CN107600174A - Unmanned tractor fluid-link steering and brakes - Google Patents
Unmanned tractor fluid-link steering and brakes Download PDFInfo
- Publication number
- CN107600174A CN107600174A CN201710978181.9A CN201710978181A CN107600174A CN 107600174 A CN107600174 A CN 107600174A CN 201710978181 A CN201710978181 A CN 201710978181A CN 107600174 A CN107600174 A CN 107600174A
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- valve
- oil pump
- coupled connections
- brakes
- unmanned tractor
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Abstract
The present invention relates to a kind of unmanned tractor fluid-link steering and brakes, including fuel tank, in addition to oil pump, the solenoid directional control valve, the hydraulic steering gear, the steering cylinder, the steering wheel that is connected with the hydraulic steering gear that are connected with the hydraulic steering gear that are of coupled connections with the solenoid directional control valve that are of coupled connections with the oil pump being of coupled connections with the fuel tank；Also include the proportional direction valve being of coupled connections with the oil pump；Also including the foot brake valves being of coupled connections with the oil pump, the shuttle valve being of coupled connections with the foot brake valves, the brake rim being of coupled connections with the shuttle valve；Also include the proportional pressure-reducing valve being of coupled connections with the oil pump；The proportional direction valve is also connected with the steering cylinder；The proportional pressure-reducing valve is also connected with the shuttle valve.Can realize it is unmanned with it is manned, realize seamless connection.
Description
Technical field
The present invention relates to unmanned tractor field of hydraulic control, in particular to a kind of unmanned tractor
Fluid-link steering and brakes.
Background technology
Existing unmanned traction drives to turn in car usually to be realized with brakes using automatically controlling, and causes nobody to drive
Tractor is sailed when debugging and being out of order, it is often necessary to which other vehicles are drawn, and can just return to repair shop or debugging factory；Make
It is high into debugging cost, in-convenience in use.
The content of the invention
It is of the invention to drive the problem of steering and brakes be manually operated in car for existing unmanned traction, there is provided
A kind of unmanned tractor fluid-link steering and brakes, including fuel tank, in addition to the oil being of coupled connections with the fuel tank
Pump, the solenoid directional control valve being of coupled connections with the oil pump, the hydraulic steering gear being of coupled connections with the solenoid directional control valve, with it is described
The steering cylinder of hydraulic steering gear connection, the steering wheel being connected with the hydraulic steering gear；Also include being of coupled connections with the oil pump
Proportional direction valve；The foot brake valves that also include being of coupled connections with the oil pump, the shuttle valve being of coupled connections with the foot brake valves,
The brake rim being of coupled connections with the shuttle valve；Also include the proportional pressure-reducing valve being of coupled connections with the oil pump；The proportion directional
Valve is also connected with the steering cylinder；The proportional pressure-reducing valve is also connected with the shuttle valve.
Further, in addition to by the first check valve the accumulator being connected with the oil pump, the accumulator also with institute
Foot brake valves are stated to connect with the proportional pressure-reducing valve.
Further, the oil pump is connected by flow valve with the proportional direction valve and the solenoid directional control valve.
Further, in addition to the oil pump motor being connected.
Further, air cleaner and liquid level gauge are provided with the fuel tank.
Further, in addition to the oil-out of the oil pump unloading valve being connected, the unloading valve also with the fuel tank
It is of coupled connections.
Further, the unloading valve is connected by the forced air cooler, return filter and fuel tank being sequentially connected；The oil
Pump is connected by oil absorption filter with the fuel tank.
Further, in addition to overflow valve and the pressure gauge that is connected with the overflow valve, the overflow valve also with the liquid
Pressure steering gear, the proportional direction valve, the foot brake valves connect with the proportional pressure-reducing valve.
Further, it is provided with pressure transmitter on the shuttle valve.
Further, the oil-out of the flow valve also passes through the second check valve and the foot brake valves, proportional pressure-reducing valve
Connection.
The hydraulic system of the present invention can provide the function of automatic Pilot, can also switch to manually operated side when necessary
Formula, carry out flexibly switching for operating personnel and provide interface so that the tractor can flexibly be applicable different usage scenarios.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood by reference to accompanying drawing, accompanying drawing is schematically without that should manage
Solve to carry out any restrictions to the present invention, in the accompanying drawings：
Fig. 1 is that the system architecture of the unmanned tractor fluid-link steering and brakes in some embodiments of the invention is shown
It is intended to；
Fig. 2 is that the system architecture of the unmanned tractor fluid-link steering and brakes in some embodiments of the invention is shown
It is intended to.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be different from other modes described here using other to implement, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Existing unmanned tractor usually only remains the function of auto-steering and braking, when being out of order, clears out a gathering place
Difficulty is, it is necessary to which other tractor is drawn；And in debugging process, it will result in debugging cost rise.
The invention provides it is a kind of both can be with manned or can unpiloted fluid-link steering and brakes, such as Fig. 1
It is shown, the invention provides a kind of unmanned tractor fluid-link steering and brakes, including fuel tank 1, in addition to it is described
Oil pump 7 that fuel tank 1 is of coupled connections, the solenoid directional control valve 16 being of coupled connections with the oil pump 7, couple with the solenoid directional control valve 16
The hydraulic steering gear 28 of connection, the steering cylinder 29 being connected with the hydraulic steering gear 28, it is connected with the hydraulic steering gear 28
Steering wheel 32；Also include the proportional direction valve 18 being of coupled connections with the oil pump 7；Also include what is be of coupled connections with the oil pump 7
Foot brake valves 24, the shuttle valve 26 being of coupled connections with the foot brake valves 24, the brake rim 30 being of coupled connections with the shuttle valve 26；Also
Including the proportional pressure-reducing valve 17 being of coupled connections with the oil pump 7；The proportional direction valve 18 is also connected with the steering cylinder 29；Institute
Proportional pressure-reducing valve 17 is stated also to be connected with the shuttle valve 25.The oil pump 7 extracts hydraulic oil out from the fuel tank 1, is controlled in someone
When processed, the dead electricity of solenoid directional control valve 16, in pass-through state, hydraulic oil enters the liquid by the solenoid directional control valve 16
Press in steering gear 28, pass through steering wheel described in manual control so that hydraulic oil enters left cylinder or the right side of the steering cylinder 29
Cylinder, turned to so as to realize；From another part hydraulic oil in oil pump 7 the valve for artificially stepping on the foot brake valves 24 effect
Under enter the shuttle valve 26, enter back into the brake rim 30, so as to realize braking, at this moment, due to passing through manual control
The aperture of the foot brake valves 24, to realize to the elastic of braking；The proportional pressure-reducing valve 17 is in power failure state, the ratio
Hydraulic oil can not pass through in pressure-reducing valve 17.Electric on the electromagnetic steering valve 16 when being switched to unmanned state, the electromagnetism turns
Hydraulic oil fails by the way that at this moment hydraulic oil is entered in the steering cylinder 29 through the proportional direction valve 18, is passed through on to valve 16
The control voltage size of the proportional direction valve 18 is controlled, so as to control the flow for flowing to the hydraulic oil in the steering cylinder 29 big
It is small, so as to the speed decided to move to；It is electric on proportional pressure-reducing valve 17, the control voltage of the proportional pressure-reducing valve 17 is controlled, so as to control
The output pressure through the proportional pressure-reducing valve 17 is made, so that flowing through the liquid that the shuttle valve 25 is entered in the brake rim 30
The pressure of force feed, realize different braking effects.The quantity of the brake rim 29 is 4, and a brake is set for each driving wheel
Car rouses.
During in order to ensure braking, pressure can be quickly provided in time, and the fluid-link steering and brakes also include passing through
The accumulator 23 that first check valve 14 is connected with the oil pump 7, the accumulator 23 also with the foot brake valves 24 and the ratio
Example pressure-reducing valve 17 connects.The capacity of the accumulator 23 is 1L, operating pressure 9Mpa, minimum operating pressures that 4.6Mpa, is inflated
Pressure is 39bar.
In order to control flow, the oil pump 7 passes through flow valve 13 and the proportional direction valve 18 and the solenoid directional control valve
16 connections.Usually, the flow of hydraulic oil of the controllable flow through the flow valve 13 is 6L/min.
The system of the present invention also includes the motor 5 being connected with the oil pump 7, and the oil pump 7 can be gear pump, pass through motor
5 drive the oil pump 7 aspirate the work of hydraulic oil, usually, can pass through coupling flange group 6 and the oil in motor 5
Pump 7 connects, and prevents influence of the alignment error to operation of oil pump, and the motor 5 can use direct current generator, parameter 2.2kw,
2200r/min。
Usually, air cleaner 3 and liquid level gauge 2 are provided with the fuel tank 1, are filtered and entered by air cleaner 3
To the air in the fuel tank 1, by described in the observable of liquid level gauge 2 in fuel tank 1 hydraulic oil liquid level.
In order to which the pressure ensured in fluid pressure line will not be excessive, so as to bring potential safety hazard, system of the invention also includes
The unloading valve 15 being connected with the oil-out of the oil pump 7, the unloading valve 15 are also of coupled connections with the fuel tank 1；Specifically, institute
Unloading valve 15 is stated to be connected with fuel tank 1 by forced air cooler 9, the return filter 10 being sequentially connected；The oil pump 7 passes through oil suction
Filter 4 is connected with the fuel tank 1.The operating pressure of the unloading valve 15 is 90bar.
In order to be dredged to hydraulic oil too high in hydraulic pipeline, in addition to overflow valve 12 and connect with the overflow valve 12
The pressure gauge 19 connect, the overflow valve 12 also with the hydraulic steering gear 28, the proportional direction valve 18, the foot brake valves 24
Connected with the proportional pressure-reducing valve 25.The operating pressure of the overflow valve 12 is 100bar.
In order to carry out remote detection to the pressure of the hydraulic oil in the shuttle valve 25, pressure change is provided with the shuttle valve 25
Device 27 is sent, is electric signal by pressure conversion, is delivered to distal end.Usually, the shuttle valve 25 is arranged in shuttle valve block 26.
In order to ensure that hydraulic oil is sufficient in the brake circuit, the oil-out of the flow valve 13 also passes through the second check valve
31 are connected with the foot brake valves 24, proportional pressure-reducing valve 17.
The shuttle valve 25 includes the first inlet, the second inlet and liquid outlet, and first inlet is unidirectional feed liquor
Mouthful, the foot brake valves 24 are connected with first inlet, and the proportional pressure-reducing valve 17 is connected with second inlet, institute
Liquid outlet is stated to be connected with the brake rim.
System pipeline layout relationship in the present invention can refer to shown in Fig. 2, by the proportional pressure-reducing valve 17, proportional direction valve
18th, solenoid directional control valve 16, the first check valve 14 and the second check valve 31, unloading valve 15, flow valve 13, overflow valve 12 etc., integrate
For control valve group 11.
The hydraulic fluid flow rate of system is controlled into 9L/min by oil pump 7, it is 10Mpa to control operating pressure；The electromagnetism
The operating voltage of reversal valve 16 is 12V；The fuel tank 1 can accommodate 30L hydraulic oil, and the hydraulic oil can be mineral hydraulic oil.
Present system also includes the pressure switch 22 and pressure measuring tie-in 20 with the proportional pressure-reducing valve 17.
The whole system of the present invention is divided into manned and unmanned two systems, can be with seamless switching during operation, tool
The workflow of body is as follows：
A, manned workflow：
Steering procedure：Motor 5 starts, and oil pump 7 works, and flow valve 13 shunts firm discharge, the dead electricity of magnetic valve 16, hydraulic oil
Enter into steering gear 28, manual operation steering wheel, left-hand rotation steering wheel, hydraulic oil on the left of steering cylinder, wheel is turned left；Right-hand rotation side
To disk, hydraulic oil enters on the right side of steering cylinder, and wheel is turned right.
Braking procedure：Accumulator filling process：Motor 5 starts, and oil pump 7 works, and the excess traffic of flow valve 13 is by unidirectional
Valve 14 arrives accumulator 23, and energy storage pressure is controlled by unloading valve 15, system unloaded during higher than setup pressure value, less than setting pressure
During value, system gives accumulator topping up.Braking procedure：The dead electricity of proportional pressure-reducing valve 17, artificial pin step on service brake valve 24, service brake valve output pressure
Power and the proportional relation of pedal angle, hydraulic oil are realized to brake rim and braked again by accumulator through service brake valve to shuttle valve 26.
B, unmanned operating process：
Steering procedure：Motor 5 starts, and oil pump 7 works, and flow valve 13 shunts firm discharge, and magnetic valve 16 obtains electric, ratio electricity
The Y3 electromagnet of magnet valve 18 obtains electric, and hydraulic oil enters on the left of steering cylinder, and wheel turns left；The Y2 electromagnet of proportion magnetic valve 18 obtains
Electricity, hydraulic oil enter on the right side of steering cylinder, and wheel is turned right；The voltage of the uninterrupted of passing ratio magnetic valve and given electromagnet
The proportional relation of size, so as to the speed decided to move to.
Braking procedure：Accumulator filling process is with manned consistent, braking procedure：Proportional pressure-reducing valve 17 obtains electric, ratio
Pressure-reducing valve output pressure relation proportional to given electromagnet voltage, hydraulic oil by accumulator through proportional pressure-reducing valve to shuttle valve 26 again
Realize and brake to brake rim.
The system of the present invention can provide manned and unmanned function, realize seamless connection.
In the present invention, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or
Imply relative importance.Term " multiple " refers to two or more, is limited unless otherwise clear and definite.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of unmanned tractor fluid-link steering and brakes, including fuel tank, it is characterised in that also include and the oil
The oil pump that case is of coupled connections and the solenoid directional control valve that the oil pump is of coupled connections and the liquid that the solenoid directional control valve is of coupled connections
Pressure steering gear, the steering cylinder being connected with the hydraulic steering gear, the steering wheel being connected with the hydraulic steering gear；Also include and institute
State the proportional direction valve that oil pump is of coupled connections；Also including the foot brake valves being of coupled connections with the oil pump and the foot brake valves
The shuttle valve being of coupled connections, the brake rim being of coupled connections with the shuttle valve；Also include depressurizing with the ratio that the oil pump is of coupled connections
Valve；The proportional direction valve is also connected with the steering cylinder；The proportional pressure-reducing valve is also connected with the shuttle valve.
2. unmanned tractor fluid-link steering according to claim 1 and brakes, it is characterised in that also include logical
Cross the accumulator that the first check valve is connected with the oil pump, the accumulator also with the foot brake valves and the proportional pressure-reducing valve
Connection.
3. unmanned tractor fluid-link steering according to claim 1 and brakes, it is characterised in that the oil pump
It is connected by flow valve with the proportional direction valve and the solenoid directional control valve.
4. unmanned tractor fluid-link steering according to claim 1 and brakes, it is characterised in that also include with
The motor of the oil pump connection.
5. unmanned tractor fluid-link steering according to claim 1 and brakes, it is characterised in that the fuel tank
On be provided with air cleaner and liquid level gauge.
6. unmanned tractor fluid-link steering according to claim 1 and brakes, it is characterised in that also include with
The unloading valve of the oil-out connection of the oil pump, the unloading valve are also of coupled connections with the fuel tank.
7. unmanned tractor fluid-link steering according to claim 6 and brakes, it is characterised in that the off-load
Valve is connected by the forced air cooler, return filter and fuel tank being sequentially connected；The oil pump passes through oil absorption filter and the oil
Case connects.
8. unmanned tractor fluid-link steering according to claim 1 and brakes, it is characterised in that also include overflowing
Stream valve and the pressure gauge that is connected with the overflow valve, the overflow valve also with the hydraulic steering gear, the proportional direction valve, institute
Foot brake valves are stated to connect with the proportional pressure-reducing valve.
9. unmanned tractor fluid-link steering according to claim 1 and brakes, it is characterised in that the shuttle valve
On be provided with pressure transmitter.
10. unmanned tractor fluid-link steering according to claim 3 and brakes, it is characterised in that the stream
The oil-out of amount valve is also connected by the second check valve with the foot brake valves, proportional pressure-reducing valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710978181.9A CN107600174A (en) | 2017-10-18 | 2017-10-18 | Unmanned tractor fluid-link steering and brakes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710978181.9A CN107600174A (en) | 2017-10-18 | 2017-10-18 | Unmanned tractor fluid-link steering and brakes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107600174A true CN107600174A (en) | 2018-01-19 |
Family
ID=61077109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710978181.9A Pending CN107600174A (en) | 2017-10-18 | 2017-10-18 | Unmanned tractor fluid-link steering and brakes |
Country Status (1)
| Country | Link |
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| CN (1) | CN107600174A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178093A (en) * | 2018-11-02 | 2019-01-11 | 青岛新松机器人自动化有限公司 | The fluid-link steering braking system of automated guided vehicle |
| CN109466527A (en) * | 2018-09-28 | 2019-03-15 | 中国铁建重工集团有限公司 | A kind of intelligence control system based on electrichydraulic control |
| CN109591785A (en) * | 2018-11-30 | 2019-04-09 | 三汽车起重机械有限公司 | Automatic driving vehicle brake circuit system and automatic driving vehicle |
| CN110615030A (en) * | 2019-04-23 | 2019-12-27 | 丰疆智能科技股份有限公司 | Steering brake hydraulic pump station and application thereof |
| WO2020215598A1 (en) * | 2019-04-23 | 2020-10-29 | 丰疆智能科技股份有限公司 | Steering and braking hydraulic pump assembly and application thereof |
| CN112477835A (en) * | 2020-11-24 | 2021-03-12 | 湖南工程学院 | Working method of electric automobile braking device |
| CN114179907A (en) * | 2022-01-06 | 2022-03-15 | 安徽合力股份有限公司 | Hydraulic steering and parking braking control hydraulic system for electric industrial vehicle |
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| CN203450197U (en) * | 2013-05-16 | 2014-02-26 | 深圳市达航工业有限公司 | Hydraulic steering system of tractor |
| CN203832474U (en) * | 2014-05-30 | 2014-09-17 | 山推工程机械股份有限公司 | Steering and braking hydraulic system |
| CN207550293U (en) * | 2017-10-18 | 2018-06-29 | 深圳市招科智控科技有限公司 | Unmanned tractor fluid-link steering and braking system |
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| CN201228676Y (en) * | 2008-07-11 | 2009-04-29 | 三一重型装备有限公司 | Hydraulic system for electric locomotive brake |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109466527A (en) * | 2018-09-28 | 2019-03-15 | 中国铁建重工集团有限公司 | A kind of intelligence control system based on electrichydraulic control |
| CN109466527B (en) * | 2018-09-28 | 2020-12-29 | 中国铁建重工集团股份有限公司 | Intelligent control system based on electro-hydraulic control |
| CN109178093A (en) * | 2018-11-02 | 2019-01-11 | 青岛新松机器人自动化有限公司 | The fluid-link steering braking system of automated guided vehicle |
| CN109178093B (en) * | 2018-11-02 | 2023-12-26 | 青岛新松机器人自动化有限公司 | Hydraulic steering braking system of automatic guided vehicle |
| CN109591785A (en) * | 2018-11-30 | 2019-04-09 | 三汽车起重机械有限公司 | Automatic driving vehicle brake circuit system and automatic driving vehicle |
| CN110615030A (en) * | 2019-04-23 | 2019-12-27 | 丰疆智能科技股份有限公司 | Steering brake hydraulic pump station and application thereof |
| WO2020215598A1 (en) * | 2019-04-23 | 2020-10-29 | 丰疆智能科技股份有限公司 | Steering and braking hydraulic pump assembly and application thereof |
| CN112477835A (en) * | 2020-11-24 | 2021-03-12 | 湖南工程学院 | Working method of electric automobile braking device |
| CN114179907A (en) * | 2022-01-06 | 2022-03-15 | 安徽合力股份有限公司 | Hydraulic steering and parking braking control hydraulic system for electric industrial vehicle |
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Effective date of registration: 20180530 Address after: 518067, 5 floor, 1077 north branch business building, Nanhai Road, Nanshan District merchants street, Shenzhen, Guangdong. Applicant after: SHENZHEN ZHAOKE INTELLIGENT CONTROL TECHNOLOGY CO., LTD. Address before: 518067 Room 501, North Tower, 1077 Nanhai Road, Nanshan District merchants street, Shenzhen, Guangdong. Applicant before: Shenzhen City, the port control technology Co. Ltd. |