CN111086560A - Hydraulic steering system compatible with manual driving and unmanned driving modes - Google Patents
Hydraulic steering system compatible with manual driving and unmanned driving modes Download PDFInfo
- Publication number
- CN111086560A CN111086560A CN201911385145.7A CN201911385145A CN111086560A CN 111086560 A CN111086560 A CN 111086560A CN 201911385145 A CN201911385145 A CN 201911385145A CN 111086560 A CN111086560 A CN 111086560A
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- Prior art keywords
- oil
- hydraulic
- control valve
- hydraulic steering
- oil port
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/061—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle provided with effort, steering lock, or end-of-stroke limiters
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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
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a hydraulic steering system compatible with manual driving and unmanned driving modes, which comprises hydraulic steering cylinders connected with two front wheels of an automobile, an angle sensor connected with one front wheel, a hydraulic station and an unmanned controller.
Description
Technical Field
The invention relates to a hydraulic steering system compatible with manual driving and unmanned driving modes. The system simultaneously meets the operation requirements of manual steering and unmanned steering, and can realize automatic switching and operation of the driving modes.
Background
The steering system of the existing tractor is a hydraulic steering system driven by a single person, has a single structure and can only be operated by the person. In order to improve the working efficiency and save the labor cost, the development of a hydraulic steering system compatible with manual driving and unmanned driving modes is the main task of improving the farming efficiency of farmers at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a hydraulic steering system compatible with manual driving and unmanned driving modes, which can realize manual steering according to the intention of a driver and intelligent steering in an intelligent driving mode.
The invention relates to a hydraulic steering system compatible with manual driving and unmanned driving modes, which comprises a hydraulic station, a hydraulic steering oil cylinder and an unmanned controller, wherein the hydraulic station comprises a manual hydraulic steering structure and an unmanned hydraulic steering structure which are connected in parallel and jointly control the hydraulic steering oil cylinder;
the hydraulic station structure is as follows: the oil outlet of the hydraulic pump is connected with the safety valve and the oil inlet of the hydraulic one-way valve, the oil outlet of the one-way valve is connected with the first oil port of the electromagnetic control valve, the first oil port of the electromagnetic proportional control valve and the oil inlet of the pressure sensor, the second oil port of the electromagnetic control valve and the second oil port of the electromagnetic proportional control valve are connected with the oil return port of the oil tank, the third oil port of the electromagnetic control valve is connected with the first oil port of the steering wheel hydraulic steering gear, the fourth oil port of the electromagnetic control valve is connected with the second oil port of the steering wheel hydraulic steering gear, the third oil port of the electromagnetic proportional control valve and the third oil port of the steering wheel hydraulic steering gear are connected in parallel to the left-turn oil inlet of the hydraulic steering cylinder, and the fourth oil port of the electromagnetic proportional control valve.
An unmanned controller is respectively connected with the electric hydraulic pump, the pressure sensor, the electromagnetic valve, the electromagnetic proportional control valve and the angle sensor through control lines, and the unmanned controller controls signals of all parts to realize manual hydraulic steering or unmanned hydraulic steering.
The invention has the beneficial effects that: the hydraulic steering of manual driving and unmanned driving modes can be timely switched according to the requirements of drivers and roads, and the vehicle can be driven to a destination by adopting another steering mode under the condition that one of the manual hydraulic steering and the unmanned hydraulic steering is out of control.
Drawings
Fig. 1 is a schematic structural diagram of a hydraulic steering system compatible with manual driving and unmanned driving modes.
Detailed Description
The invention will be further described below with reference to the drawings in combination with the design and application of manual hydraulic steering and unmanned hydraulic steering in parallel:
the hydraulic steering system compatible with the manual driving mode and the unmanned driving mode of the invention as shown in fig. 1 comprises a hydraulic steering cylinder 8 connected with two front wheels of an automobile and an angle sensor 9 connected with one front wheel.
The hydraulic station comprises a hydraulic pump 1, an oil outlet of the hydraulic pump 1 is connected with an oil inlet of a safety valve 4 through a first pipeline and is connected with an oil inlet of a hydraulic one-way valve 2 through a second pipeline, an oil outlet of the hydraulic one-way valve 2 is respectively connected with a first oil port P1 of an electromagnetic control valve 5, a first oil port P2 of an electromagnetic proportional control valve 6 and an oil inlet of a pressure sensor through three branch pipes, a second oil port T1 of the electromagnetic control valve 5 and a second oil port T2 of the electromagnetic proportional control valve 6 are respectively connected with an oil return port of an oil tank through oil return pipelines, a third oil port A1 of the electromagnetic control valve 5 is connected with a first oil port P3 of a steering wheel hydraulic steering gear 7 through a third pipeline, a fourth oil port B1 of the electromagnetic control valve 5 is connected with a second oil port T3 of the steering wheel hydraulic steering gear 7 through a fourth pipeline, and a third oil port A2 of the electromagnetic proportional control valve 6 and a third oil port A3 of the steering wheel hydraulic steering gear 7 are jointly through a first The oil pipeline is communicated with a left-turn oil inlet of the hydraulic steering oil cylinder 8, and the fourth oil port B2 of the electromagnetic proportional control valve 6 and the fourth oil port B3 of the steering wheel hydraulic steering gear 7 are communicated with a right-turn oil inlet of the hydraulic steering oil cylinder 8 through a second oil inlet pipeline.
An unmanned controller 10 is respectively connected with the electric hydraulic pump 1, the pressure sensor 3, the electromagnetic control valve 5, the electromagnetic proportional control valve 6 and the angle sensor 9 through control lines, the unmanned controller 10 controls signals of all parts, and the unmanned controller reads the signals of the pressure sensor and the angle sensor and outputs control signals to the electric hydraulic pump, the electromagnetic control valve and the electromagnetic proportional control valve so as to realize manual hydraulic steering or unmanned hydraulic steering.
If the steering is performed manually and hydraulically, the unmanned controller 10 (available in the market) enables the electric hydraulic pump 1 and the electromagnetic valve 5 to work through control signals, hydraulic oil enters the first oil port P3 of the steering wheel hydraulic steering gear 7 from the oil outlet of the hydraulic pump 1 through the first oil port P1 and the third oil port a1 of the electromagnetic control valve 5, and a driver controls the oil outlet of the third oil port A3 or the fourth oil port B3 of the steering wheel hydraulic steering gear 7 by rotating the steering wheel, so that the hydraulic steering oil cylinder 8 is pushed to turn left to form an oil inlet or turn right to form an oil inlet, and the steering function is realized.
If the unmanned hydraulic steering is performed, the unmanned controller 10 enables the electric hydraulic pump 1 to work through a control signal, and judges that the pressure sensor 3 reaches a certain pressure value, the electric hydraulic pump 1 stops working, when the pressure value is lower than the certain value, the electric hydraulic pump 1 is started to work, the unmanned controller 10 judges that the road needs to run according to the self laser radar, when the left-turn needs exist, the unmanned controller 10 controls the electromagnetic proportional control valve 6 to work, hydraulic oil pushes the hydraulic steering cylinder 8 to turn left to realize the left-turn function by passing through the first oil port P2 and the third oil port A2 of the electromagnetic proportional control valve 6 from the oil outlet of the hydraulic pump 1, when the right-turn needs exist, the unmanned controller 10 controls the electromagnetic proportional control valve 6 to work, the hydraulic oil pushes the hydraulic steering cylinder 8 to turn right to enter the oil inlet by passing through the first oil port P2 and the fourth oil port B2 of the electromagnetic proportional control valve 6 from the oil outlet of the, the right turn function is realized.
The unmanned controller 10 determines the signal position of the angle sensor 9 to recognize the angle of left or right turn, and controls the vehicle to turn.
Claims (1)
1. The utility model provides a compatible manual driving and unmanned mode's hydraulic steering system, includes the hydraulic steering hydro-cylinder of being connected with two preceding wheels of car and the angle sensor of being connected with a preceding wheel which characterized in that:
one hydraulic station comprises a hydraulic pump, an oil outlet of the hydraulic pump is connected with an oil inlet of a safety valve through a first pipeline and is connected with an oil inlet of a hydraulic one-way valve through a second pipeline, an oil outlet of the hydraulic one-way valve is respectively connected with a first oil port of an electromagnetic control valve, a first oil port of an electromagnetic proportional control valve and an oil inlet of a pressure sensor through three branch pipes, a second oil port of the electromagnetic control valve and a second oil port of the electromagnetic proportional control valve are respectively connected with an oil return port of an oil tank through oil return pipelines, a third oil port of the electromagnetic control valve is connected with a first oil port of a steering wheel hydraulic steering gear through a third pipeline, a fourth oil port of the electromagnetic control valve is connected with a second oil port of the steering wheel hydraulic steering gear through a fourth pipeline, the third oil port of the electromagnetic proportional control valve and the third oil port of the steering gear are jointly communicated with a left-turning oil inlet of a hydraulic steering cylinder through a first oil inlet pipeline, a fourth oil port of the electromagnetic proportional control valve and a fourth oil port of the steering wheel hydraulic steering gear are communicated with a right turn oil inlet of the hydraulic steering oil cylinder through a second oil inlet pipeline; and the unmanned controller reads signals of the pressure sensor and the angle sensor and outputs control signals to the electric hydraulic pump, the electromagnetic control valve and the electromagnetic proportional control valve so as to realize manual hydraulic steering or unmanned hydraulic steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911385145.7A CN111086560A (en) | 2019-12-28 | 2019-12-28 | Hydraulic steering system compatible with manual driving and unmanned driving modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911385145.7A CN111086560A (en) | 2019-12-28 | 2019-12-28 | Hydraulic steering system compatible with manual driving and unmanned driving modes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111086560A true CN111086560A (en) | 2020-05-01 |
Family
ID=70397509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911385145.7A Pending CN111086560A (en) | 2019-12-28 | 2019-12-28 | Hydraulic steering system compatible with manual driving and unmanned driving modes |
Country Status (1)
| Country | Link |
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| CN (1) | CN111086560A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928402A (en) * | 2021-11-29 | 2022-01-14 | 安徽合力股份有限公司 | Man-machine co-driving steering device of automatic driving vehicle and control method |
| CN114670917A (en) * | 2022-04-14 | 2022-06-28 | 山东蓬翔汽车有限公司 | Manual and wire-controlled double-control steering system for vehicle and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2228285A2 (en) * | 2009-03-13 | 2010-09-15 | Kobelco Cranes Co., Ltd. | Power steering device |
| EP2727797A1 (en) * | 2012-10-30 | 2014-05-07 | Weber-Hydraulik GmbH | Hydrostatic positioning switches and their use |
| CN203681648U (en) * | 2014-02-17 | 2014-07-02 | 福田雷沃国际重工股份有限公司 | Hydraulic steering control device for harvesting machine |
| CN103895698A (en) * | 2012-12-27 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Hydraulic agricultural machine automatic steering control device and control method |
| CN104192203A (en) * | 2014-08-04 | 2014-12-10 | 北京农业信息技术研究中心 | Automatic steering method and device |
| CN204527297U (en) * | 2015-03-31 | 2015-08-05 | 淮安信息职业技术学院 | A kind of for agricultural vehicle auto-manual dual rotation system |
-
2019
- 2019-12-28 CN CN201911385145.7A patent/CN111086560A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2228285A2 (en) * | 2009-03-13 | 2010-09-15 | Kobelco Cranes Co., Ltd. | Power steering device |
| EP2727797A1 (en) * | 2012-10-30 | 2014-05-07 | Weber-Hydraulik GmbH | Hydrostatic positioning switches and their use |
| CN103895698A (en) * | 2012-12-27 | 2014-07-02 | 中国科学院沈阳自动化研究所 | Hydraulic agricultural machine automatic steering control device and control method |
| CN203681648U (en) * | 2014-02-17 | 2014-07-02 | 福田雷沃国际重工股份有限公司 | Hydraulic steering control device for harvesting machine |
| CN104192203A (en) * | 2014-08-04 | 2014-12-10 | 北京农业信息技术研究中心 | Automatic steering method and device |
| CN204527297U (en) * | 2015-03-31 | 2015-08-05 | 淮安信息职业技术学院 | A kind of for agricultural vehicle auto-manual dual rotation system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928402A (en) * | 2021-11-29 | 2022-01-14 | 安徽合力股份有限公司 | Man-machine co-driving steering device of automatic driving vehicle and control method |
| CN114670917A (en) * | 2022-04-14 | 2022-06-28 | 山东蓬翔汽车有限公司 | Manual and wire-controlled double-control steering system for vehicle and control method thereof |
| CN114670917B (en) * | 2022-04-14 | 2024-04-05 | 山东蓬翔汽车有限公司 | Manual and wire-control double-control steering system for vehicle and control method thereof |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200501 |
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