CN104670313B - 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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- CN104670313B CN104670313B CN201310628353.1A CN201310628353A CN104670313B CN 104670313 B CN104670313 B CN 104670313B CN 201310628353 A CN201310628353 A CN 201310628353A CN 104670313 B CN104670313 B CN 104670313B
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- control valve
- valve
- steering system
- unmanned steering
- control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
-
- 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
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/22—Alternative steering-control elements, e.g. for teaching purposes
Abstract
The invention discloses a kind of vehicle and its unmanned steering system.The unmanned steering system includes：Power cylinder, is provided with for by power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber in power cylinder；Rotary valve, the left part hydraulic fluid port that rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, rotary valve is connected by the first control valve with left part chamber, and the right part hydraulic fluid port of rotary valve is connected by the second control valve with right part chamber；3rd control valve, the 3rd control valve has inlet and outlet, and outlet is connected with oil inlet, and import is connected with the first control valve and the second control valve respectively；Oil pump, oil pump is connected with import.Unmanned steering system of the invention has manual mode and remote control mode, and the unmanned steering system architecture is simple, easy to control and low cost.
Description
Technical field
The present invention relates to automobile construction field, more particularly, to a kind of unmanned steering system for vehicle and distant with this
Control the vehicle of steering.
Background technology
The function of automobile steering system is to ensure that automobile can carry out Turning travel according to the will of driver.Motor turning
System can be divided into mechanical steering system and power steering system.Mechanical steering system using driver muscle power as steering energy
Source, wherein all force transmission elements are all mechanical structure, mainly by operating mechanism, steering gear and steering gear three parts group
Into.Power steering system is a set of dual-purpose driver muscle power and the steering that engine power is steerable energy, electronic-controlled power steering
System is mainly additionally arranged steering augmentor, and the steering augmentor is mainly hydraulic steering unit, in driver turn
During steering wheel, turning to augmentor can aid in completing go to action, reduce the torque of driver turn steering wheel.
In correlation technique known for inventor, unmanned steering system is occurred in that again on the basis of power steering system
System, with manually and automatically both of which, it is possible to achieve such as automatic parking function, but related remote control known for inventor
The structure of steering is more complicated, control cumbersome and high cost, 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
The automobile heavier for front axle load is, it is necessary to develop powerful brushless electric machine, during remote driving, electric power steering
Device（EPS）Pivot stud can be often carried out, now the load of transfer is maximum, electric power-assisted steering apparatus（EPS）Electricity
Chance produces very big heat and causes motor to enter self-protection pattern, greatly reduces electric power-assisted steering apparatus（EPS）Electricity
The life-span of machine.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem of the prior art to a certain extent.
Therefore, it is an object of the present invention to propose a kind of unmanned steering system for vehicle, the unmanned steering system
System has manual mode and remote control mode, and the unmanned steering system architecture is simple, easy to control and low cost.
It is another object of the present invention to propose a kind of vehicle, the vehicle includes above-mentioned unmanned steering system.
The unmanned steering system for vehicle of embodiment according to an aspect of the present invention, including：Power cylinder, it is described
It is provided with power cylinder for by the power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber；
Rotary valve, the left part hydraulic fluid port that the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, 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 is connected by the second control valve with the right part chamber；
3rd control valve, the 3rd control valve has inlet and outlet, and the outlet is connected with the oil inlet, the import difference
It is connected with the described first control valve and the second control valve；And oil pump, the oil pump is connected with the import；Wherein, institute
Stating unmanned steering system has manual steering operating mode and unmanned steering operating mode：Described manual turn is in the unmanned steering system
During to operating mode, the oil pump passes sequentially through the 3rd control valve, the rotary valve, the first control valve to the left part chamber
Interior fuel feeding, or by the described 3rd control valve, the rotary valve, the second control valve to fuel feeding in the right part chamber；
When the unmanned steering system is in the unmanned steering operating mode, the oil pump is by the described first control valve to the left part chamber
Indoor fuel feeding, or by the described second control valve to fuel feeding in the right part chamber.
Unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode, in vehicle just
Often during traveling, driver is manually operable steering wheel so as to control vehicle to turn to the left, turns to the right or keep straight on, and is needing to drive
When member's Remote Control Vehicle is turned to, such as in vehicle automatic parking, driver easily Remote Control Vehicle can rotate to the left or to the right, now
Driver can in the car, certainly also can be in the outer remote control of car, and easy to operate, control is simple.
In addition, unmanned steering system of the invention, can also have following additional technical feature：
Some embodiments of the invention, the described 3rd to control valve be the control valve with flow regulating function.Thus,
The aperture of valve is controlled by control the 3rd, so that controllable flow flows to the first control valve or the second control valve to rotary valve and rotary valve
Fluid flow in unit interval, and then the control to power cylinder piston action speed is realized, wheel steering is responded and is turned
It is controllable within the specific limits to speed.
Some embodiments of the invention, the first control valve and the second control valve are solenoid directional control valve,
Described 3rd controls valve for electromagnetic proportional valve.
Some embodiments of the invention, the first control valve and the second control valve are with Flow-rate adjustment
The control valve of function.So, by the regulation to the first control valve and the second control valve opening, equally achievable wheel steering rings
Should and turning velocity control.
Some embodiments of the invention, the first control valve and the second control valve are electromagnetic proportional valve,
Described 3rd controls valve for solenoid directional control valve.
Some embodiments of the invention, the first control valve, the second control valve and the 3rd control valve
It is the control valve with flow regulating function.Thus, unmanned steering system is equally capable of achieving wheel steering response and turns to
The control of speed.
Some embodiments of the invention, the first control valve, the second control valve and the 3rd control valve
It is electromagnetic proportional valve.
Some embodiments of the invention, the oil pump is driven by motor, is set between the motor and the oil pump
There is speed adjusting gear.
Some embodiments of the invention, each in the first control valve and the second control valve is respectively provided with
First normally open, the second normally open and normally closed port, wherein
First normally open of the first control valve is connected with the left part hydraulic fluid port, and the second of the first control valve is normally opened
Mouth is connected with the left part chamber；
First normally open of the second control valve is connected with the right part hydraulic fluid port, and the second of the second control valve is normally opened
Mouth is connected with the right part chamber；
Normally closed port and described second of the import of the 3rd control valve respectively with the described first control valve controls the normal of valve
Remain silent connected.
Some embodiments of the invention, piston rod is respectively arranged with the two sides of the power cylinder piston, each
The piston rod of side extends the knuckle for being suitable for driving the vehicle side from inside to outside from corresponding chamber respectively.
Some embodiments of the invention, the first control valve and the second control valve are integrated in described steering and move
On power cylinder.
Some embodiments of the invention, the first control valve and the second control valve become one.
Some embodiments of the invention, the unmanned steering system also includes：Pressure sensor, the pressure sensing
Device is used to detect the oil pressure at the oil inlet, in the unmanned steering system in the unmanned steering operating mode and the pressure
When force snesor detects the oil pressure more than predetermined value, the unmanned steering system is switched to from the unmanned steering operating mode
The manual steering operating mode.
Some embodiments of the invention, during the first control valve power down, the first of the first control valve is normally opened
Mouth is turned on the second normally open of the described first control valve, and on the first control valve during electricity, described first controls the normally closed of valve
Mouth is turned on the second normally open of the described first control valve；
During the second control valve power down, the first normally open of the second control valve and the second of the described second control valve
Normally open is turned on, on the second control valve during electricity, the normally closed port of the second control valve and the second of the described second control valve
Normally open is turned on；
First control valve, the second control valve described in when the unmanned steering system is in the manual steering operating mode
With the described 3rd control equal power down of valve, when the unmanned steering system is in the unmanned steering operating mode, the 3rd control
To reduce aperture, the first control valve and described second control the upper electricity of one of valve and another power down to electricity on valve；
When the unmanned steering system is in the unmanned steering operating mode and intervenes the steering wheel of the vehicle manually, institute
State the first control valve, the second control valve and the 3rd control equal power down of valve.
Some embodiments of the invention, the first control valve, the second control valve and the 3rd control valve
Pressure feedback oil circuit is respectively provided with, each described pressure feedback oil circuit is connected with the oil inlet, in the unmanned steering system
In the unmanned steering operating mode and when intervening the steering wheel of the vehicle manually, the oil pressure of the pressure feedback oil circuit will drive
Dynamic corresponding control valve power down.
The vehicle of embodiment according to a further aspect of the invention, including in the above embodiment of the present invention for vehicle
Unmanned steering system.
Brief description of the drawings
Fig. 1 is schematic diagram when unmanned steering system according to embodiments of the present invention is kept straight on；
Fig. 2 be unmanned steering system according to embodiments of the present invention be in manual left-hand rotation operating mode when schematic diagram；
Fig. 3 be unmanned steering system according to embodiments of the present invention be in manual right-hand rotation operating mode when schematic diagram；
Fig. 4 be unmanned steering system according to embodiments of the present invention be in remote control left-hand rotation operating mode when schematic diagram；
Fig. 5 be unmanned steering system according to embodiments of the present invention be in remote control right-hand rotation operating mode when schematic diagram；
Fig. 6 is the schematic diagram of unmanned steering system according to embodiments of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term "left", "right", " interior ", " outward ", " clockwise ", " inverse time
The orientation or position relationship of the instructions such as pin " are, based on orientation shown in the drawings or position relationship, to be for only for ease of and describe this hair
Bright and simplified description, must be with specific orientation, with specific orientation rather than the device or element for indicating or imply meaning
Construction and operation, therefore be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " is meant that two or more,
Unless otherwise expressly limited specifically.
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, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or two interaction relationships of element.For the ordinary skill in the art, can be according to specific feelings
Condition understands above-mentioned term concrete meaning in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score
The first and second feature directly contacts can be included, it is also possible to including the first and second features be not directly contact but by it
Between other characterisation contact.And, fisrt feature second feature " on ", " top " and " above " include that first is special
Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
The unmanned steering system for vehicle according to embodiments of the present invention is described in detail below with reference to Fig. 1-Fig. 6.Wherein,
Fig. 1 is the schematic diagram when vehicle is kept straight on according to the unmanned steering system of the embodiment of the present invention, and Fig. 2 is according to the embodiment of the present invention
Unmanned steering system vehicle be in manual left-hand rotation operating mode when schematic diagram, Fig. 3 be according to the remote control of the embodiment of the present invention turn
To schematic diagram of the system when vehicle is in manual right-hand rotation operating mode, Fig. 4 is to be existed according to the unmanned steering system of the embodiment of the present invention
Vehicle is in schematic diagram during remote control left-hand rotation operating mode, and Fig. 5 is to be in vehicle according to the unmanned steering system of the embodiment of the present invention
Schematic diagram during remote control right-hand rotation operating mode.And it should be noted that in the example of Fig. 1-Fig. 5, 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 electrical connection, 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, second control valve the 32, the 3rd control valve 33 and oil pump 4.
It is provided with shown in reference picture 1- Fig. 5, in power cylinder 11 for by the internal insulation of power cylinder 11 into left part chamber
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 cannot be by power cylinder piston
Mutually circulated at 12.
Power cylinder piston 12 can axially be moved 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, and for example power cylinder piston 12 is to left movement（Reference picture 3 and Fig. 5 institutes
Show）, then the volume of left part chamber 14 diminish, the volume of right part chamber 15 becomes big, and and for example power cylinder piston 12 is moved right（Reference
Shown in Fig. 2 and Fig. 4）, then the volume of right part chamber 15 diminish, the volume of left part chamber 14 is mutually strained greatly.
According to one embodiment of present invention, piston rod 13 is respectively arranged with the two sides of power cylinder piston 12, changes speech
It, piston rod 13 is provided with the left surface and right flank of power cylinder piston 12.Piston rod 13 per side is respectively from corresponding
Chamber extend the knuckle for being suitable for driving the vehicle side from inside to outside, that is to say, that the piston rod 13 in left side is from left part chamber
Power cylinder 11 is extended beyond to the left in room 14, and the left end of the piston rod 13 on the left of this is suitable to the knuckle with vehicle left side
Coordinate, to drive the knuckle on the left of this to act.Equally, the piston rod 13 on right side is extended beyond to the right from 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 is acted.What piston rod 13 and power cylinder piston 12 can be integrally formed, certain power cylinder piston 12 and piston rod 13
Can also be that then Split type structure is assembled together.
Shown in reference picture 1- Fig. 5, rotary valve 2 has oil inlet 21, oil return opening 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24, turns
The left part hydraulic fluid port 23 of valve 2 is connected by the first control valve 31 with left part chamber 14, and the right part hydraulic fluid port 24 of rotary valve 2 is by 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 to.
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
It is suitable to be connected with left part chamber 14, right part hydraulic fluid port 24 is suitable to be connected 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 4（It is schematically illustrate）, now left part hydraulic fluid port 23
Separated.When valve core turns over the angle of very little counterclockwise, left part is can be supplied to through oil inlet 21 from the pressure oil of oil pump 4
Hydraulic fluid port 23（It is schematically illustrate）, now right part hydraulic fluid port 24 separated.In other words, rotary valve 2 be in neutral position when, oil inlet 21, return
Hydraulic fluid port 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24 are interconnected, and the angle of very little is turned over along a direction in the valve core of rotary valve 2
Afterwards, oil inlet 21 connects left part hydraulic fluid port 23 simultaneously with right part hydraulic fluid port 24 and is connected with oil return opening 22 or oil inlet 21 and left part oil
Right part hydraulic fluid port 24 is connected the connection of mouth 23 with oil return opening 22 simultaneously.
Some embodiments of the invention, the assembling mode of rotary valve 2 can use assembling mode same as the prior art,
For example so that steering gear is pinion and-rack manual steering gear as an example（Not limited to this）, the pinion and-rack manual steering gear, steering
Power cylinder 11 and rotary valve 2 can make into a single integrated structure, constitute 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 steering 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 the intercommunications 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 being subject to turn
The road surface steering drag transmitted to joint arm, power cylinder piston 12 and steering rack can not temporarily be moved, therefore tooth sector is temporary transient
Can not be with steering axes.
So, the torque for passing to tooth sector by steering spindle can only make torsion bar produce a little torsional deflection, make steering spindle（I.e.
Valve core）It is able to relative tooth sector（That is valve pocket）Little angle is turned over, so that rotary valve 2 makes the right part chamber of power cylinder 11
15 oil suction chambers for turning into high pressure, left part chamber 14 turns into the oil back chamber of low pressure.Act on hydraulic pressure to the left on power cylinder piston 12
Active force, helps tooth sector to force steering rack to start action, so as to drive knuckle band motor car wheel to deflect to the right.
Meanwhile, tooth sector also begins to be rotate in same direction with steering spindle in itself, if steering wheel is rotated further, turns round torsion of bar and becomes
Shape just exists always, and the right turn position residing for rotary valve 2 is also constant, once steering wheel stops operating, power cylinder 11 is temporary transient
Work is also continued to, causes tooth sector to be rotated further, reduce the torsional deflection of torsion bar, until torsion bar affranchises state, turned
Valve 2 returns to neutral position, and power cylinder 11 is stopped, and now, steering wheel is to be 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 is deflected to the left, is not detailed herein.
It should be appreciated that described above is only illustrative, it is impossible to be not understood as to hint of the invention or limitation.It is right
For those skilled in the art, reading on the basis of specification above disclosure, prior art can combined
Above-mentioned technical proposal or technical characteristic are replaced and/or changed.
Shown in reference picture 1- Fig. 5, the 3rd control valve 33 has import 331 and outlet 332, exports the oil-feed of 332 and rotary valve 2
Mouth 21 is connected, and import 331 is connected with the first control control valve 32 of valve 31 and second respectively, and oil pump 4 is connected with import 331.Change speech
It, oil pump 4 is connected with the first control control control valve 33 of valve 32 and the 3rd of valve 31, second respectively, and fluid can be supplied the by oil pump 4
One of one control control valve 32 of valve 31 and second or supply the 3rd control valve 33.
Wherein, unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode.
Specifically, when unmanned steering system is in manual steering operating mode, shown in reference picture 2 and Fig. 3, oil pump 4 leads to successively
Cross the 3rd control valve 33, rotary valve 2, first and control valve 31 to fuel feeding in left part chamber 14, or by the 3rd control valve 33, rotary valve
2nd, the second control valve 32 is to fuel feeding in right part chamber 15.As shown in Figure 4 and Figure 5, it is in unmanned steering work in unmanned steering system
During condition, oil pump 4 controls valve 32 to right part chamber 15 by the first control valve 31 to fuel feeding in left part chamber 14, or by second
Interior fuel feeding.
More specifically, shown in reference picture 2, when unmanned steering system is in manual operating mode, if driver turns left turning
To disk, by fluid pump to the 3rd control valve 33, the 3rd control valve 33 exports oil to rotary valve 2 to oil pump 4, and rotary valve 2 is by left part oil
Mouth 23 exports fluid to the first control valve 31, and fluid is entered into left part chamber 14 after controlling valve 31 by first, left part chamber
Oil pressure increase in room 14, so that propulsion power cylinder piston 12 moves right, power cylinder piston 12 is driven by piston rod 13 and turned
Acted to section, wheel is turned left.Now, because right part chamber 15 is compressed by power cylinder piston 12, in right part chamber 15
Fluid from the oil return opening 22 of rotary valve 2 after the second control valve 32, rotary valve 2 by being back to fuel tank.
Equally, shown in reference picture 3, when unmanned steering system is in manual operating mode, the steering wheel if driver turns right,
By fluid pump to the 3rd control valve 33, the 3rd control valve 33 exports oil to rotary valve 2 to oil pump 4, and rotary valve 2 will by right part hydraulic fluid port 24
Fluid is exported to the second control valve 32, and fluid is entered into right part chamber 15 after controlling valve 32 by second, in right part chamber 15
Oil pressure increases, so that propulsion power cylinder piston 12 is moved to the left, power cylinder piston 12 drives knuckle to move by piston rod 13
Make, wheel is turned right.Now, because left part chamber 14 is compressed by power cylinder piston 12, the fluid in left part chamber 14 leads to
Cross the first control valve 31, flowed back fuel tank from the oil return opening 22 of rotary valve 2 after rotary valve 2.
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 is when turning left, by fluid pump to the first control valve 31, fluid passes through the to oil pump 4
One control valve 31 is entered into left part chamber 14, oil pressure increase in left part chamber 14, so that propulsion power cylinder piston 12 is to the right
Mobile, power cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned left.Now, due to right part chamber
15 are compressed by power cylinder piston 12, and the fluid in right part chamber 15 is by the oil return after the second control valve 32, rotary valve 2 from rotary valve 2
The backflow fuel tanks of mouth 22.
Shown in reference picture 5, when unmanned steering system is in unmanned steering operating mode, the remote-controlled wheel steering system of driver
Work, if driver's Remote Control Vehicle deflecting roller turns right, by fluid pump to the second control valve 32, fluid passes through the to oil pump 4
Two control valves 32 are entered into right part chamber 15, oil pressure increase in right part chamber 15, so that propulsion power cylinder piston 12 is to the left
Mobile, power cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned right.Now, due to left part chamber
14 are compressed by power cylinder piston 12, and the fluid in left part chamber 14 is by the oil return after the first control valve 31, rotary valve 2 from rotary valve 2
The backflow fuel tanks of mouth 22.
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 driver's Remote Control Vehicle to turn to, such as in vehicle automatic parking, driver easily Remote Control Vehicle can turn to the left or to the right
Dynamic, now driver can in the car, certainly also can be in the outer remote control of car, and easy to operate, control is simple.
It should be appreciated that when driver's Remote Control Vehicle is turned to, RPB can be arranged on the control of vehicle centre console
On panel, may alternatively be integrated within car key certainly, facilitate user in the outer remote control of car, certain RPB can also be provided separately within one
On individual portable steering remote control.
Some embodiments of the invention, the 3rd control valve 33 is the control valve with flow regulating function, in other words,
The flow of the adjustable hydraulic oil for flowing through the 3rd control valve 33 of the 3rd control valve 33.In some embodiments, the first control valve
31 and second control valve 32 to be solenoid directional control valve, and the 3rd control valve 33 is electromagnetic proportional valve.
Thus, the aperture of valve 33 is controlled by control the 3rd, so that controllable flow flows to first to rotary valve 2 and rotary valve 2
Fluid flow in the control control unit interval of valve 32 of valve 31 or second, and then realize the control to the responsiveness of power cylinder piston 12
System, makes wheel steering response and turning velocity controllable within the specific limits.
Other embodiments of the invention, the first control control valve 32 of valve 31 and second is with Flow-rate adjustment work(
The control valve of energy.In some embodiments, the first control control valve 32 of valve 31 and second is electromagnetic proportional valve, the 3rd control
Valve 33 is solenoid directional control valve.So, by the way that the regulation of the aperture of valve 32 is controlled the first control valve 31 and second, be equally capable of achieving car
The control of wheel steering response and turning velocity.
Still other embodiments of the invention, the first control control control valve 33 of valve 32 and the 3rd of valve 31, second is
Control valve with flow regulating function.In some embodiments, the first control control valve 32 and the 3rd of valve 31, second is controlled
Valve 33 is electromagnetic proportional valve.The unmanned steering system of some embodiments is equally capable of achieving wheel steering response and turns to speed
The control of degree.
It should be noted that in the above-described embodiment, because the first control control valve 32 and the 3rd of valve 31, second is controlled
Valve 33 is electrically-controlled valve, with commutation and/or flow regulating function, therefore can be by controller（That is, ECU）To control switching
The upper electricity and power-down state of three valves can realize the switching of different operating modes, and this will be provided below and be described more fully.
Because the vehicle plenty of time is in manual operation state, it is preferred that controlling three valves to be in power down shape in controller
During state, unmanned steering system can be at manual steering operating mode, and be partially in electric shape in controller controls three valves
During state, unmanned steering system can be at unmanned steering operating mode, so not only saving energy consumption, while easy to control.
Some embodiments of the 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 has 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, second normally open 312 and the phase of left part chamber 14 of the first control valve 31
Even.First normally open 321 of the second control valve 32 is connected with right part hydraulic fluid port 24, second control valve 32 the second normally open 322 and
Right part chamber 15 is connected.Normally closed port 313 and second of the import 331 of the 3rd control valve 33 respectively with the first control valve 31 controls valve
32 normally closed port 323 is connected.
Some embodiments of the invention, the first control control valve 32 of valve 31 and second is solenoid directional control valve and the 3rd
Control valve 33 is electromagnetic proportional valve.Further, when controller control first controls 31 power down of valve, the first of the first control valve 31
Second normally open 312 of the control valve 31 of normally open 311 and first is turned on, and the normally closed port 313 and first of the first control valve 31 is controlled
Second normally open 312 of valve processed 31 is separated, when controller control first controls electricity on valve 31, the normally closed port of the first control valve 31
313 and second normally open 312 turn on and the first normally open 311 of the first control valve 31 and the first control valve 31 the second normally open
312 cut-offs.
Equally, when controller control second controls 32 power down of valve, the first normally open 321 and second of the second control valve 32
The second normally open 322 of valve 32 is controlled to turn on, and the normally closed port 323 of the second control valve 32 is normally opened with the second of the second control valve 32
Mouth 322 separates, and when controller control second controls electricity on valve 32, second controls the control valve of normally closed port 323 and second of valve 32
32 the second normally open 322 is turned on and second controls the first normally open 321 of valve 32 and the second normally open of the second control valve 32
322 cut-offs.
When controller control the 3rd controls 33 power down of valve, the 3rd control valve 33 aperture is maximum, and the 3rd is controlled in controller
On control valve 33 during electricity, the aperture of the 3rd control valve 33 reduces, but, the present invention is not limited thereto.
When unmanned steering system is in manual steering operating mode, controllable first control valve 31, the second control valve of controller
32 and the 3rd control equal power down of valve 33, when unmanned steering system is in unmanned steering operating mode, such as remote control left-hand rotation operating mode, such as Fig. 4
It is shown, then it is electric to reduce electricity on aperture and the control valve 31 of control first on the controllable 3rd control valve 33 of controller, while control
Second control valve 32 is still in power down.And for example remote control right-hand rotation operating mode, as shown in figure 5, the then controllable 3rd control valve 33 of controller
Upper electricity is to reduce electricity on aperture and the control valve 32 of control second, while controlling first to control valve 31 still in power down
Preferably, according to one embodiment of present invention, it is in unmanned steering operating mode in unmanned steering system and does manually
During pre- i.e. manual rotation steering wheel, the first control control control equal power down of valve 33 of valve 32 and the 3rd of valve 31, second.Specifically, exist
If manual intervenes of startup disk during remote control left-hand rotation operating mode, the first control control valve 33 of valve 31 and the 3rd is converted to from power-up state
Electricity condition, if the manual intervenes of startup disk in remote control right-hand rotation operating mode, the second control valve 32 and the 3rd controls valve 33 from upper electric shape
State is converted to power-down state, so that unmanned steering system switches to manual steering operating mode, i.e. manual steering from unmanned steering operating mode
Operating mode ensures traffic safety prior to unmanned steering operating mode.
More specifically, the first control control control valve 33 of valve 32 and the 3rd of valve 31, second is respectively provided with pressure feedback oil circuit, the
The pressure feedback oil circuit 314 of one control valve 31 is connected with oil inlet 21, and second controls pressure feedback oil circuit 324 and the oil-feed of valve 32
Mouth 21 is connected, and the pressure feedback oil circuit 334 of the 3rd control valve 33 is connected with oil inlet 21, is turned in remote control in unmanned steering system
During to operating mode and manual intervenes of startup disk, the oil pressure of pressure feedback oil circuit will increase（Rotary valve conducting state hair after intervening manually
Changing, therefore the oil inlet oil pressure of rotary valve can rise rapidly）, so as to corresponding control will be driven in the presence of the oil pressure
Valve power down, i.e., the valve element for driving corresponding control valve by the oil pressure is moved to power down position from upper electric position.
In other words, if intervening rotary valve 2 during remote control left-hand rotation operating mode manually, the pressure feedback oil circuit 334 of the 3rd control valve 33
The 3rd will be driven to control the power down of valve 33, while the pressure feedback oil circuit 314 of the first control valve 31 will drive first to control valve 31 to fall
Electricity.Equally, if intervening rotary valve 2 during remote control right-hand rotation operating mode manually, the pressure feedback oil circuit 334 of the 3rd control valve 33 will drive the
The three control power down of valve 33, while the pressure feedback oil circuit 324 of the second control valve 32 will drive second to control the power down of valve 32, so as to protect
Card manual priority, substantially increases travel safety.
Below with first control valve 31 and second control valve 32 be solenoid directional control valve, the 3rd control valve 33 be electromagnetic proportional valve
As a example by, the operation principle of unmanned steering system according to embodiments of the present invention is briefly described.
When vehicle is in straight trip, as shown in figure 1, controllable first control valve 31, the second control valve 32 of controller and the
Three control valves 33 all no powers, three valves flow from oil pump 4 all in initial position, fluid after the 3rd control valve 33 and rotary valve 2
Oil return box.
When unmanned steering system is in manual steering operating mode：As shown in figure 3, the controllable first control valve 31 of controller,
The second control control of valve 32 and the 3rd valve 33 all no powers, all in initial position, fluid is from oil pump 4 through the 3rd control for three valves
Enter rotary valve 2 after valve 33, steering wheel is rotated clockwise manually, fluid flows out from the right part hydraulic fluid port 24 of rotary valve 2, by the second control
Entered into after first normally open 321 and the second normally open 322 of valve 32 in the right part chamber 15 of power cylinder 11, power cylinder is lived
Plug 12 drives pivoted wheels on vehicle to turn right to left movement with by knuckle.Meanwhile, the fluid in left part chamber 14 passes sequentially through
Enter rotary valve 2 after one control the second normally open 312 of valve 31, the first normally open 311 and left part hydraulic fluid port 23, then from rotary valve 2
Oil return opening 22 is back to fuel tank.
As shown in Fig. 2 when rotating counterclockwise steering disk manually, pivoted wheels on vehicle will turn left, its principle is big with above-mentioned
Cause is identical, refer to above description, no longer describes in detail here.
When unmanned steering system is in unmanned steering operating mode：As shown in figure 5, on the controllable 3rd control valve 33 of controller
To reduce aperture, the 3rd control forefront pressure of valve 33 gradually increases electricity, and controller also controls the power down of the first control valve 31 to be in just
Beginning position, and control second control valve 32 be powered commutation so that second control valve 32 the normally open 322 of normally closed port 323 and second
Conducting, fluid flows out through oil pump 4 and enters into right part chamber by the normally open 322 of normally closed port 323 and second of the second control valve 32
In 15, propulsion power cylinder piston 12 is moved to the left, so that deflecting roller is turned to the right.Now the first control valve 31 is still in power-off shape
State, the fluid in left part chamber 14 passes sequentially through the second normally open 312, the first normally open 311 and a left side for the first control valve 31
Enter rotary valve 2 after portion's 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, the first control valve 31 is powered, the second control valve 32
Power-off, its principle is roughly the same with above description, repeats no more here.
It should be appreciated that under unmanned steering operating mode, the aperture of the 3rd control valve 33 is gradually reduced, but the present invention is simultaneously
Not limited to this.For example alternatively, the 3rd control valve 33 can also be completely closed, for a person skilled in the art, can be with root
Flexibly set according to being actually needed.
Shown in reference picture 5, it is under unmanned steering pattern in unmanned steering system, if artificial rotate steering wheel manually, is made
Obtain the oil inlet 21 and right part hydraulic fluid port 24 of rotary valve 2（Or left part hydraulic fluid port 23, here for schematically illustrate）Conducting, and left part hydraulic fluid port 23
（Or right part hydraulic fluid port 24）Connected with oil return opening 22, then the pressure of oil inlet 21 can rise rapidly, the pressure of oil inlet 21 is through the first control
After the pressure feedback oil circuit feedback of the control control valve 33 of valve 32 and the 3rd of valve processed 31, second, the oil pressure of pressure feedback oil circuit will be pushed away
Dynamic second control valve 32 and the 3rd control power-off reset of valve 33, unmanned steering system will be into manual steering pattern.
According to one embodiment of present invention, the first control control valve 32 of valve 31 and second 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, and in another embodiment of the present invention, the first control valve 31 and second is controlled
Valve 32 can become one.Or, first control valve 31 and second control valve 32 may alternatively be integrated within steering gear, by pipeline with
Power cylinder 11 is connected, or the first control control of valve 31 and second valve 32 also can be independent mutually, is connected to each other by pipeline.
Furthermore, the first control control control valve 33 of valve 32 and the 3rd of valve 31, second can be fabricated to an integrated valve block structure, be installed on
On existing hydraulic steering gear, oil pipe, reduces cost are reduced.
In short, those skilled in the art is being read on the basis of specification disclosure, with reference to hydraulic pressure
The ABC in field, can control the first control control valve 32 and the 3rd of valve 31, second arrangement form, the assembling side of valve 33
Formula is improved, and to cause that unmanned steering system according to embodiments of the present invention is adapted to different automobile types, makes according to the present invention
The unmanned steering system architecture of embodiment is compacter, simple, and cost is lower, and the scope of application is wider.
Some embodiments of the invention, oil pump 4 can be directly driven by the engine of vehicle, due to the rotating speed of engine
Moment can control in change, therefore the flow that the oil pump 4 can have flow control device and overflow mechanism, the oil pump 4 output
In a less mobility scale, maximum oil pressure is constant, that is to say, that those skilled in the art can be according to unmanned steering
The output flow and maximum oil pressure of the requirement setting oil pump 4 of system.
But, the present invention is not limited thereto, and in other embodiments of the invention, oil pump 4 also can directly by individually electricity
Machine is driven, i.e., oil pump 4 is not directly driven by engine.In such an embodiment, it is preferable the output speed of oil pump 4 is adjustable, example
As that can set speed adjusting gear between oil pump 4 and motor, speed adjusting gear can be single-row single-stage planetary gear train and/or single
Double pinions mechanism and/or ravigneaux planetary gear mechanism, such oil pump 4 is driven by single motor, and is set up
Speed adjusting gear, so that the output speed of oil pump 4 is adjustable, such first control valve 31 and second control valve 32 and the 3rd is controlled
Valve 33 can be solenoid directional control valve, and response speed and the steering of Vehicular turn can be controlled by the pump oil amount for adjusting oil pump 4
Speed.And, by setting single motor and speed adjusting gear, motor can be set oil-feed pump is exported by speed adjusting gear
Maximum (top) speed so that oil pump can be at declared working condition under the maximum (top) speed, can so cancel overflow mechanism, reduces cost.But
It is that the present invention is not limited thereto.
Some embodiments of the invention, unmanned steering system also includes pressure sensor（It is not shown）, pressure biography
Sensor is used to detect oil pressure at oil inlet 21, when unmanned steering system is in unmanned steering operating mode and pressure sensor
When oil pressure at detection oil inlet 21 exceedes predetermined value, unmanned steering system switches to manual steering work from unmanned steering operating mode
Condition, for example, control first to control the power down of one of the control valve 32 of valve 31 and second and control the 3rd control the power down of valve 33, hence into
Manual steering operating mode.
Specifically, when unmanned steering system is in unmanned steering operating mode, if having intervening rotary valve 2, such as driver manually
Acted by rotating steering dish driving rotary valve 2, so that the conducting state of rotary valve 2 changes, the oil pressure of the oil inlet 21 of rotary valve 2
Power can increase, now ECU can according to pressure sensor 6 detect the pressure more than after predetermined value, force the first control valve 31 or
The second control power down of valve 32 forces the 3rd control power down of valve 33 simultaneously, forces unmanned steering system to enter manual steering operating mode, makes
Manual steering situation is obtained prior to unmanned steering operating mode, so as to greatly improve vehicle safety, it is ensured that traffic safety.
It should be appreciated that above-mentioned " predetermined value " can according to the unmanned steering system being applied in different vehicle and/or its
Its factor and adaptive settings, this all will be appreciated that for the ordinary skill in the art.
In addition, it is necessary to illustrate a bit, some embodiments of the invention, the first control control valve 32 of valve 31, second and
3rd control valve 33 can be magnetic valve, and its specific works state for example goes up electricity and power-down state and can accordingly be controlled by controller
System, this should all will be appreciated that for a person skilled in the art.
Vehicle according to embodiments of the present invention is briefly described below.
Vehicle according to embodiments of the present invention, including the unmanned steering system according to described in the above embodiment of the present invention.
Vehicle according to some embodiments of the invention can be car, car, truck, lorry, SUV etc..
It should be noted that the other structures of vehicle according to embodiments of the present invention such as speed changer, differential mechanism, decelerator
Deng being prior art, and it is well known for ordinary skill in the art, therefore no longer describes in detail one by one here.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
What combined in an appropriate manner in one or more embodiments or example.Additionally, 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, changes, replacing and modification.
Claims (15)
1. a kind of unmanned steering system for vehicle, it is characterised in that including：
Power cylinder, is provided with for by the power cylinder internal insulation into left part chamber and the right side in the power cylinder
The power cylinder piston of portion's chamber；
Rotary valve, the left part hydraulic fluid port that the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, 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 is by the second control valve and right part chamber phase
Even；
3rd control valve, the 3rd control valve has inlet and outlet, and the outlet is connected with the oil inlet, the import
It is connected with the described first control valve and the second control valve respectively；And
Oil pump, the oil pump is connected with the import；
Wherein, the unmanned steering system has manual steering operating mode and unmanned steering operating mode：
The unmanned steering system be in the manual steering operating mode when, the oil pump pass sequentially through it is described 3rd control valve,
The rotary valve, it is described first control valve to fuel feeding in the left part chamber, or by the described 3rd control valve, the rotary valve,
The second control valve is to fuel feeding in the right part chamber；
When the unmanned steering system is in the unmanned steering operating mode, the oil pump is by the described first control valve to described
Fuel feeding in left part chamber, or by the described second control valve to fuel feeding in the right part chamber；
The first control valve and the second control valve are solenoid directional control valve, and the described 3rd controls valve for electromagnetic proportional valve；
Each in the first control valve and the second control valve is respectively provided with the first normally open, the second normally open and normally closed
Mouthful, wherein
It is described first control valve the first normally open be connected with the left part hydraulic fluid port, it is described first control valve the second normally open and
The left part chamber is connected；
It is described second control valve the first normally open be connected with the right part hydraulic fluid port, it is described second control valve the second normally open and
The right part chamber is connected；
The import of the 3rd control valve controls the normally closed port of valve with the normally closed port of the described first control valve and described second respectively
It is connected.
2. the unmanned steering system for vehicle according to claim 1, it is characterised in that the described 3rd to control valve be tool
There is the control valve of flow regulating function.
3. the unmanned steering system for vehicle according to claim 1, it is characterised in that the first control valve and the institute
State the second control valve and be the control valve with flow regulating function.
4. the unmanned steering system for vehicle according to claim 1 or 3, it is characterised in that the first control valve
Electromagnetic proportional valve is with the described second control valve, the described 3rd controls valve for solenoid directional control valve.
5. the unmanned steering system for vehicle according to claim 1, it is characterised in that the first control valve, institute
State the second control valve and the 3rd control valve is the control valve with flow regulating function.
6. the unmanned steering system of vehicle is used for according to claim 1 or 5, it is characterised in that the first control valve,
The second control valve and the 3rd control valve are electromagnetic proportional valve.
7. the unmanned steering system for vehicle according to claim 1, it is characterised in that the oil pump is driven by motor
It is dynamic, it is provided with speed adjusting gear between the motor and the oil pump.
8. the unmanned steering system for vehicle according to claim 1, it is characterised in that the two of the power cylinder piston
Piston rod is respectively arranged with side, often the piston rod of side extends be suitable for driving respectively from inside to outside from corresponding chamber
The knuckle of the motor-car side.
9. the unmanned steering system for vehicle according to claim 1, it is characterised in that the first control valve and the institute
The second control valve is stated to be integrated on the power cylinder.
10. the unmanned steering system for vehicle according to claim 1, it is characterised in that the first control valve and
The second control valve becomes one.
The 11. unmanned steering systems for vehicle according to claim 1, it is characterised in that also include：Pressure sensing
Device, the pressure sensor is used to detect the oil pressure at the oil inlet, in the unmanned steering system in the remote control
When steering situation and the pressure sensor detect the oil pressure more than predetermined value, the unmanned steering system is from described distant
Control steering situation switches to the manual steering operating mode.
The 12. unmanned steering systems for vehicle according to claim 1, it is characterised in that
During the first control valve power down, the first normally open of the first control valve is normally opened with the second of the described first control valve
Mouthful conducting, on the first control valve during electricity, the normally closed port of the first control valve and the described first control valve it is second normally opened
Mouth conducting；
During the second control valve power down, the first normally open of the second control valve is normally opened with the second of the described second control valve
Mouthful conducting, on the second control valve during electricity, the normally closed port of the second control valve and the described second control valve it is second normally opened
Mouth conducting；
First control valve, the second control valve and the institute described in when the unmanned steering system is in the manual steering operating mode
The 3rd control equal power down of valve is stated, when the unmanned steering system is in the unmanned steering operating mode, on the 3rd control valve
To reduce aperture, the first control valve and described second control the upper electricity of one of valve and another power down to electricity.
The 13. unmanned steering systems for vehicle according to claim 12, it is characterised in that
The unmanned steering operating mode is in the unmanned steering system and when intervening the steering wheel of the vehicle manually, described the
One control valve, the second control valve and the 3rd control equal power down of valve.
The 14. unmanned steering systems for vehicle according to claim 13, it is characterised in that the first control valve,
It is described second control valve and it is described 3rd control valve be respectively provided with pressure feedback oil circuit, each described pressure feedback oil circuit with it is described
Oil inlet is connected, and is in the unmanned steering operating mode in the unmanned steering system and intervenes the steering wheel of the vehicle manually
When, the oil pressure of the pressure feedback oil circuit will drive corresponding control valve power down.
A kind of 15. vehicles, it is characterised in that including unmanned steering system, the unmanned steering system is according to claim 1-
Unmanned steering system any one of 14.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310628353.1A CN104670313B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
| PCT/CN2014/092715 WO2015078421A1 (en) | 2013-11-29 | 2014-12-01 | Remote control steering system for vehicle and vehicle having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310628353.1A CN104670313B (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 |
|---|---|
| CN104670313A CN104670313A (en) | 2015-06-03 |
| CN104670313B true CN104670313B (en) | 2017-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310628353.1A Active CN104670313B (en) | 2013-11-29 | 2013-11-29 | Unmanned steering system for vehicle and the vehicle with the unmanned steering system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104670313B (en) |
| WO (1) | WO2015078421A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100033A (en) * | 2018-01-10 | 2018-06-01 | 西安合众思壮导航技术有限公司 | Turn to fluid distributor |
| CN110432840B (en) * | 2019-08-22 | 2021-09-14 | 合肥云驾智能科技有限公司 | Automatic steering device of floor washing machine and control method thereof |
| CN111524347B (en) * | 2020-04-13 | 2022-05-06 | 东风柳州汽车有限公司 | Pre-intervention remote control parking control method |
| CN113571358B (en) * | 2021-07-26 | 2023-12-22 | 歌尔科技有限公司 | Trigger button device, electronic equipment and electronic system |
| CN115320706B (en) * | 2022-08-25 | 2023-09-19 | 吉林大学 | Hydraulic system for realizing off-road vehicle steer-by-wire based on load port independent control |
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| JPH07132843A (en) * | 1993-11-08 | 1995-05-23 | Mazda Motor Corp | Steering control device for automobile |
| JPH10157643A (en) * | 1996-12-02 | 1998-06-16 | Koyo Seiko Co Ltd | Steering device |
| CN1626392A (en) * | 2003-12-10 | 2005-06-15 | 株式会社小松制作所 | Vehicular steering control device |
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| 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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| DE4031951C2 (en) * | 1990-10-09 | 1994-06-09 | Danfoss As | Hydraulic steering system for vehicles |
| DE10164392B4 (en) * | 2001-12-28 | 2006-07-13 | Bosch Rexroth Aktiengesellschaft | Hydraulic steering device |
| CN2633703Y (en) * | 2003-07-01 | 2004-08-18 | 浙江杭叉工程机械股份有限公司 | Forklift hydraulic device for lifting and turning with one motor |
| US8167081B2 (en) * | 2009-11-06 | 2012-05-01 | Deere & Company | Dual mode hydrostatic steering system |
| CN203681647U (en) * | 2013-11-29 | 2014-07-02 | 比亚迪股份有限公司 | Remote control steering system for vehicle and vehicle with same |
-
2013
- 2013-11-29 CN CN201310628353.1A patent/CN104670313B/en active Active
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2014
- 2014-12-01 WO PCT/CN2014/092715 patent/WO2015078421A1/en active Application Filing
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|---|---|---|---|---|
| JPH07132843A (en) * | 1993-11-08 | 1995-05-23 | Mazda Motor Corp | Steering control device for automobile |
| JPH10157643A (en) * | 1996-12-02 | 1998-06-16 | Koyo Seiko Co Ltd | Steering device |
| CN1626392A (en) * | 2003-12-10 | 2005-06-15 | 株式会社小松制作所 | Vehicular steering control device |
| CN101233040A (en) * | 2005-07-27 | 2008-07-30 | 博世雷克斯罗思股份公司 | Electrohydraulic 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104670313A (en) | 2015-06-03 |
| WO2015078421A1 (en) | 2015-06-04 |
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