CN109591886B - Vehicle auxiliary steering system and automatic driving vehicle - Google Patents
Vehicle auxiliary steering system and automatic driving vehicle Download PDFInfo
- Publication number
- CN109591886B CN109591886B CN201811462212.6A CN201811462212A CN109591886B CN 109591886 B CN109591886 B CN 109591886B CN 201811462212 A CN201811462212 A CN 201811462212A CN 109591886 B CN109591886 B CN 109591886B
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- steering
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- flow 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
- B62D5/062—Details, component parts
-
- 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
- B62D5/07—Supply of pressurised fluid for steering also supplying other consumers ; control thereof
- B62D5/075—Supply of pressurised fluid for steering also supplying other consumers ; control thereof using priority valves
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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
Abstract
The invention provides a vehicle auxiliary steering system and an automatic driving vehicle, and belongs to the field of vehicles. The vehicle auxiliary steering system includes: the brake system is provided with an oil outlet; the priority valve is provided with a first working position and a second working position, and the first working position is communicated with the outside; the first communication position is communicated with the second working position; an accumulator; the electric proportional flow valve is communicated with the second working position; the steering oil cylinder is communicated with the electric proportional flow valve; and the pilot valve is provided with a second communication position and a second disconnection position, and the second communication position is respectively communicated with the first working position and the outside. The vehicle auxiliary steering system and the automatic driving vehicle reasonably utilize the redundant flow of the braking system, can reduce the heat of the system, can save a steering pump and a flow valve, have simple structure and can simplify the arrangement of an oil pump.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a vehicle auxiliary steering system and an automatic driving vehicle.
Background
The tire crane is widely used for heavy object hoisting operation, short-distance transfer and narrow-field hoisting and running operation in construction sites, field oil fields, warehouses, goods yards, logistics bases and other places. The front wheel steering, the rear wheel steering, the four-wheel steering and the crab steering can be realized through the combination of main rotation and auxiliary rotation. The cross-country crane can realize smaller turning radius in a special working environment in the low-speed running process, and has the advantages of high response speed, reliability and simplicity.
Assisted steering generally takes the following form: 1. the energy accumulator is used as an auxiliary steering to be matched with the electric proportional flow valve and the front wheel steering angle sensor to realize the auxiliary steering of the rear wheel. 2. The load-sensitive pump is used as an auxiliary oil source and matched with the electric proportional flow valve and the front wheel steering angle sensor to realize auxiliary steering of the rear wheel. 3. Manual realization of auxiliary steering of rear wheels through small-displacement gear pump and electromagnetic directional valve
The above several kinds of assist steering have the following disadvantages: 1. the accumulator has short pressure maintaining time, is easy to charge liquid frequently, and particularly when the vehicle runs at high speed without using auxiliary steering, the accumulator can also be charged periodically without saving energy, and the nitrogen charging pressure of the accumulator is related to the ambient temperature and the service time, so that the maintenance is difficult. 2. Off-road vehicle tires are wide, and the friction force between the tires and the ground at different angles is different, so that the response of the load sensitive pump is slow, and the auxiliary steering of the rear wheels is delayed. 3. The auxiliary steering of the rear wheels is realized manually, and the efficiency is low. 4. The four-wheel steering and the crab steering are realized by connecting the front oil cylinder and the rear oil cylinder in series, the pressure of a steering system is high, and the quality requirements on a pump, a valve and a steering gear are high.
Disclosure of Invention
The invention provides a vehicle auxiliary steering system, aiming at solving the problems of the vehicle auxiliary steering system in the prior art;
the invention provides an automatic driving vehicle, and aims to solve the problems of the automatic driving vehicle in the prior art.
The invention is realized by the following steps:
a vehicle assisted steering system comprising:
a brake system having an oil outlet thereon;
the priority valve is provided with a first working position and a second working position, and the first working position is communicated with the outside;
a pilot operated check valve having a first connected position and a first disconnected position, the first connected position and the second operating position being in communication;
an accumulator in communication with the first communication location;
an electro-proportional flow valve in communication with the second operating position;
the steering oil cylinder is communicated with the electric proportional flow valve;
the controller is electrically connected with the electric proportional flow valve so as to control the work of the electric proportional flow valve;
the pilot valve is provided with a second communication position and a second disconnection position, and the second communication position is respectively communicated with the first working position and the outside.
In a preferred embodiment of the present invention, the steering cylinder includes a first steering cylinder and a second steering cylinder, and both the first steering cylinder and the second steering cylinder are communicated with the electro-proportional flow valve.
In a preferred embodiment of the present invention, the electro-proportional flow valve has a third operating position and a fourth operating position, the small chamber of the first steering cylinder and the large chamber of the second steering cylinder are both in communication with the third operating position, and the large chamber of the first steering cylinder and the small chamber of the second steering cylinder are both in communication with the fourth operating position.
In a preferred embodiment of the present invention, the electro proportional flow valve further has a fifth operating position, and when the electro proportional flow valve is in the fifth operating position, the steering cylinder and the priority valve are kept disconnected.
In a preferred embodiment of the present invention, the pilot valve further comprises a tank, and the second communication position on the pilot valve is communicated with the tank.
In a preferred embodiment of the present invention, the braking system includes a gear pump, and the oil outlet is disposed on the gear pump.
In a preferred embodiment of the invention, the first operating position on the priority valve is in communication with the outside via a bypass port.
An automatic driving vehicle comprises the vehicle auxiliary steering system.
The invention has the beneficial effects that:
according to the vehicle auxiliary steering system obtained through the design, when the vehicle auxiliary steering system is used, if the energy accumulator is in a full-liquid state, the hydraulic control one-way valve is in the first disconnection position under the hydraulic control of the energy accumulator, so that the energy accumulator cannot be filled with liquid, when the electric proportional reversing valve receives a steering instruction of the controller, flow is output to the steering oil cylinder, the pilot valve is in the second connection position, the priority valve is in the first working position, the flow is preferentially supplied to the steering oil cylinder, and redundant flow can be discharged to the outside and can be used by other working oil ways; when the steering is not performed and the liquid is not filled, all the flow is discharged to the outside for other working oil ways; if the energy accumulator is not fully charged, the hydraulic control one-way valve is in a first communication position under the hydraulic control of the energy accumulator, so that the energy accumulator can be charged, when the electric proportional flow valve receives a steering instruction of the controller and outputs flow to the steering oil cylinder, the pilot valve is in a second communication position, the priority valve is in a first working position, the flow is preferentially supplied to the steering oil cylinder and the energy accumulator, and redundant flow is discharged to the outside and can be used by other working oil ways; when the steering is not performed and no liquid is filled, the flow is preferentially supplied to the steering oil cylinder, and the redundant flow is discharged to the outside for other working oil ways. Therefore, the brake system can supply oil to the energy accumulator and supply oil to the electric proportional flow valve at the same time, and the steering can be completed under the condition of not influencing the oil supply to the energy accumulator. In conclusion, the vehicle auxiliary steering system reasonably utilizes the redundant flow of the braking system, can reduce the heat generation of the system, can save a steering pump and a flow valve, has simple structure and can simplify the arrangement of an oil pump.
According to the automatic driving vehicle obtained through the design, the redundant flow of the braking system can be reasonably utilized by utilizing the vehicle auxiliary steering system, the system heating is reduced, the steering pump and the flow valve can be saved, the whole system is simple in structure, and the arrangement of an oil pump can be simplified.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a vehicle auxiliary steering system provided by an embodiment of the present invention in a state where steering is not required and the accumulator is full;
FIG. 2 is a schematic structural diagram of a vehicle auxiliary steering system provided by an embodiment of the invention in a state that steering is required and an accumulator is not full;
fig. 3 is a schematic structural diagram of a vehicle auxiliary steering system provided by the embodiment of the invention in a state that steering is needed and an accumulator is full.
Icon: 1-a first steering cylinder; 2-a second steering cylinder; 3-electric proportional flow valve; 31-a third working position; 32-fifth working position; 33-fourth work position; 4-an accumulator; 5-hydraulic control one-way valve; 51-a first off position; 52-first communication position; 6-a pilot valve; 61-a second communication position; 62-a second off position; 7-a priority valve; 71-a first working position; 72-a second working position; 8-gear pump; 9-a bypass port; 10-oil tank.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature may be present on or under the second feature in direct contact with the first and second feature, or may be present in the first and second feature not in direct contact but in contact with another feature between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.
Example one
The present embodiment provides a vehicle auxiliary steering system, referring to fig. 1, fig. 2 and fig. 3, the vehicle auxiliary steering system includes:
the brake system is provided with an oil outlet;
a priority valve 7, wherein the priority valve 7 is provided with a first working position 71 and a second working position 72, and the first working position 71 is communicated with the outside;
a pilot operated check valve 5, the pilot operated check valve 5 having a first communication position 52 and a first disconnection position 51, the first communication position 52 communicating with a second working position 72;
an accumulator 4, the accumulator 4 being in communication with the first communication location 52;
electric proportional flow valve 3, electric proportional flow valve 3 being in communication with second operating position 72;
the steering oil cylinder is communicated with the electric proportional flow valve 3;
the controller is electrically connected with the electric proportional flow valve 3 to control the work of the electric proportional flow valve 3;
and the pilot valve 6 is provided with a second communication position 61 and a second disconnection position 62 on the pilot valve 6, the pilot valve 6 is electrically connected with the controller, and the second communication position 61 is respectively communicated with the first working position 71 and the outside.
When the hydraulic proportional directional control valve 3 receives a steering instruction of the controller, when flow is output to the steering oil cylinder, the pilot valve 6 is in the second communication position 61, the priority valve 7 is in the first working position 71, the flow is preferentially supplied to the steering oil cylinder, and redundant flow can be discharged to the outside and can be used by other working oil ways; when the steering is not performed and the liquid is not filled, all the flow is discharged to the outside for other working oil ways; if the energy accumulator 4 is not fully charged, the hydraulic control one-way valve 5 is in the first communication position 52 under the hydraulic control of the energy accumulator 4, so that the energy accumulator 4 can be charged, when the electric proportional flow valve 3 receives a steering instruction of the controller and flow is output to the steering cylinder, the pilot valve 6 is in the second communication position 61, the priority valve 7 is in the first working position 71, the flow is preferentially supplied to the steering cylinder and the energy accumulator 4, and redundant flow can be discharged to the outside and can be used by other working oil paths; when the steering is not performed and no liquid is filled, the flow is preferentially supplied to the steering oil cylinder, and the redundant flow is discharged to the outside for other working oil ways. Therefore, the brake system can supply oil to the accumulator 4 and the electric proportional flow valve 3 at the same time, and the steering can be completed under the condition of not influencing the oil supply to the accumulator 4. In conclusion, the vehicle auxiliary steering system reasonably utilizes the redundant flow of the braking system, can reduce the heat generation of the system, can save a steering pump and a flow valve, has simple structure and can simplify the arrangement of an oil pump.
Optionally, in this embodiment, the steering cylinders include a first steering cylinder 1 and a second steering cylinder 2, and both the first steering cylinder 1 and the second steering cylinder 2 are communicated with the electro-proportional flow valve 3.
When the steering mechanism works, the first steering oil cylinder 1 and the second steering oil cylinder 2 work simultaneously, so that the two tires can complete synchronous steering.
Optionally, in this embodiment, the electro-proportional flow valve 3 has a third operating position 31 and a fourth operating position 33, the small chamber of the first steering cylinder 1 and the large chamber of the second steering cylinder 2 are both communicated with the third operating position 31, and the large chamber of the first steering cylinder 1 and the small chamber of the second steering cylinder 2 are both communicated with the fourth operating position 33.
When the electric proportional flow valve 3 is located at the third working position 31 in working, the small cavity of the first steering oil cylinder 1 and the large cavity of the second steering oil cylinder 2 are filled with liquid, so that the tire can rotate towards one direction; when the electric proportional flow valve 3 is located at the fourth operating position, the large chamber of the first steering cylinder 1 and the small chamber of the second steering cylinder 2 are filled with liquid, so that the tire can rotate towards the other opposite direction, and the operation positions of the electric proportional flow valve 3 can be controlled to realize the rotation of the tire towards different directions.
Optionally, in this embodiment, the electro proportional flow valve 3 further has a fifth operating position 32, and when the electro proportional flow valve 3 is in the fifth operating position 32, the steering cylinder and the priority valve 7 are kept in the off state.
When the steering is not needed, the controller does not receive a command of the steering, and the controller controls the electric proportional flow valve 3 to be kept at the fifth working position 32, so that redundant flow in the braking system can not flow into the steering oil pump.
Optionally, in this embodiment, a tank 10 is further included, and the second communication position 61 on the pilot valve 6 is communicated with the tank 10.
When the steering is not needed, the oil in the oil unloading operation of the priority valve 7 is unloaded into the oil tank 10 by the pilot valve 6 for storage.
Optionally, in this embodiment, the braking system includes a gear pump 8, and the oil outlet is disposed on the gear pump 8.
The excess flow on the gear pump 8 can be used for steering, so that the functions of simplifying the structure and reducing heat dissipation can be realized.
Alternatively, in this embodiment, the first operating position 71 on the priority valve 7 is in communication with the outside via the bypass port 9.
The oil discharge is realized through the bypass port 9, so that the oil can flow out through the bypass port 9 and can be collected in the oil tank 10 after flowing out.
Optionally, in this embodiment, the controller is one of a PC, a PLC, or a single chip microcomputer.
The components which are mature and used in the prior art such as a PC, a PLC or a single chip microcomputer are used as controllers, so that the operation of workers is easier.
The working principle of the vehicle auxiliary steering system provided by the embodiment is that when the vehicle auxiliary steering system is used, if the energy accumulator 4 is full of liquid, the hydraulic control one-way valve 5 is in the first disconnection position 51 under the hydraulic control of the energy accumulator 4, so that the energy accumulator 4 cannot be filled with liquid, when the electric proportional directional valve 3 receives a steering instruction of the controller and flow is output to the steering cylinder, the pilot valve 6 is in the second connection position 61, the priority valve 7 is in the first working position 71, the flow is preferentially supplied to the steering cylinder, and redundant flow is discharged to the outside and can be used by other working oil ways; when the steering is not performed and the liquid is not filled, all the flow is discharged to the outside for other working oil ways; if the energy accumulator 4 is not fully charged, the hydraulic control one-way valve 5 is in the first communication position 52 under the hydraulic control of the energy accumulator 4, so that the energy accumulator 4 can be charged, when the electric proportional flow valve 3 receives a steering instruction of the controller and flow is output to the steering cylinder, the pilot valve 6 is in the second communication position 61, the priority valve 7 is in the first working position 71, the flow is preferentially supplied to the steering cylinder and the energy accumulator 4, and redundant flow can be discharged to the outside and can be used by other working oil paths; when the steering is not performed and no liquid is filled, the flow is preferentially supplied to the steering oil cylinder, and the redundant flow is discharged to the outside for other working oil ways. Therefore, the brake system can supply oil to the accumulator 4 and the electric proportional flow valve 3 at the same time, and the steering can be completed under the condition of not influencing the oil supply to the accumulator 4. In conclusion, the vehicle auxiliary steering system reasonably utilizes the redundant flow of the braking system, can reduce the heat generation of the system, can save a steering pump and a flow valve, has simple structure and can simplify the arrangement of an oil pump.
Example two
The embodiment provides an automatic driving vehicle which comprises the vehicle auxiliary steering system provided in the first embodiment.
The automatic driving vehicle provided by the embodiment has the vehicle auxiliary steering system provided by the first embodiment, so that redundant flow of a braking system can be reasonably utilized, system heat is reduced, a steering pump and a flow valve can be saved, the whole system is simple in structure, and the arrangement of an oil pump can be simplified.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A vehicle assisted steering system, comprising:
a brake system having an oil outlet thereon;
the priority valve is provided with a first working position and a second working position, and the first working position is communicated with the outside;
a pilot operated check valve having a first connected position and a first disconnected position, the first connected position and the second operating position being in communication;
an accumulator in communication with the first communication location;
an electro-proportional flow valve in communication with the second operating position;
the steering oil cylinder is communicated with the electric proportional flow valve;
the controller is electrically connected with the electric proportional flow valve so as to control the work of the electric proportional flow valve;
the pilot valve is provided with a second communication position and a second disconnection position, and the second communication position is respectively communicated with the first working position and the outside;
the steering oil cylinder comprises a first steering oil cylinder and a second steering oil cylinder, and the first steering oil cylinder and the second steering oil cylinder are communicated with the electric proportional flow valve.
2. The vehicle assist steering system of claim 1, wherein the electro-proportional flow valve has a third operating position and a fourth operating position, the small chamber of the first steering cylinder and the large chamber of the second steering cylinder each communicating with the third operating position, and the large chamber of the first steering cylinder and the small chamber of the second steering cylinder each communicating with the fourth operating position.
3. The vehicle assist steering system of claim 2, wherein the electro proportional flow valve further has a fifth operating position thereon, and wherein the steering cylinder and the priority valve remain open when the electro proportional flow valve is in the fifth operating position.
4. The vehicle assist steering system of claim 1, further comprising a tank, the second communication location on the pilot valve being in communication with the tank.
5. The vehicle auxiliary steering system according to claim 1, wherein the braking system includes a gear pump, the oil outlet being provided on the gear pump.
6. The vehicle assist steering system of claim 1, wherein the first operating position on the priority valve communicates with ambient through a bypass port.
7. An autonomous vehicle comprising a vehicle assisted steering system according to any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811462212.6A CN109591886B (en) | 2018-11-30 | 2018-11-30 | Vehicle auxiliary steering system and automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811462212.6A CN109591886B (en) | 2018-11-30 | 2018-11-30 | Vehicle auxiliary steering system and automatic driving vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109591886A CN109591886A (en) | 2019-04-09 |
| CN109591886B true CN109591886B (en) | 2021-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811462212.6A Active CN109591886B (en) | 2018-11-30 | 2018-11-30 | Vehicle auxiliary steering system and automatic driving vehicle |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115447668A (en) * | 2022-08-31 | 2022-12-09 | 浙江夏厦精密制造股份有限公司 | Reverse-transmission adjustable power-assisted steering gear shaft system |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10145992A1 (en) * | 2001-09-18 | 2003-04-03 | Still Gmbh | Mobile work machine with an internal combustion engine and a hydraulic steering pump driven by it |
| KR100958132B1 (en) * | 2008-02-28 | 2010-05-18 | 순천대학교 산학협력단 | Parking break system using power steering oil pressure |
| CN201694232U (en) * | 2009-09-25 | 2011-01-05 | 北京矿冶研究总院 | Automatic steering control device of articulated vehicle |
| CN102079332B (en) * | 2010-12-16 | 2013-03-13 | 杭叉集团股份有限公司 | Steering and braking small-flow shared pump hydraulic system |
| CN202686463U (en) * | 2012-07-06 | 2013-01-23 | 徐州重型机械有限公司 | Wheeled crane and electronic control steering hydraulic control system thereof |
| CN203485987U (en) * | 2013-09-27 | 2014-03-19 | 徐州重型机械有限公司 | Steering control valve and engineering vehicle steering system |
| CN103738396A (en) * | 2013-12-27 | 2014-04-23 | 三一汽车起重机械有限公司 | Constant flow steering system and engineering machinery |
| CN105480309A (en) * | 2015-12-29 | 2016-04-13 | 中国煤炭科工集团太原研究院有限公司 | Underground coal mine narrow type operation vehicle |
| CN108327783B (en) * | 2018-02-07 | 2019-09-17 | 北京理工大学 | A kind of automatic steering control device, automatic steering control system and control method |
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2018
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