts can represent electrical connection, and the arrow on dotted line schematically shows the transmission of signal.
As Figure 1-Figure 5, power cylinder 11, rotary valve 2, first mechanical type guiding valve 31, second mechanical type guiding valve 32, oil pump 41 and two-way oil pump 42 can be comprised according to the unmanned steering system of the embodiment of the present invention.
Shown in Fig. 1-Fig. 5, in power cylinder 11, be provided with the power cylinder piston 12 for power cylinder 11 internal insulation being become left part chamber 14 and right part chamber 15.Specifically, power cylinder 11 can be the hydraulic ram of elongated shape column, power cylinder piston 12 is provided with in power cylinder 11, power cylinder piston 12 is engaged in power cylinder 11 hermetically so that power cylinder 11 inner space is isolated into left part chamber 14 and right part chamber 15, left part chamber 14 and right part chamber 15 independent of one another, non-interference, namely the hydraulic oil in left part chamber 14 and the hydraulic oil in right part chamber 15 cannot be circulated mutually by power cylinder piston 12 place.
Power cylinder piston 12 axially can move back and forth in power cylinder 11 along power cylinder 11, the volume of left part chamber 14 and right part chamber 15 also can be change thus, such as power cylinder piston 12 is to left movement (with reference to shown in Fig. 3 and Fig. 5), the then smaller volume of left part chamber 14, the volume of right part chamber 15 becomes large, and for example power cylinder piston 12 moves right (with reference to shown in Fig. 2 and Fig. 4), then the smaller volume of right part chamber 15, the volume of left part chamber 14 strains greatly mutually.
According to one embodiment of present invention, the two sides of power cylinder piston 12 are respectively arranged with piston rod 13, in other words, the left surface of power cylinder piston 12 and right flank are provided with piston rod 13.The piston rod 13 of every side extends outward the steering swivel being suitable for driving this side of vehicle respectively in corresponding chamber, that is, the piston rod 13 in left side extends beyond power cylinder 11 to the left in left part chamber 14, the left end of the piston rod 13 on the left of this is suitable for coordinating with the steering swivel of vehicle left side, to drive the steering swivel action on the left of this.Equally, the piston rod 13 on right side extends beyond power cylinder 11 to the right in right part chamber 15, and the right-hand member of the piston rod 13 on the right side of this is suitable for coordinating with the steering swivel of vehicle right side, to drive the steering swivel action on the right side of this.Piston rod 13 and power cylinder piston 12 can be integrally formed, and certain power cylinder piston 12 also can be that then Split type structure is assembled together with piston rod 13.
Shown in Fig. 1-Fig. 5, rotary valve 2 has oil inlet 21, return opening 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24, the left part hydraulic fluid port 23 of rotary valve 2 is connected with left part chamber 14 by the first mechanical type guiding valve 31, and the right part hydraulic fluid port 24 of rotary valve 2 is connected with right part chamber 15 by the second mechanical type guiding valve 32.In other words, rotary valve 2 and left part chamber 14 with right part chamber 15 and non-immediate be connected, but to be indirectly connected by corresponding mechanical type guiding valve.
Should be understood that, the concrete structure of rotary valve 2 and principle of work have been prior art, and are well known for ordinary skill in the art.Specifically, rotary valve 2(and rotary valve type) valve core can rotate around its axis and control the flow of fluid, rotary valve 2 has the oil inlet 21, 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 is suitable for being communicated with left part chamber 14, right part hydraulic fluid port 24 is suitable for being communicated with right part chamber 15, when valve core cw turns over a very little angle, right part hydraulic fluid port 24(can be supplied from the pressure oil of oil pump 411 through oil inlet 21 to illustrate to illustrate), now left part hydraulic fluid port 23 is cut off.When valve core conter clockwise turns over a very little angle, left part hydraulic fluid port 23(can be supplied from the pressure oil of oil pump 411 through oil inlet 21 and illustrate to illustrate), now right part hydraulic fluid port 24 is cut off.In other words, when rotary valve 2 is in center position, oil inlet 21, return opening 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24 interconnect, after the valve core of rotary valve 2 turns over very little angle along a direction, oil inlet 21 be communicated with right part hydraulic fluid port 24 simultaneously left part hydraulic fluid port 23 be communicated with return opening 22 or oil inlet 21 is communicated with left part hydraulic fluid port 23 while right part hydraulic fluid port 24 be communicated with return opening 22.
According to some embodiments of the present invention, the assembling mode of rotary valve 2 can adopt assembling mode same as the prior art, be such as pinion and-rack manual steering gear with deflector be example (being not limited thereto), this pinion and-rack manual steering gear, power cylinder 11 and rotary valve 2 can be done into a single integrated structure, form integral power steering gear, but the present invention is not limited to this.Power cylinder piston 12 can make one with steering rack, and the front end of torsion bar is connected with steering gear with pin, and rear end is connected with valve core, and valve core is fixed together with turning to the tip of the axis again, and thus steering shaft drives steering gear transmission by torsion bar.
When rotary valve 2 is in center position, left part chamber 14 and right part chamber 15 liang of chambeies communicate (when rotary valve 2 is in center position, each hydraulic fluid port intercommunication of rotary valve 2, therefore left part chamber 14 and right part chamber 15 intercommunication by rotary valve 2), fluid flows back to fuel tank through return opening 22, therefore power cylinder 11 is completely inoperative, and now vehicle is in craspedodrome operating mode, with reference to shown in Fig. 1.When just rotating steering handwheel at the beginning, steering shaft is when being rotated by cw (signal illustrates) together with valve core, because be subject to the road surface cornering resistance that track arm transmits, power cylinder piston 12 and steering rack temporarily can not move, and therefore steering gear temporarily can not with steering axes.
Like this, the torque of being passed to steering gear by steering shaft can only make torsion bar produce a little torsional deflection, make steering shaft (i.e. valve core) be able to relative steering gear (i.e. valve pocket) and turn over little angle, thus rotary valve 2 makes the right part chamber 15 of power cylinder 11 become the oil suction chamber of high pressure, left part chamber 14 becomes the oil back chamber of low pressure.Act on hydraulic action left on power cylinder piston 12, help steering gear to force steering rack to start action, thus drive steering swivel band motor car wheel to deflect to the right.
Simultaneously, steering gear itself also starts and steering shaft rotating in same direction, if steering handwheel is rotated further, the torsional deflection of torsion bar just exists always, right steering position residing for rotary valve 2 is also constant, once steering handwheel stops operating, power cylinder 11 temporarily also works on, and causes steering gear to be rotated further, and the torsional deflection of torsion bar is reduced, the state until torsion bar affranchises, center position got back to by rotary valve 2, and power cylinder 11 quits work, now, namely steering handwheel is anchored on a certain position motionless, then wheel steering angle also just keeps certain.
When steering handwheel is rotated counterclockwise, the rotation direction of torsion bar, rotary valve 2 valve core and the moving direction of power cylinder piston 12 all contrary to the above, wheel flutter deflects left, is not described in detail here.
Should be understood that, above-mentioned explanation is only schematic, can not be interpreted as it is to hint of the present invention or restriction.For a person skilled in the art, on the basis of having read the above-mentioned disclosure of specification sheets, technique scheme or technical characteristic can be replaced and/or be revised in conjunction with prior art.
Oil pump 41 is connected with oil inlet 21, and oil pump 41 is for supplying rotary valve 2 by the fluid in fuel tank.Two-way oil pump 42 has the first hydraulic fluid port 421 and the second hydraulic fluid port 422, first hydraulic fluid port 421 is connected with left part chamber 14 by the first mechanical type guiding valve 31, second hydraulic fluid port 422 is connected with right part chamber 15 by the second mechanical type guiding valve 32, and the first hydraulic fluid port 421 and the second hydraulic fluid port 422 are suitable for being connected with fuel tank respectively, 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 formation outlet.In other words, two-way oil pump 42 has two kinds of mode of operations, and one is the first hydraulic fluid port 421 is outlet, and two-way oil pump 42 is by the second hydraulic fluid port 422 pump oil from fuel tank, another kind is the second hydraulic fluid port 422 is outlet, and two-way oil pump 42 is by the first hydraulic fluid port 421 pump oil from fuel tank.
Should be appreciated that the concrete structure of two-way oil pump 42 and principle of work have been prior art, and be well known for ordinary skill in the art, therefore no longer describe in detail here.
Wherein, according to the unmanned steering system of the embodiment of the present invention, there is manual steering operating mode and unmanned steering operating mode.
Particularly, when unmanned steering system is in manual steering operating mode, as shown in Figures 2 and 3, oil pump 41 passes through rotary valve 2, first mechanical type guiding valve 31 successively to fuel feeding in left part chamber 14, or oil pump 41 passes through rotary valve 2, second mechanical type guiding valve 32 to fuel feeding in right part chamber 15.As shown in Figure 4 and Figure 5, when unmanned steering system is in unmanned steering operating mode, two-way oil pump 42 by the first hydraulic fluid port 421 and the first mechanical type guiding valve 31 to fuel feeding in left part chamber 14, or two-way oil pump 42 by the second hydraulic fluid port 422 and the second mechanical type guiding valve 32 to fuel feeding in right part chamber 15.
More specifically, with reference to shown in Fig. 2, when unmanned steering system is in manual operating mode, the steering handwheel if chaufeur turns left, oil pump 41 by fluid pumping to rotary valve 2, fluid is exported to the first mechanical type guiding valve 31 by left part hydraulic fluid port 23 by rotary valve 2, fluid is by entering in left part chamber 14 after the first mechanical type guiding valve 31, and in left part chamber 14, oil pressure increases, thus propulsion power cylinder piston 12 moves right, power cylinder piston 12 drives steering swivel action by piston rod 13, and wheel is turned left.Now, because right part chamber 15 is compressed by power cylinder piston 12, the fluid in right part chamber 15 is back to fuel tank by the return opening 22 from rotary valve 2 after the second mechanical type guiding valve 32, rotary valve 2.Under this operating mode, two-way oil pump 42 does not work.
Equally, with reference to shown in Fig. 3, when unmanned steering system is in manual operating mode, if chaufeur turning clockwise steering handwheel, oil pump 41 by fluid pumping to rotary valve 2, fluid is exported to the second mechanical type guiding valve 32 by right part hydraulic fluid port 24 by rotary valve 2, fluid is by entering in right part chamber 15 after the second mechanical type guiding valve 32, and in right part chamber 15, oil pressure increases, thus propulsion power cylinder piston 12 is moved to the left, power cylinder piston 12 drives steering swivel action by piston rod 13, makes wheel turning clockwise.Now, because left part chamber 14 is compressed by power cylinder piston 12, the fluid in left part chamber 14 to be refluxed fuel tank by the return opening 22 from rotary valve 2 after the first mechanical type guiding valve 31, rotary valve 2.Under this operating mode, two-way oil pump 42 does not work.
With reference to shown in Fig. 4, when unmanned steering system is in unmanned steering operating mode, the remote-controlled wheel steering system work of chaufeur, if when chaufeur control pivoted wheels on vehicle turns left, rotary valve 2 is in center position, oil is exported to rotary valve 2 by oil pump 41, and this part fluid is directly back to fuel tank by return opening 22.Now, controller (namely, ECU) can control two-way oil pump 42 to work, the first hydraulic fluid port 421 is outlet, and the second hydraulic fluid port 422 is import, two-way oil pump 42 is by the second hydraulic fluid port 422 pump oil from fuel tank, and by exporting to left part chamber 14 after the first hydraulic fluid port 421 and the first mechanical type guiding valve 31, in left part chamber 14, oil pressure increases, thus propulsion power cylinder piston 12 moves right, power cylinder piston 12 drives steering swivel action by piston rod 13, and wheel is turned left.Now, because right part chamber 15 is compressed by power cylinder piston 12, the fluid in right part chamber 15 to be refluxed fuel tank by the return opening 22 from rotary valve 2 after the second mechanical type guiding valve 32, rotary valve 2.
With reference to shown in Fig. 5, unmanned steering system is in unmanned steering operating mode, if during chaufeur Remote Control Vehicle wheel flutter turning clockwise, rotary valve 2 is in center position, oil is exported to rotary valve 2 by oil pump 41, and this part fluid is directly back to fuel tank by return opening 22.Now, controller can control two-way oil pump 42 and work, first hydraulic fluid port 421 is import, second hydraulic fluid port 422 is outlet, and two-way oil pump 42 by the first hydraulic fluid port 421 pump oil from fuel tank, and exports to right part chamber 15 by the second hydraulic fluid port 422 and the second mechanical type guiding valve 32, in right part chamber 15, oil pressure increases, thus propulsion power cylinder piston 12 is moved to the left, power cylinder piston 12 drives steering swivel action by piston rod 13, makes wheel turning clockwise.Now, because left part chamber 14 is compressed by power cylinder piston 12, the fluid in left part chamber 14 to be refluxed fuel tank by the return opening 22 from rotary valve 2 after the first mechanical type guiding valve 31, rotary valve 2.
Thus, according to the unmanned steering system of the embodiment of the present invention, there is manual steering operating mode and unmanned steering operating mode, when normal vehicle operation, chaufeur can M/C steering handwheel thus control vehicle left-handed turning to, right-hand turning to or keep straight on, when needs chaufeur Remote Control Vehicle turns to, as when vehicle automatic parking, chaufeur can rotate by Remote Control Vehicle easily to the left or to the right, and now chaufeur can in car, certainly also can in the outer remote control of car, easy to operate, control simple.
Should be understood that, when chaufeur Remote Control Vehicle turns to, remote control buttons can be arranged on the control panel of vehicle centre console, certainly also accessible site on car key, facilitate user in the outer remote control of car, certain remote control buttons also can be arranged on separately one and portablely to turn on remote controller.
According to some embodiments of the present invention, the first mechanical type guiding valve 31 can be identical with the structure of the second mechanical type guiding valve 32.The commonality of mechanical type guiding valve can be improved like this, reduce the cost of unmanned steering system.
According to some embodiments of the present invention, as shown in Figure 6, the first mechanical type guiding valve 31 comprises the first valve body 101, first spool 501, second spool 502 and the first spring 701.
Particularly, shown in Fig. 6 and composition graphs 1-Fig. 5, first valve body 101 is provided with normal opening 202, first normally closed port 301 of the first normal opening 201, second and the first pressure feedback mouth 401, first normal opening 201 is connected with left part hydraulic fluid port 23, second normal opening 202 is connected with left part chamber 14, first normally closed port 301 is connected with the first hydraulic fluid port 421, and the first pressure feedback mouth 401 is connected with right part hydraulic fluid port 24.
Shown in Fig. 6 and composition graphs 1-Fig. 5, first spool 501 and the second spool 502 are arranged in the first valve body 101 all movably, with by the first normal opening 201 and the second normal opening 202 conducting and by the first normally closed port 301 with the second normal opening 202 cuts off or the first normally closed port 301 and the second normal opening 202 conducting the first normal opening 201 and the second normal opening 202 are cut off.
Such as, with reference to shown in Fig. 6, first normal opening 201 and the second normal opening 202 conducting and the second normal opening 202 and the first normally closed port 301 are cut off by the second spool 502, if the second spool 502 is to left movement with the right-hand member against the first spool 501, then the while that the first normal opening 201 and the second normal opening 202 cutting off by the second spool 502, the second normal opening 202 is communicated with the first normally closed port 301.
As shown in Figure 6, first valve body 101 inner space is isolated into the first valve pocket 601, second spool 602 and the 3rd valve pocket 603 by the first spool 501 and the second spool 502, first valve pocket 601 is positioned at the side of the first spool 501, such as in the example of Fig. 1-Fig. 5, the first valve pocket 601 is positioned at the left side of the first spool 501.3rd valve pocket 603 is positioned at the side of the second spool 502, and such as, in the example of Fig. 1-Fig. 5, the 3rd valve pocket 603 is positioned at the right side of the second spool 502, and the second valve pocket 602 is between the first spool 501 and the second spool 502.Wherein, the first normal opening 201 is communicated with the second valve pocket 602, and the second normal opening 202 is communicated with one of the 3rd valve pocket 603 with the second valve pocket 602, and the first pressure feedback mouth 401 is communicated with the first valve pocket 501, first normally closed port 301 and is communicated with the 3rd valve pocket 603.
As shown in Figure 1, the first spring 701 to be located in the second valve pocket 602 and the two ends of the first spring 701 flexibly compress the first spool 501 and the second spool 502 respectively.
Further, the area of thrust surface that the first spool 501 is positioned at the first valve pocket 601 are S1, and in other words, the area of thrust surface acted on the first spool 501 of the fluid in the first valve pocket 601 are S1.The area of thrust surface that second spool 502 is positioned at the second valve pocket 602 are S2, and in other words, the area of thrust surface acted on the second spool 502 of the fluid in the second valve pocket 602 are S2.The area of thrust surface that second spool 502 is positioned at the 3rd valve pocket 603 are S3, and in other words, the area of thrust surface acted on the second spool 502 of the fluid in the 3rd valve pocket 603 are S3.Wherein, S1 and S3 meets relational expression: S1 > S3, and S2 and S3 meets relational expression: S2 > S3.
Thus, with reference to shown in Fig. 6, if high-voltage oil liquid to enter in the second valve pocket 602 from the first normal opening 201 and flows out from the second normal opening 202, if now the first pressure feedback mouth 401 is communicated with high-voltage oil liquid, then the first spool 501 will move right the left end being resisted against the second spool 502, second spool 502 cannot action, thus ensures that the second spool 502 cuts off the first normally closed port 301 and the second normal opening 202.
With reference to shown in Fig. 6, if when high-voltage oil liquid enters in the 3rd valve pocket 303 from the first normally closed port 301, under the effect of oil pressure, second spool 502 by the left mobile with against the first spool 501 right-hand member thus cut off the first normal opening 201 and the second normal opening 202, and make the second normal opening 202 and the first normally closed port 301 conducting, if now the first normal opening 201 is communicated with high-voltage oil liquid, after fluid enters into the second spool 602 from the first normal opening 201, area S2 due to the second spool 502 left side is greater than the area S3 of its right side, therefore the oil pressure of the second spool 502 left side will be greater than the oil pressure of the second spool 502 right side, therefore the second spool 502 is by action to the right, thus the first normally closed port 301 and the second normal opening 202 are cut off the normal opening 201 of conducting first simultaneously and the second normal opening 202.If now the first normal opening 201 is communicated with low pressure fluid, and the first pressure feedback mouth 401 is communicated with high pressure oil pressure, area of thrust surface S1 due to the first spool 501 is greater than the area of thrust surface S3 of the second spool 502, therefore driving second spool 502 moves right by the first spool 501, thus the first normally closed port 301 and the second normal opening 202 is cut off the normal opening 201 of conducting first simultaneously and the second normal opening 202.
Equally, as shown in Figure 7, according to some embodiments of the present invention, the second mechanical type guiding valve 32 comprises the second valve body 102, the 3rd spool 503, the 4th spool 504 and the second spring 702.
Specifically, shown in Fig. 7 and composition graphs 1-Fig. 5, second valve body 102 is provided with the 3rd normal opening 203, the 4th normal opening 204, second normally closed port 302 and the second pressure feedback mouth 402,3rd normal opening 203 is connected with right part hydraulic fluid port 24,4th normal opening 204 is connected with right part chamber 15, second normally closed port 302 is connected with the second hydraulic fluid port 422, and the second pressure feedback mouth 402 is connected with left part hydraulic fluid port 23.
Shown in Fig. 7 and composition graphs 1-Fig. 5,3rd spool 503 and the 4th spool 504 are located in the second valve body 102 all movably, to cut off by the 3rd normal opening 203 and the 4th normal opening 204 conducting and by the second normally closed port 302 and the 4th normal opening 204 or the second normally closed port 302 and the 4th normal opening 204 conducting the 3rd normal opening 203 and the 4th normal opening 204 to be cut off.
As shown in Figure 7,3rd normal opening 203 and the 4th normal opening 204 conducting and the second normally closed port 302 and the 4th normal opening 204 cut off, if the 4th spool 504 is stressed when moving right the left end being resisted against the 3rd spool 503, the 4th spool 504 is by normal for partition the 3rd opening 203 and the 4th normal opening 204 normal opening 204 of conducting the 4th and the second normally closed port 302 simultaneously.
Second valve body 102 internal insulation is become the 4th valve pocket 604, the 5th valve pocket 605 and the 6th valve pocket 606 with the 4th spool 504 by the 3rd spool 503,4th valve pocket 604 is positioned at the side of the 3rd spool 503, such as in the example of Fig. 1-Fig. 5, the 4th valve pocket 604 is positioned at the right side of the 3rd spool 503.6th valve pocket 606 is positioned at the side of the 4th spool 504, and such as, in the example of Fig. 1-Fig. 5, the 6th valve pocket 606 is positioned at the left side of the 4th spool 504.5th valve pocket 605 is between the 3rd spool 503 and the 4th spool 504.
Wherein, the 3rd normal opening 203 is communicated with the 5th valve pocket 605, and the 4th normal opening 204 is communicated with one of the 6th valve pocket 606 with the 5th valve pocket 605, and the second pressure feedback mouth 402 is communicated with the 4th valve pocket 604, second normally closed port 302 and is communicated with the 6th valve pocket 606.Second spring 702 is located in the 5th valve pocket 605 and the two ends of the second spring 702 flexibly compress the 3rd spool 503 and the 4th spool 504 respectively.
Further, the area of thrust surface that the 3rd spool 503 is positioned at the 4th valve pocket 604 are S4, and in other words, the area of thrust surface acted on the 3rd spool 503 of the fluid in the 4th valve pocket 604 are S4.The area of thrust surface that 4th spool 504 is positioned at the 5th valve pocket 605 are S5, and in other words, the area of thrust surface acted on the 4th spool 504 of the fluid in the 5th valve pocket 605 are S5.The area of thrust surface that 4th spool 504 is positioned at the 6th valve pocket 606 are S6, and in other words, the area of thrust surface acted on the 4th spool 504 of the fluid in the 6th valve pocket 606 are S6.Wherein, S4 and S6 meets relational expression: S4 > S6, and S5 and S6 meets relational expression: S5 > S6.
Be to be understood that, in this embodiment, the structure of the second mechanical type guiding valve 32 is identical with the structure of the first mechanical type guiding valve 31, therefore its to be communicated with the action situation of different oil circuit back valve core and the conducting of hydraulic fluid port all roughly the same with above-mentioned first mechanical type guiding valve 31 with partition, please with reference to the above-mentioned description to the first mechanical type guiding valve 31, here for succinct object, repeat no more.
According to preferred embodiments more of the present invention, unmanned steering system also comprises the first check valve 51 and the second check valve 52, first check valve 51 is located between the first hydraulic fluid port 421 and fuel tank, the exit end of the first check valve 51 is connected with the first hydraulic fluid port 421, the entrance point of the first check valve 51 is connected with fuel tank, and the first check valve 51 is for along fuel tank towards the pipeline between the direction one-way conduction fuel tank of the first hydraulic fluid port 421 and the first hydraulic fluid port 421.
Second check valve 52 is located between the second hydraulic fluid port 422 and fuel tank, the exit end of the second check valve 52 is connected with the second hydraulic fluid port 422, the entrance point of the second check valve 52 is connected with fuel tank, and the second check valve 52 is for along fuel tank towards the pipeline between the direction one-way conduction fuel tank of the second hydraulic fluid port 422 and the second hydraulic fluid port 422.By arranging the 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 first check valve 51 is connected to be connected with fuel tank by common line 53 with the entrance point of the second check valve 52.Further, the entrance point of the first check valve 51 is connected by connecting line 54 with the entrance point of the second check valve 52, and connecting line 54 is connected with common line 53.Like this, in fuel tank, fluid first can flow into connecting line 54 by common line 53, more optionally supplies the first hydraulic fluid port 421 or the second hydraulic fluid port 422 by connecting line 54.Thus, can oil circuit be simplified, reduce unmanned steering system cost.But should be understood that, the connection mode of above-mentioned oil circuit is not limited thereto, such as the first check valve 51 also can directly be connected with fuel tank with the entrance point of the second check valve 52.
Shown in Fig. 1-Fig. 5, according to some embodiments of the present invention, the first hydraulic fluid port 421 place is provided with the first damping hole 61, and particularly, one end of the first damping hole 61 is communicated with the first hydraulic fluid port 421, and the other end of the first damping hole 61 can directly or indirectly be communicated with fuel tank.Second hydraulic fluid port 422 place is provided with the second damping hole 62, and particularly, one end of the second damping hole 62 is communicated with the second hydraulic fluid port 422, and the other end of the second damping hole 62 can directly or indirectly be communicated with fuel tank.By arranging this first damping hole 61 and the second damping hole 62; oil pressure is laid down when cannot be able to commutate at the first mechanical type guiding valve 31 or the second mechanical type guiding valve 32 et out of order; protect two-way oil pump 42 and for driving the drive motor of two-way oil pump 42, preventing this drive motor from transshipping and burning out.
Further, one end of the first damping hole 61 is connected with the first hydraulic fluid port 421, and the other end of the first damping hole 61 is connected with connecting line 54 or is directly connected with fuel tank.One end of second damping hole 62 is connected with the second hydraulic fluid port 422, and the other end of the second damping hole 62 is connected with connecting line 54 or is directly connected with fuel tank.
Below to have the unmanned steering system of the first check valve 51, second check valve 52, first damping hole 61, second damping hole 62, common line 53 and connecting line 54, the simple principle of work described according to the unmanned steering system of the embodiment of the present invention.
When vehicle is in craspedodrome, as shown in Figure 1, rotary valve 2 is in center position, and the fluid that oil pump 41 supplies rotary valve 2 is directly back to fuel tank by return opening 22, and under this operating mode, two-way oil pump 42 does not work.
When unmanned steering system is in manual steering operating mode: as shown in Figure 3, fluid exports to rotary valve 2 from oil pump 41 by oil inlet 21, manually rotate clockwise steering handwheel, the oil inlet 21 of rotary valve 2 is communicated with right part hydraulic fluid port 24 and left part hydraulic fluid port 23 is communicated with return opening 22, fluid flows out from the right part hydraulic fluid port 24 of rotary valve 2, the 3rd normal opening 203 through the second mechanical type guiding valve 32 enters in the 5th valve pocket 605 of the second mechanical type guiding valve 32, now the 3rd normal opening 203 and the 4th normal opening 204 conducting and the second normally closed port 302 and the 4th normal opening 204 cut off, therefore fluid enters in right part chamber 15 from the 4th normal opening 204, power cylinder piston 12 to left movement with by steering swivel drive pivoted wheels on vehicle turn right.
Simultaneously, because the first pressure feedback mouth 401 is communicated with right part hydraulic fluid port 24, therefore the oil pressure in the first valve pocket 601 is high pressure, driving first spool 501 moves until against the second spool 502 to the direction near the second spool 502 by the oil pressure that the fluid in the first valve pocket 601 is applied to the first spool 501, thus impel the second spool 502 to close the first normally closed port 301, to guarantee that the first normal opening 201 is communicated with the second normal opening 202, fluid in left part chamber 14 is successively by entering in rotary valve 2 from left part hydraulic fluid port 23 after the second normal opening 202 of the first mechanical type guiding valve 31 and the first normal opening 201, fuel tank is back to again from the return opening 22 of rotary valve 2.
As shown in Figure 2, manually rotate counterclockwise when turning to dish, pivoted wheels on vehicle will turn left, its principle and process and above-mentioned basically identical, please refer to description above, no longer describe in detail here.
When unmanned steering system is in unmanned steering operating mode: as shown in Figure 5, if chaufeur Remote Control Vehicle right-hand turning to time.Oil is exported to rotary valve 2 by oil inlet 21 by oil pump 41, and rotary valve 2 is in center position, and this part fluid is directly back to fuel tank from return opening 22.
Meanwhile, two-way oil pump 42 runs work, the second hydraulic fluid port 422 is made to form outlet, first hydraulic fluid port 421 forms import, two-way oil pump 42 is by common line 53, connecting line 54 and the first check valve 51 be pump oil from fuel tank, and export fluid to second normally closed port 302 by the second hydraulic fluid port 422, second normally closed port 302 and the 6th valve pocket 606 oil pressure increase, thus the elastic force overcoming the second spring 702 moves right by the 4th spool 504, thus the 3rd normal opening 203 and the 4th normal opening 204 are cut off simultaneously by the second normally closed port 302 and the 4th normal opening 204 conducting, fluid enters in the 6th valve pocket 606 from the second normally closed port 302, right part chamber is entered again from the 4th normal opening 204, propulsion power cylinder piston 12 is moved to the left, thus wheel flutter right-hand turning to.
Fluid now in left part chamber 14 successively by entering rotary valve 2 from left part hydraulic fluid port 23 after the normal opening of the first mechanical type guiding valve 31 second 202 and the first normal opening 201, then is back to fuel tank from the return opening 22 of rotary valve 2, realize right-hand turning under remote control mode to.
Equally, with reference to shown in Fig. 4, under remote control mode left-handed turning to time, the first hydraulic fluid port 421 of two-way oil pump 42 is outlet, and the second hydraulic fluid port 422 is import, and its principle is substantially identical with above-mentioned, repeats no more here.
When unmanned steering system is in unmanned steering operating mode, if chaufeur manual intervention steering handwheel is to change the conducting state of rotary valve 2, with reference to shown in Fig. 8, if when manual steering intervention is identical with unmanned steering direction, to turn left, the left part hydraulic fluid port 23 of rotary valve 2 will produce high pressure, high-voltage oil liquid enters in the second valve pocket 602 by the first normal opening 201, because the area of thrust surface S2 of the second spool 502 in the second valve pocket 602 is greater than its area of thrust surface S3 in the 3rd valve pocket 603, pressure second spool 502 is moved to close the first normally closed port 301 to the direction closing the first normally closed port 301 by the high-voltage oil liquid therefore in the second valve pocket 602, thus the first normally closed port 301 and the second normal opening 202 cut off and the first normal opening 201 and the second normal opening 202 conducting, thus unmanned steering system force handoff is to manual steering situation.
Now, the oil pressure at the first hydraulic fluid port 421 place is laid down by the first damping hole 61, prevents two-way oil pump 42 and drives the drive motor of two-way oil pump 42 overload and burn.After manual intervention is removed, unmanned steering system will switch to unmanned steering operating mode again.
If when chaufeur is manually intervened contrary with unmanned steering direction, as shown in Figure 9, for remote control left-hand rotation, right part hydraulic fluid port 24 will produce high pressure, high-voltage oil liquid is entered in the 5th valve pocket 605 by the 3rd normal opening 203, then enters in right part chamber 15 from the 4th normal opening 204.Now because the first pressure feedback mouth 401 is communicated with right part hydraulic fluid port 24, thus the oil pressure in the first pressure feedback mouth 401 and the first valve pocket 601 increases, and act on area of thrust surface S3 on the second spool 502 because the first valve pocket 601 area of thrust surface S1 acted on the first spool 501 is greater than the 3rd valve pocket 603, therefore, first spool 501 will move right and drive the second spool 502 to move right to close the first normally closed port 301 simultaneously, thus the first normally closed port 301 and the second normal opening 202 cut off and the first normal opening 201 and the second normal opening 202 conducting, fluid in left part chamber 14 flows into rotary valve 2 from the second normal opening 202 of the first mechanical type guiding valve 31 and the first normal opening 201 and left part hydraulic fluid port 23, fuel tank is back to again from the return opening 22 of rotary valve 2.Meanwhile, because the first normally closed port 301 is closed, the first hydraulic fluid port 421 place oil pressure of two-way oil pump 42 increases, and the first damping hole 61 can lay down this part oil pressure, protection two-way oil pump 42.After manual intervention is removed, unmanned steering system will recover unmanned steering operating mode.
Should be understood that, under remote control right-hand rotation operating mode, the principle of manual intervention left-hand rotation or right-hand rotation is substantially identical with above-mentioned, repeats no more here.
According to one embodiment of present invention, the first mechanical type guiding valve 31 and the second mechanical type guiding valve 32 can be integrated on power cylinder 11, make unmanned steering system architecture compacter like this, simultaneously convenient layout.
But the present invention is not limited to this, in another embodiment of the present invention, the first mechanical type guiding valve 31 and the second mechanical type guiding valve 32 accessible site are integrated.Or the first mechanical type guiding valve 31 and the second mechanical type guiding valve 32 also accessible site, in deflector, are connected with power cylinder 11 by pipeline, or the first mechanical type guiding valve 31 and the second mechanical type guiding valve 32 also can be independent mutually, are connected to each other by pipeline.
In brief, those skilled in the art is on the basis of having read specification sheets content disclosed herein, in conjunction with the ABC of Hydraulic Field, can improve the arrangement form of the first mechanical type guiding valve 31, second mechanical type guiding valve 32, assembling mode, to make can adapt to different automobile types according to the unmanned steering system of the embodiment of the present invention, make according to the unmanned steering system architecture of the embodiment of the present invention compacter, simple, cost is lower, and Applicable scope is wider.
According to some embodiments of the present invention, oil pump 41 can by the driving engine Direct driver of vehicle, change is engraved in during rotating speed due to driving engine, therefore this oil pump 41 can have flow control device and overflow mechanism, the flow that this oil pump 41 exports can control in a less mobility scale, maximum oil pressure is constant, and that is, those skilled in the art can according to the delivery rate of the requirement setting oil pump 41 of unmanned steering system and maximum oil pressure.
But the present invention is not limited to this, in other embodiments of the present invention, oil pump 41 also can directly be driven by independent motor, and namely oil pump 41 is not by driving engine Direct driver.In this embodiment, preferably, the output speed of oil pump 41 is adjustable, such as between oil pump 41 and motor, can regulating mechanism be set, regulating mechanism 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 is driven by independent drive motor, and set up regulating mechanism, thus make the output speed of oil pump 41 adjustable, the speed of response turned to when can control vehicle manual steering by regulating the pump oil mass of oil pump 41 and turning velocity.And by arranging independent motor and regulating mechanism, can set oil pump exported to by motor maximum speed by regulating mechanism, under making this maximum speed, oil pump can be in standard duty, can cancel overflow mechanism like this, reduce costs.But the present invention is not limited to this.
In brief, unmanned steering system according to some preferred embodiments of the invention has manual steering operating mode and unmanned steering operating mode, and manual steering operating mode has precedence over unmanned steering operating mode, improves travel safety.
The simple vehicle described according to the embodiment of the present invention below.
According to the vehicle of the embodiment of the present invention, comprise the unmanned steering system according to describing in the above embodiment of the present invention.
Vehicle according to some embodiments of the invention can be car, passenger vehicle, truck, lorry, SUV etc.
It should be noted that, other structure example such as change-speed box, diff, retarder etc. according to the vehicle of the embodiment of the present invention have been prior art all, and are well known for ordinary skill in the art, and therefore describe in detail no longer one by one here.
In the description of this specification sheets, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.In addition, the different embodiment described in this specification sheets or example can carry out engaging and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (11)
1., for a unmanned steering system for vehicle, it is characterized in that, comprising:
Power cylinder, is provided with the power cylinder piston for described power cylinder internal insulation being become left part chamber and right part chamber in described power cylinder;
Rotary valve, described rotary valve has oil inlet, return opening, left part hydraulic fluid port and right part hydraulic fluid port;
First mechanical type guiding valve and the second mechanical type guiding valve, the left part hydraulic fluid port of described rotary valve is connected with described left part chamber by described first mechanical type guiding valve, and the right part hydraulic fluid port of described rotary valve is connected with described right part chamber by described second mechanical type guiding valve;
Oil pump, described oil pump is connected with described oil inlet;
Two-way oil pump, described two-way oil pump has the first hydraulic fluid port and the second hydraulic fluid port, described first hydraulic fluid port is connected with described left part chamber by described first mechanical type guiding valve, described second hydraulic fluid port is connected with described right part chamber by described second mechanical type guiding valve, and described first hydraulic fluid port and described second hydraulic fluid port are suitable for being communicated with fuel tank respectively, one of the first hydraulic fluid port and described second hydraulic fluid port described in wherein when described two-way oil pump runs form import and another forms outlet;
Wherein, described unmanned steering system has manual steering operating mode and unmanned steering operating mode:
When described unmanned steering system is in described manual steering operating mode, described oil pump passes through described rotary valve, described first mechanical type guiding valve successively to fuel feeding in described left part chamber, or by described rotary valve, described second mechanical type guiding valve to fuel feeding in described right part chamber;
When described unmanned steering system is in described unmanned steering operating mode, described two-way oil pump by described first hydraulic fluid port and described first mechanical type guiding valve to fuel feeding in described left part chamber, or by described second hydraulic fluid port and described second mechanical type guiding valve to fuel feeding in described right part chamber.
2. the unmanned steering system for vehicle according to claim 1, is characterized in that, described first mechanical type guiding valve comprises:
First valve body, described first valve body is provided with the first normal opening, the second normal opening, the first normally closed port and the first pressure feedback mouth, described first normal opening is connected with described left part hydraulic fluid port, described second normal opening is connected with described left part chamber, described first normally closed port is connected with described first hydraulic fluid port, and described first pressure feedback mouth is connected with described right part hydraulic fluid port;
First spool and the second spool, described first spool and described second spool are located in described first valve body all movably, so that described first normally closed port and the described second normal opening are cut off by the described first normal opening and the described second normal opening conducting, or the described first normal opening and the described second normal opening are cut off by described first normally closed port and the described second normal opening conducting, described first valve inner is isolated into the first valve pocket being positioned at described first spool side by described first spool and described second spool, the second valve pocket between described first spool and described second spool and be positioned at the 3rd valve pocket of described second spool side, second valve pocket described in described first normal open communication, one of second valve pocket and described 3rd valve pocket described in described second normal open communication, described first pressure feedback mouth is communicated with described first valve pocket, described first normally closed port is communicated with described 3rd valve pocket, and
First spring, described first spring is located in described second valve pocket and the two ends of described first spring flexibly compress described first spool and described second spool respectively.
3. the unmanned steering system for vehicle according to claim 2, it is characterized in that, the area of thrust surface that described first spool is positioned at described first valve pocket are S1, the area of thrust surface that described second spool is positioned at described second valve pocket are S2, the area of thrust surface that described second spool is positioned at described 3rd valve pocket are S3, wherein
S1 and S3 meets relational expression: S1 > S3;
S2 and S3 meets relational expression: S2 > S3.
4. the unmanned steering system for vehicle according to claim 1, is characterized in that, described second mechanical type guiding valve comprises:
Second valve body, described second valve body is provided with the 3rd normal opening, the 4th normal opening, the second normally closed port and the second pressure feedback mouth, described 3rd normal opening is connected with described right part hydraulic fluid port, described 4th normal opening is connected with described right part chamber, described second normally closed port is connected with described second hydraulic fluid port, and described second pressure feedback mouth is connected with described left part hydraulic fluid port;
3rd spool and the 4th spool, described 3rd spool and described 4th spool are located in described second valve body all movably, so that described second normally closed port and the described 4th normal opening are cut off by the described 3rd normal opening and the described 4th normal opening conducting, or the described 3rd normal opening and the described 4th normal opening are cut off by described second normally closed port and the described 4th normal opening conducting, described second valve inner is isolated into the 4th valve pocket being positioned at described 3rd spool side by described 3rd spool and described 4th spool, the 5th valve pocket between described 3rd spool and described 4th spool and be positioned at the 6th valve pocket of described 4th spool side, 5th valve pocket described in described 3rd normal open communication, one of 5th valve pocket and described 6th valve pocket described in described 4th normal open communication, described second pressure feedback mouth is communicated with described 4th valve pocket, described second normally closed port is communicated with described 6th valve pocket, and
Second spring, described second spring is located in described 5th valve pocket and the two ends of described second spring flexibly compress described 3rd spool and described 4th spool respectively.
5. the unmanned steering system for vehicle according to claim 4, it is characterized in that, the area of thrust surface that described 3rd spool is positioned at described 4th valve pocket are S4, the area of thrust surface that described 4th spool is positioned at described 5th valve pocket are S5, the area of thrust surface that described 4th spool is positioned at described 6th valve pocket are S6, wherein
S4 and S6 meets relational expression: S4 > S6;
S5 and S6 meets relational expression: S5 > S6.
6. the unmanned steering system for vehicle according to claim 1, it is characterized in that, also comprise: the first check valve and the second check valve, described first check valve be located at described first hydraulic fluid port with between described fuel tank and the exit end of described first check valve be connected with described first hydraulic fluid port, described second check valve be located at described second hydraulic fluid port with between described fuel tank and the exit end of described second check valve be connected with described second hydraulic fluid port.
7. the unmanned steering system for vehicle according to claim 6, is characterized in that, the entrance point of described first check valve is connected to be connected with described fuel tank by common line with the entrance point of described second check valve.
8. the unmanned steering system for vehicle according to any one of claim 1-7, it is characterized in that, the entrance point of described first check valve is connected by connecting line with the entrance point of described second check valve, and wherein said common line is connected with described pipeline.
9. the unmanned steering system for vehicle according to any one of claim 1-8, it is characterized in that, described first oil port is provided with the first damping hole, described second oil port is provided with the second damping hole.
10. the unmanned steering system for vehicle according to any one of claim 1-9, it is characterized in that, one end of described first damping hole is connected with described first hydraulic fluid port, and the other end of described first damping hole is connected with described connecting line or is directly connected with described fuel tank; One end of described second damping hole is connected with described second hydraulic fluid port, and the other end of described second damping hole is connected with described connecting line or is directly connected with described fuel tank.
11. 1 kinds of vehicles, is characterized in that, comprise unmanned steering system, and described unmanned steering system is the unmanned steering system according to any one of claim 1-10.
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| CN201310628179.0A CN104670310B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
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| CN201310628179.0A CN104670310B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108290604A (en) * | 2015-12-08 | 2018-07-17 | 液压诺德流体技术有限公司 | Hydraulic steering |
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| 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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| CN102501917A (en) * | 2011-11-15 | 2012-06-20 | 江苏大学 | Electrically-controlled hydraulically-driven steering device for mobile platform of agricultural robot |
| 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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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108290604A (en) * | 2015-12-08 | 2018-07-17 | 液压诺德流体技术有限公司 | Hydraulic steering |
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| Publication number | Publication date |
|---|---|
| CN104670310B (en) | 2017-12-12 |
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