CN104670320A - 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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- CN104670320A CN104670320A CN201310628352.7A CN201310628352A CN104670320A CN 104670320 A CN104670320 A CN 104670320A CN 201310628352 A CN201310628352 A CN 201310628352A CN 104670320 A CN104670320 A CN 104670320A
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- Prior art keywords
- solenoid directional
- directional control
- control valve
- steering system
- valve
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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
- B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
- B62D5/12—Piston and cylinder
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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
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
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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
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
- B62D5/32—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means for telemotor systems
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
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 first rotary valve, a second rotary valve and an 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 first rotary valve is provided with a first oil inlet, a first oil return port, a first left oil port and a first right oil port, wherein the first left oil port is connected with the left cavity through a first magnetic exchange valve, and the first right oil port is connected with the right cavity through a second magnetic exchange valve. The second rotary valve is provided with a second oil inlet, a second oil return port, a second left oil port and a second right oil port, wherein the second left oil port is connected with the left cavity through the first magnetic exchange valve, and the second right oil port is connected with the right cavity through the second magnetic exchange valve. The oil pump is connected with the first oil inlet and the second oil inlet through a control valve. The remote control steering system can be operated in a manual mode and a remote control mode, and is simple in structure and low in cost, and convenient to control.
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; First rotary valve, described first rotary valve has the first oil inlet, the first return opening, the first left part hydraulic fluid port and the first right part hydraulic fluid port, first left part hydraulic fluid port of described first rotary valve is connected with described left part chamber by the first solenoid directional control valve, and the first right part hydraulic fluid port of described first rotary valve is connected with described right part chamber by the second solenoid directional control valve; Second rotary valve, described second rotary valve has the second oil inlet, the second return opening, the second left part hydraulic fluid port and the second right part hydraulic fluid port, second left part hydraulic fluid port of described second rotary valve is connected with described left part chamber by the first solenoid directional control valve, and the second right part hydraulic fluid port of described second rotary valve is connected with described right part chamber by the second solenoid directional control valve; And oil pump, described oil pump is connected with described second oil inlet with described first oil inlet respectively by control cock; 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 successively by described control cock, described first rotary valve, described first solenoid directional control valve to fuel feeding in described left part chamber, or by described control cock, described first rotary valve, described second solenoid directional control valve to fuel feeding in described right part chamber; When described unmanned steering system is in described unmanned steering operating mode, described oil pump successively by described control cock, described second rotary valve, described first solenoid directional control valve to fuel feeding in described left part chamber, or by described control cock, described second rotary valve, described second solenoid directional control 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 solenoid directional control valve is identical with the structure of described second solenoid directional control valve.
According to some embodiments of the present invention, each in described first solenoid directional control valve, described second solenoid directional control valve and described control cock all has the first normal opening, the second normal opening and normally closed port, wherein,
First normal opening of described first solenoid directional control valve is connected with described first left part hydraulic fluid port, and the second normal opening of described first solenoid directional control valve is connected with described left part chamber, and the normally closed port of described first solenoid directional control valve is connected with described second left part hydraulic fluid port,
First normal opening of described second solenoid directional control valve is connected with described first right part hydraulic fluid port, and the second normal opening of described second solenoid directional control valve is connected with described right part chamber, and the normally closed port of described second solenoid directional control valve is connected with described second right part hydraulic fluid port,
First normal opening of described control cock is connected with described oil pump, and the second normal opening of described control cock is connected with described first oil inlet, and the normally closed port of described control cock is connected with described second oil inlet.
According to some embodiments of the present invention, described control cock is electromagnetic proportional valve.
According to some embodiments of the present invention, described control cock is solenoid directional control valve.
According to some embodiments of the present invention, the two sides of described power cylinder piston are respectively arranged with piston rod, the described piston rod of every side extends outward the steering swivel being suitable for driving this side of vehicle respectively in corresponding chamber.
According to some embodiments of the present invention, described first solenoid directional control valve and described second solenoid directional control valve are integrated on described power cylinder.
According to some embodiments of the present invention, described first solenoid directional control valve and described second solenoid directional control valve become one.
According to some embodiments of the present invention, described oil pump is driven by motor, is provided with regulating mechanism between described motor and described oil pump.
According to some embodiments of the present invention, described second rotary valve is driven by motor.
According to the vehicle of the embodiment of the present invention, comprise unmanned steering system, this unmanned steering is 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 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-Fig. 6.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, 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 1, first rotary valve 2, second rotary valve 5, first solenoid directional control valve 31, second solenoid directional control valve 32, control cock 33 and oil pump 4 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 1, be provided with the power cylinder piston 12 for power cylinder 1 internal insulation being become left part chamber 14 and right part chamber 15.Specifically, power cylinder 1 can be the hydraulic ram of elongated shape column, power cylinder piston 12 is provided with in power cylinder 1, power cylinder piston 12 is engaged in power cylinder 1 hermetically so that power cylinder 1 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 1 along power cylinder 1, 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 1 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 1 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, first rotary valve 2 has the first oil inlet 21, first return opening 22, first left part hydraulic fluid port 23 and the first right part hydraulic fluid port 24, first left part hydraulic fluid port 23 of the first rotary valve 2 is connected with left part chamber 14 by the first solenoid directional control valve 31, and the first right part hydraulic fluid port 24 of the first rotary valve 2 is connected with right part chamber 15 by the second solenoid directional control valve 32.In other words, the first 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 solenoid directional control valve.
Equally, second rotary valve 5 has the second oil inlet 51, second return opening 52, second left part hydraulic fluid port 53 and the second right part hydraulic fluid port 54, second left part hydraulic fluid port 53 of the second rotary valve 5 is connected with left part chamber 14 by the first solenoid directional control valve 31, and the second right part hydraulic fluid port 54 of the second rotary valve 5 is connected with right part chamber 15 by the second solenoid directional control valve 32.In other words, the second rotary valve 5 and left part chamber 14 with right part chamber 15 and non-immediate be connected, but to be indirectly connected by corresponding solenoid directional control valve.Should be appreciated that the first rotary valve 2 can be identical with the structure of the second rotary valve 5, below for the first rotary valve 2, simple its principle of work of description.
Specifically, first rotary valve 2(and rotary valve type) valve core can rotate around its axis and control the flow of fluid, first rotary valve 2 has the first oil inlet 21 interconnected, first return opening 22, first left part hydraulic fluid port 23 and the first right part hydraulic fluid port 24, first left part hydraulic fluid port 23 is suitable for being communicated with left part chamber 14, first 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, the first right part hydraulic fluid port 24(can be supplied from the pressure oil of oil pump 4 through the first oil inlet 21 to illustrate to illustrate), now the first left part hydraulic fluid port 23 is cut off.When valve core conter clockwise turns over a very little angle, the first left part hydraulic fluid port 23(can be supplied from the pressure oil of oil pump 4 through the first oil inlet 21 and illustrate to illustrate), now the first right part hydraulic fluid port 24 is cut off.In other words, when first rotary valve 2 is in center position, first oil inlet 21, first return opening 22, first left part hydraulic fluid port 23 and the first right part hydraulic fluid port 24 interconnect, after the valve core of the first rotary valve 2 turns over very little angle along a direction, the first oil inlet 21 be communicated with the first right part hydraulic fluid port 24 simultaneously the first left part hydraulic fluid port 23 be communicated with the first return opening 22 or the first oil inlet 21 is communicated with the first left part hydraulic fluid port 23 while the first right part hydraulic fluid port 24 be communicated with the first return opening 22.
According to some embodiments of the present invention, the assembling mode of the first 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 1 and the first 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 the first rotary valve 2 is in center position, left part chamber 14 and right part chamber 15 liang of chambeies communicate (when the first rotary valve 2 is in center position, each hydraulic fluid port intercommunication of first rotary valve 2, therefore left part chamber 14 and right part chamber 15 intercommunication by the first rotary valve 2), fluid flows back to fuel tank through the first return opening 22, therefore power cylinder 1 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 the first rotary valve 2 makes the right part chamber 15 of power cylinder 1 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 first rotary valve 2 is also constant, once steering handwheel stops operating, power cylinder 1 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 first rotary valve 2, and power cylinder 1 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, the first 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.Wherein, the structure of the second rotary valve 5 can be identical with principle of work with the structure of the first rotary valve 2 with principle of work, and difference is, the first rotary valve 2 drives its action by steering handwheel, and the second rotary valve 5 can drive its action by motor, but the present invention is not limited to this.
Shown in Fig. 1-Fig. 5, oil pump 4 is connected with the second oil inlet 51 of the second rotary valve 5 with the first oil inlet 21 of the first rotary valve 2 respectively by control cock 33, in other words, control cock 33 is located at oil pump 4 and between the first oil inlet 21 and the second oil inlet 51, oil pump 4 by control cock 33 to the first rotary valve 2 or the second rotary valve 5 fuel feeding.
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, with reference to shown in Fig. 2 and Fig. 3, oil pump 4 passes through control cock 33, first rotary valve 2, first solenoid directional control valve 31 successively to fuel feeding in left part chamber 14, or by control cock 33, first rotary valve 2, second solenoid directional control 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, oil pump 4 passes through control cock 33, second rotary valve 5, first solenoid directional control valve 31 successively to fuel feeding in left part chamber 14, or by control cock 33, second rotary valve 5, second solenoid directional control valve 32 to fuel feeding in right part chamber 15.Namely, controller (namely, ECU) the fluid outgoing route of control cock 33 can be controlled, when unmanned steering system is in manual operating mode, controller can control control cock 33 and fluid be exported to the first rotary valve 2, and when unmanned steering system is in unmanned steering operating mode, controller can control control cock 33 and fluid be exported to the second rotary valve 5.
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 4 by fluid pumping to control cock 33, controller can control control cock 33 and oil be exported to the first rotary valve 2, fluid is exported to the first solenoid directional control valve 31 by the first left part hydraulic fluid port 23 by the first rotary valve 2, fluid is by entering in left part chamber 14 after the first solenoid directional control 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, 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 by being back to fuel tank from the first return opening 22 of the first rotary valve 2 after the second solenoid directional control valve 32, first rotary valve 2.
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 4 by fluid pumping to control cock 33, controller can control control cock 33 and oil be exported to the first rotary valve 2, fluid is exported to the second solenoid directional control valve 32 by the first right part hydraulic fluid port 24 by the first rotary valve 2, fluid is by entering in right part chamber 15 after the second solenoid directional control 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, make wheel turning clockwise.Now, because left part chamber 14 is compressed by power cylinder piston 12, the fluid in left part chamber 14 is by refluxing fuel tank from the first return opening 22 of the first rotary valve 2 after the first solenoid directional control valve 31, first rotary valve 2.
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, oil pump 4 by fluid pump to control cock 33, controller can control control cock 33 and oil be exported to the second rotary valve 5, fluid is exported to the first solenoid directional control valve 31 by the second left part hydraulic fluid port 53 by the second rotary valve 5, fluid is by entering in left part chamber 14 after the first solenoid directional control 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, 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 by being back to fuel tank from the second return opening 52 of the second rotary valve 5 after the second solenoid directional control valve 32, second rotary valve 5.
With reference to shown in Fig. 5, when unmanned steering system is in unmanned steering operating mode, the remote-controlled wheel steering system work of chaufeur, if during chaufeur Remote Control Vehicle wheel flutter turning clockwise, oil pump 4 by fluid pump to control cock 33, controller can control control cock 33 and oil be exported to the second rotary valve 5, fluid is exported to the second solenoid directional control valve 32 by the second right part hydraulic fluid port 54 by the second rotary valve 5, fluid is by entering in right part chamber 15 after the second solenoid directional control 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, make wheel turning clockwise.Now, because left part chamber 14 is compressed by power cylinder piston 12, the fluid in left part chamber 14 is by refluxing fuel tank from the second return opening 52 of the second rotary valve 5 after the first solenoid directional control valve 31, second rotary valve 5.
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, as shown in Figure 1, the first solenoid directional control valve 31 is identical with the structure of the second solenoid directional control valve 32.Thus, can commonality be improved, reduce costs.
Further, with reference to shown in Fig. 1, the first solenoid directional control valve 31 has the first normal opening 312 of normal opening 311, second and normally closed port 313.Second solenoid directional control valve 32 has the first normal opening 322 of normal opening 321, second and normally closed port 323.Control cock 33 has the first normal opening 332 of normal opening 331, second and normally closed port 333.
With reference to shown in Fig. 1, the first normal opening 311 of the first solenoid directional control valve 31 is connected with the first left part hydraulic fluid port 23, and the second normal opening 312 of the first solenoid directional control valve 31 is connected with left part chamber 14, and the normally closed port of the first solenoid directional control valve 31 is connected with the second left part hydraulic fluid port 53.First normal opening 321 of the second solenoid directional control valve 32 is connected with the first right part hydraulic fluid port 24, and the second normal opening 322 of the second solenoid directional control valve 32 is connected with right part chamber 15, and the normally closed port 323 of the second solenoid directional control valve 32 is connected with the second right part hydraulic fluid port 54.First normal opening 331 of control cock 33 is connected with oil pump 4, and the second normal opening 332 of control cock 33 is connected with the first oil inlet 21, and the normally closed port 333 of control cock 33 is connected with the second oil inlet 51.
According to some embodiments of the present invention, control cock 33 has flow regulating function, and such as control cock 33 can be electromagnetic proportional valve, and in other words, control cock 33 adjustable is through the flow of the hydraulic oil of control cock 33.Thus, by controlling the aperture of control cock 33, thus controllable flow is to the first rotary valve 2 or the fluid flow in the second rotary valve 5 unit time, and then the fluid flow entered in the control unit time in left part chamber 14 or right part chamber 15, the control to power cylinder piston 12 responsiveness can be realized thus, make wheel steering respond and turning velocity controlled within the specific limits.
But the present invention is not limited to this, according to another embodiment of the invention, control cock also can be solenoid directional control valve.
Below for control cock 33 for solenoid directional control valve, 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, controller can control the first solenoid directional control valve 31, second solenoid directional control valve 32 and control cock 33 is all in power-down state, that is, these three valves are all in initial position, and fluid flows back to fuel tank from oil pump 4 after control cock 33 and the first rotary valve 2.
When unmanned steering system is in manual steering operating mode: as shown in Figure 3, controller can control control cock 33 and still be in power-down state, fluid enters the first rotary valve 2 from oil pump 4 after the first normal opening 331 and the second normal opening 332 of control cock 33, manually rotate clockwise steering handwheel, fluid flows out from the first right part hydraulic fluid port 24 of the first rotary valve 2, enter in the right part chamber 15 of power cylinder 1 after the normal opening of the second solenoid directional control valve 32 first 321 and the second normal opening 322, power cylinder piston 12 to left movement with by steering swivel drive pivoted wheels on vehicle turn right.Meanwhile, the fluid in left part chamber 14 successively by entering the first rotary valve 2 after the normal opening 311 of the second normal opening 312, first of the first solenoid directional control valve 31 and the first left part hydraulic fluid port 23, then is back to fuel tank from the first return opening 22 of the first rotary valve 2.
As shown in Figure 2, manually rotate counterclockwise when turning to dish, pivoted wheels on vehicle will turn left, and its principle is roughly the same with above-mentioned, 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, controller can control control cock 33 energising commutation, first of control cock 33 normal opening 331 is communicated with normally closed port 333, the first solenoid directional control valve 31 and the second solenoid directional control valve 32 energising commutation can also be controlled with Time Controller, the normally closed port 313 of the first solenoid directional control valve 31 is communicated with the second normal opening 312, and the normally closed port 323 of the second solenoid directional control valve 32 is communicated with the second normal opening 322 simultaneously.Fluid is by entering the second rotary valve 5 from the second oil inlet 51 after control cock 33, second rotary valve 5 can drive its valve core to rotate (but being not limited thereto) by motor, second oil inlet 51 is communicated with the second right part hydraulic fluid port 54, by entering in right part chamber 15 after the normally closed port 323 of the second solenoid directional control valve 32 and the second normal opening 322 after fluid flows out from the second right part hydraulic fluid port 54, propulsion power cylinder piston 12 is moved to the left, thus wheel flutter right-hand turning to.Fluid now in left part chamber 14 enters in the second rotary valve 5 by the second normal opening 312 of the first solenoid directional control valve 31 and normally closed port 313 and the second left part hydraulic fluid port 53 successively, be back to fuel tank from the second return opening 52 of the second rotary valve 5 again, 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, its principle is roughly the same with description above, repeats no more here.
According to one embodiment of present invention, the first solenoid directional control valve 31 and the second solenoid directional control valve 32 can be integrated on power cylinder 1, 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 solenoid directional control valve 31 and the second solenoid directional control valve 32 accessible site are integrated.Or the first solenoid directional control valve 31 and the second solenoid directional control valve 32 also accessible site, in deflector, are connected with power cylinder 1 by pipeline, or the first solenoid directional control valve 31 and the second solenoid directional control 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 solenoid directional control valve 31, second solenoid directional control 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 4 can by the driving engine Direct driver of vehicle, change is engraved in during rotating speed due to driving engine, therefore this oil pump 4 can have flow control device and overflow mechanism, the flow that this oil pump 4 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 4 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 4 also can directly be driven by independent motor, and namely oil pump 4 is not by driving engine Direct driver.In this embodiment, preferably, the output speed of oil pump 4 is adjustable, such as between oil pump 4 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, and such oil pump 4 is driven by independent drive motor, and sets up regulating mechanism, thus make the output speed of oil pump 4 adjustable, speed of response and turning velocity thus by regulating the pump oil mass of oil pump 4 can control Vehicular turn.And by arranging independent motor and regulating mechanism, can set oil pump 4 exported to by motor maximum speed by regulating mechanism, under making this maximum speed, oil pump 4 can be in standard duty, can cancel overflow mechanism like this, reduce costs.But the present invention is not limited to this.
In addition, need to illustrate a bit, according to some embodiments of the present invention, first solenoid directional control valve 31, second solenoid directional control valve 32 and control cock 33 all can be electromagnetic valve, its specific works state such as powers on and power-down state all can carry out corresponding control by controller, this should be all easy understand for a person skilled in the art.
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;
First rotary valve, described first rotary valve has the first oil inlet, the first return opening, the first left part hydraulic fluid port and the first right part hydraulic fluid port, first left part hydraulic fluid port of described first rotary valve is connected with described left part chamber by the first solenoid directional control valve, and the first right part hydraulic fluid port of described first rotary valve is connected with described right part chamber by the second solenoid directional control valve;
Second rotary valve, described second rotary valve has the second oil inlet, the second return opening, the second left part hydraulic fluid port and the second right part hydraulic fluid port, second left part hydraulic fluid port of described second rotary valve is connected with described left part chamber by the first solenoid directional control valve, and the second right part hydraulic fluid port of described second rotary valve is connected with described right part chamber by the second solenoid directional control valve; And
Oil pump, described oil pump is connected with described second oil inlet with described first oil inlet respectively by control cock;
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 successively by described control cock, described first rotary valve, described first solenoid directional control valve to fuel feeding in described left part chamber, or by described control cock, described first rotary valve, described second solenoid directional control valve to fuel feeding in described right part chamber;
When described unmanned steering system is in described unmanned steering operating mode, described oil pump successively by described control cock, described second rotary valve, described first solenoid directional control valve to fuel feeding in described left part chamber, or by described control cock, described second rotary valve, described second solenoid directional control 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 solenoid directional control valve is identical with the structure of described second solenoid directional control valve.
3. the unmanned steering system for vehicle according to claim 2, is characterized in that, each in described first solenoid directional control valve, described second solenoid directional control valve and described control cock all has the first normal opening, the second normal opening and normally closed port, wherein,
First normal opening of described first solenoid directional control valve is connected with described first left part hydraulic fluid port, and the second normal opening of described first solenoid directional control valve is connected with described left part chamber, and the normally closed port of described first solenoid directional control valve is connected with described second left part hydraulic fluid port,
First normal opening of described second solenoid directional control valve is connected with described first right part hydraulic fluid port, and the second normal opening of described second solenoid directional control valve is connected with described right part chamber, and the normally closed port of described second solenoid directional control valve is connected with described second right part hydraulic fluid port,
First normal opening of described control cock is connected with described oil pump, and the second normal opening of described control cock is connected with described first oil inlet, and the normally closed port of described control cock is connected with described second oil inlet.
4. the unmanned steering system for vehicle according to claim 3, is characterized in that, described control cock is electromagnetic proportional valve.
5. the unmanned steering system for vehicle according to claim 3, is characterized in that, described control cock is solenoid directional control valve.
6. the unmanned steering system for vehicle according to claim 1, it is characterized in that, the two sides of described power cylinder piston are respectively arranged with piston rod, and the described piston rod of every side extends outward the steering swivel being suitable for driving this side of vehicle respectively in corresponding chamber.
7. the unmanned steering system for vehicle according to any one of claim 1-6, is characterized in that, described first solenoid directional control valve and described second solenoid directional control valve are integrated on described power cylinder.
8. the unmanned steering system for vehicle according to any one of claim 1-7, is characterized in that, described first solenoid directional control valve and described second solenoid directional control valve become one.
9. the unmanned steering system for vehicle according to any one of claim 1-8, it is characterized in that, described oil pump is driven by motor, is provided with regulating mechanism between described motor and described oil pump.
10. the unmanned steering system for vehicle according to any one of claim 1-9, is characterized in that, described second rotary valve is driven by motor.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310628352.7A CN104670320B (en) | 2013-11-29 | 2013-11-29 | For the unmanned steering system of vehicle and the vehicle with the unmanned steering system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310628352.7A CN104670320B (en) | 2013-11-29 | 2013-11-29 | For the unmanned steering system of vehicle and the vehicle with the unmanned steering system |
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| CN104670320B CN104670320B (en) | 2017-09-29 |
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