CN112977600B - Steering system and vehicle - Google Patents
Steering system and vehicle Download PDFInfo
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- CN112977600B CN112977600B CN201911312643.9A CN201911312643A CN112977600B CN 112977600 B CN112977600 B CN 112977600B CN 201911312643 A CN201911312643 A CN 201911312643A CN 112977600 B CN112977600 B CN 112977600B
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The utility model relates to a steering system and vehicle, steering system includes electronic steering mechanism (1) and hydraulic pressure centering mechanism, electronic steering mechanism (1) is including being used for with steering axle king pin (91) transmission connection's of wheel (9) steering gear (11) and for this steering gear (11) provide motor (12) of power, hydraulic pressure centering mechanism includes centering hydro-cylinder (2) and control valve group, centering hydro-cylinder (2) have floating position and centering position under the control of control valve group, in floating position, centering hydro-cylinder (2) float in order to allow steering gear (11) drive wheel (9) turn to, in centering position, centering hydro-cylinder (2) work is in order to make wheel (9) centering. Therefore, the steering system provided by the disclosure can realize high-precision control of the wheel rotation angle.
Description
Technical Field
The present disclosure relates to the field of wheel steering technologies, and in particular, to a steering system and a vehicle.
Background
With the development of vehicle technology, in order to improve transportation efficiency and meet the requirements of laws and regulations on vehicle axle load, engineering vehicles are gradually developing towards large-scale and multi-axle development. In such a bulky multi-axle vehicle, the turning angle of each wheel directly affects the posture of the vehicle body at the turning point during turning, and determines whether the vehicle can smoothly pass through the turning.
In the prior art, a common method for controlling wheel steering is that hydraulic oil is input into different steering cylinders according to a certain proportion under the action of a servo proportional valve or a flow dividing and collecting valve and the like according to the turning angle of a steering wheel, and the steering cylinders finally drive wheels to steer. The method ensures that the accuracy, the sensitivity and the reliability of the wheel corner depend too much on the accuracy and the reliability of an electric element and a hydraulic element, because hydraulic oil can not accurately flow into a steering oil cylinder according to a theoretical proportion, and the flow of the hydraulic oil needs a certain time, which easily delays the steering of the multi-shaft wheel, and the problems of low wheel corner accuracy and too fast wheel abrasion are caused.
Disclosure of Invention
An object of the present disclosure is to provide a steering system that can achieve high-precision control of a wheel rotation angle.
It is another object of the present disclosure to provide a vehicle having a high wheel rotation angle accuracy and a low wheel wear rate.
In order to achieve the above object, according to a first aspect of the present disclosure, there is provided a steering system including an electric steering mechanism including a steering gear for drivingly connecting to a steering axle kingpin of a wheel and a motor for powering the steering gear, and a hydraulic centering mechanism including a centering cylinder having a floating position in which the centering cylinder floats to allow the steering gear to drive the wheel to steer and a centering position in which the centering cylinder operates to center the wheel, under control of the control valve group, and a control valve group.
Optionally, the steering gear is a hydraulic power steering gear which shares a hydraulic source with the hydraulic centering mechanism, the control valve set includes a first control valve module and a second control valve module, the first control valve module is connected between the hydraulic source and the hydraulic power steering gear to control the hydraulic power steering gear to work, and the second control valve module is connected between the hydraulic source and the centering cylinder to control the hydraulic power steering gear to move between the floating position and the centering position.
Optionally, the control valve group is an integrated valve group, and the first control valve module and the second control valve module are integrated in the integrated valve group.
Optionally, the integrated valve set has an oil inlet, an oil return port and a plurality of working oil ports, the oil inlet is communicated with the hydraulic source, the oil return port is communicated with the oil tank, the hydraulic power steering gear is connected to the two working oil ports, the first control valve module includes a four-way reversing valve, the four-way reversing valve is connected between the oil inlet, the oil return port and the two working oil ports, and the second control valve module includes a reversing valve set, the reversing valve set is connected between the oil inlet, the oil return port and the corresponding working oil ports, and is communicated with the centering valve of the centering oil cylinder through the corresponding working oil ports.
Optionally, the electric steering mechanism includes a steering plumbing arm, a steering rod and a steering rocker arm, the steering plumbing arm is in transmission connection with the output shaft of the steering gear, the steering rocker arm is connected with the steering axle kingpin, and the steering plumbing arm, the steering rod and the steering rocker arm are sequentially hinged to form a double-rocker link mechanism.
According to a second aspect of the present disclosure, there is provided a vehicle comprising a mechanical steering axle drivingly connected to a steering wheel and an electronically controlled steering axle located behind the mechanical steering axle, the electronically controlled steering axle having a steering system according to any one of claims-disposed thereon, and a controller for controlling the steering system according to a rotation angle of the mechanical steering axle.
Optionally, the vehicle further comprises a first rotation angle sensor and a second rotation angle sensor, the first rotation angle sensor is mounted on the mechanical steering axle and used for detecting a first rotation angle of the mechanical steering axle and feeding back the first rotation angle to the controller; the second corner sensor is arranged on the electric control steering axle and used for detecting a second corner of the electric control steering axle and feeding the second corner back to the controller, and the controller calculates the pre-turning angle of the electric control steering axle according to the received first corner and the second corner so as to control the steering system to drive the electric control steering axle to turn.
Optionally, the number of the electrically controlled steering axles is multiple, and each of the electrically controlled steering axles is provided with the steering system, and the multiple steering systems are respectively connected with the controller.
Optionally, the vehicle has a normal highway driving mode in which the electrically controlled steer axle is counter-steered to the mechanical steer axle, a tight turn driving mode, a crab driving mode, an anti-tailback driving mode, and/or a rear axle lock driving mode; under the small-turning driving mode, the electric control steering axle and the mechanical steering axle are reversely steered, and the steering angle of the electric control steering axle is larger than the turning angle under the normal road driving mode; under the crab running mode, the electric control steering axle and the mechanical steering axle steer in the same direction; in the anti-tail-throwing driving mode, the electric control steering axle and the mechanical steering axle steer in the same direction, in the forward direction and the backward direction, the rotating angle of the mechanical steering axle is larger than that of the electric control steering axle, and the rotating angles of the electric control steering axles are reduced in sequence; and under the rear axle locking running mode, wheels of the electric control steering axle are centered and locked through the hydraulic centering mechanism in the steering system, and the mechanical steering axle is independently steered.
Optionally, a control handle is arranged in a cab of the vehicle, the control handle controls the steering system independently, and the vehicle has a rear axle independent steering driving mode in which the mechanical steering axle does not steer and the electronic control steering axle steers.
Through the technical scheme, the motor in the electric steering mechanism can respond to the command more quickly than a hydraulic steering system according to the received steering command, the command is quickly started and stopped after the command is in place, the steering gear synchronously rotates in place with the motor under the driving of the motor, so that the steering axle kingpin is quickly and accurately driven to rotate in place quickly, the wheel is further enabled to quickly and accurately move to a target corner, the accurate and quick control of the corner of the wheel is realized, the control valve group can control the centering oil cylinder to center the wheel when the wheel needs to keep a straight-going state, and the situation that the wheel rotates randomly is avoided, so that the accurate centering locking and the accurate steering are realized under the combined action of the hydraulic centering mechanism and the electric steering mechanism. Therefore, the steering system provided by the disclosure can realize high-precision control of the wheel rotation angle. The vehicle provided by the disclosure has high wheel rotation angle precision and low wheel abrasion speed.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, but do not constitute a limitation of the disclosure. In the drawings:
FIG. 1 is a schematic view of a steering system provided in accordance with some embodiments of the present disclosure;
FIG. 2 is a schematic wheel steering diagram for a vehicle provided in accordance with some embodiments of the present disclosure.
Description of the reference numerals
1-an electric steering mechanism, 11-a steering gear, 12-a motor, 13-a steering plumbing arm, 14-a steering pull rod,
15-steering rocker arm, 2-centering oil cylinder, 31-hydraulic source, 32-oil tank, 41-first control valve module,
42-second control valve module, 6-steering wheel, 71-mechanical steering axle, 72-electrically controlled steering axle,
8-controller, 9-wheel, 91-steering axle kingpin, P-oil inlet, T-oil return port, N-first oil port, T2-second oil port, X-third oil port and K-fourth oil port.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the use of directional words such as "front and rear" means that the vehicle is forward and rearward, the head is forward and the tail is rearward, unless otherwise stated. The terms "first," "second," and the like, as used herein are intended to distinguish one element from another, and are not necessarily order or importance. In the following description, when referring to the figures, the same reference numbers in different figures denote the same or similar elements, unless otherwise explained.
According to a first aspect of the present disclosure, there is provided a steering system, as shown in fig. 1, the steering system comprising an electric steering mechanism and a hydraulic centering mechanism, the electric steering mechanism 1 comprising a steering gear 11 for driving connection with a steering axle kingpin 91 of a wheel 9 and an electric motor 12 for powering the steering gear 11, the hydraulic centering mechanism comprising a centering cylinder 2 and a control valve group, the centering cylinder 2 having a floating position and a centering position under control of the control valve group, in the floating position, the centering cylinder 2 floats to allow the steering gear 11 to drive the wheel to steer, and in the centering position, the centering cylinder 2 operates to center the wheel.
Through the technical scheme, the motor 12 in the electric steering mechanism 1 can respond to the command more quickly than a hydraulic steering system according to the received steering command, the command is quickly started and stopped after rotating in place, the steering gear 11 and the motor 12 synchronously rotate in place under the driving of the motor 12, so that the steering axle kingpin 91 is quickly and accurately driven to rotate in place quickly, the wheel 9 is further enabled to quickly and accurately move to a target corner, the accurate and quick control of the corner of the wheel is realized, the centering oil cylinder 2 can be controlled to center the wheel 9 when the wheel needs to be kept in a straight-going state by the control valve group, the situation that the wheel 9 rotates randomly is avoided, and thus, the accurate centering locking and the accurate steering are realized by the wheel 9 under the combined action of the hydraulic centering mechanism and the electric steering mechanism 1. Therefore, the steering system provided by the disclosure can realize high-precision control of the wheel turning angle.
The steering system provided by the present disclosure is applied to a vehicle and is in communication connection with a controller 8 on the vehicle, and the motor 12 receives a rotation angle command of the controller 8. The steering system also comprises a corner sensor, and the corner sensor, the motor 12 and the control valve group are in communication connection with the controller 8; when the wheels 9 need to be steered, the control valve group firstly receives a floating command of the controller 8 to allow the wheels 9 to be driven by the steering gear 11, and then the motor 12 receives a steering command to drive the wheels 9 to be steered accurately and rapidly; when the wheels 9 need to keep a straight running state, the controller 8 determines whether to send a steering command to the motor 12 according to feedback information of the rotation angle sensor, so that when the wheels 9 are in a non-zero rotation angle, the motor 12 can drive the wheels 9 to a zero rotation angle, at this time, the rotation angle sensor feeds back a zero rotation angle signal to the controller 8, and the controller 8 sends a centering command to the control valve group, so that the centering cylinder 2 is in a centering position, the wheels 9 are kept in a zero rotation angle, namely, the wheels 9 are centered, and here, when the wheels 9 are centered, the wheels 9 are in a straight running state, which means that the wheels roll along the front and back directions of the vehicle. In the prior art, the centering cylinder 2 has various specific structural forms, and generally, the centering cylinder 2 includes a cylinder body and a piston rod, one of the cylinder body and the piston rod is hinged to a rocker arm of a steering axle, and the other is hinged to an axle corresponding to the steering axle, in the centering position, the piston rod cannot move relative to the cylinder body, so that the steering movement of the steering axle is limited, in the floating position, the piston rod can move relative to the cylinder body, the steering axle is not limited, and the steering axle can be steered to any angle along with the driving of the steering gear 11.
According to some embodiments of the present disclosure, as shown in fig. 1, the steering gear 11 is a hydraulic power steering gear, the hydraulic power steering gear shares a hydraulic pressure source 31 with a hydraulic centering mechanism, the control valve set includes a first control valve module 41 and a second control valve module 42, the first control valve module 41 is connected between the hydraulic pressure source 31 and the hydraulic power steering gear to control the hydraulic power steering gear to work, and the second control valve module 42 is connected between the hydraulic pressure source 31 and the centering cylinder 2 to control the hydraulic power steering gear to move between a floating position and a centering position. Here, the steering gear 11 is a hydraulic power steering gear, which can reduce the load of the motor 12 and facilitate smooth start of the steering gear 11. When the hydraulic source 31 provides pressure to the centering cylinder 2 to enable the centering cylinder 2 to be in the centering position, the steering gear 11 cannot rotate and does not need hydraulic power assistance, and when the centering cylinder 2 is in the floating position, the centering cylinder 2 does not need the hydraulic source 31 to provide pressure, the steering gear 11 can rotate, and the hydraulic power steering gear needs the hydraulic source 31 to provide hydraulic power assistance, so that the hydraulic power steering gear and the hydraulic centering mechanism share the hydraulic source 31, the realization of the functions of the hydraulic power steering gear and the hydraulic centering mechanism is not influenced, and the number of the hydraulic sources 31 can be reduced. Here, the hydraulic pressure source 31 may refer to an oil pump. In other embodiments, the steering gear 11 may also be a mechanical steering gear, and the motor 12 provides all steering power for the mechanical steering gear, which is not limited in this disclosure.
According to some embodiments of the present disclosure, the control valve pack is an integrated valve pack in which the first control valve module 41 and the second control valve module 42 are integrated. Therefore, the number of control valves can be reduced, installation is convenient, in the integrated valve group, at least one control valve in the first control valve module 41 and the second control valve module 42 can be in communication connection with the controller 8, is directly controlled by the controller 8, and is controlled by the other control valve, so that when the hydraulic power steering gear works, the centering oil cylinder 2 is in a floating position, and when the hydraulic power steering gear does not work, the centering oil cylinder 2 is in a centering position. In other embodiments, the first control valve module 41 and the second control valve module 42 may also be independent of each other, and are controlled by the controller 8 separately, and the disclosure is not limited thereto. When the second control valve module 42 can be directly controlled by the controller 8, and when the controller 8 receives abnormal corner information or finds a communication line fault or the like, the second control valve module 42 can be actively commanded to enable the centering oil cylinder 2 to be in the centering position and the wheels 9 to be centered, so that the running safety of the vehicle is improved. It is also possible, as will be described below, that in some driving modes the controller 8 actively controls the wheel pairs of the electronically controlled steering axle 72, allowing only the front mechanical steering axle 71 to steer.
Alternatively, as shown in fig. 1, the integrated valve set has an oil inlet P, an oil return port T and a plurality of working ports, the oil inlet P is communicated with the hydraulic source 31, the oil return port T is communicated with the oil tank 32, the hydraulic power steering gear is connected to two working ports, the first control valve module 41 includes a four-way reversing valve, such as a two-position four-way reversing valve, or a three-position four-way reversing valve, which is connected between the oil inlet P, the oil return port T and the two working ports, and the second control valve module 42 includes a reversing valve set, which is connected between the oil inlet P, the oil return port T and the corresponding working ports and is communicated with the centering valve 21 of the centering cylinder 2 through the corresponding working ports. The four-way reversing valve can be an electromagnetic valve, a hydraulic valve and the like, when the four-way reversing valve enables the oil inlet P and the oil return port T to be correspondingly communicated with the two working oil ports respectively, the hydraulic power-assisted steering gear is communicated with the hydraulic source 31 and the oil tank 32, in this way, the hydraulic source 31 provides hydraulic power for the hydraulic power-assisted steering gear, when the four-way reversing valve enables the two working oil ports to be correspondingly communicated with the oil return port T, the hydraulic power-assisted steering gear is only communicated with the oil tank 32, and the hydraulic power-assisted steering gear cannot obtain hydraulic power. The second control valve module 42 has multiple functional forms, the reversing valve group is communicated with the centering valve 21, and the state of the centering valve 21 is changed by the action of the reversing valve group, so that the centering oil cylinder 2 is controlled to be located at the centering position or the floating position, the specific structures of the reversing valve group and the centering valve 21 are multiple, accordingly, the control forms are multiple, and the disclosure is not limited. For example, the reversing valve set may include a first solenoid valve and a second solenoid valve that are two-position three-way valves, the integrated valve set has a first port N, a second port T2 and a third port X, the second port T2 is communicated with the oil return port T, the first solenoid valve is connected between the first port N and the oil inlet P, the oil return port T, the second solenoid valve is connected between the third port X and the oil inlet P, the oil return port T, the first solenoid valve and the second solenoid valve are powered on at the same time, so that the first port N is communicated with the oil return port T, and the third port X is communicated with the oil inlet P, and the power is lost at the same time, otherwise, the first port N is communicated with the oil inlet P, and the third port X is communicated with the oil return port T; the centering oil cylinder can comprise a first oil cavity, a second oil cavity and a centering cavity, the centering cavity is positioned between the first oil cavity and the second oil cavity, the centering cavity is communicated with a second oil port T2, a second oil port T2 is communicated with an oil return port T, the first oil cavity and the second oil cavity are simultaneously communicated with a first oil port N through a hydraulic control one-way valve group of the centering valve 21, and a hydraulic control port of the hydraulic control one-way valve group is communicated with a third oil port X; then, when the first solenoid valve and the second solenoid valve are simultaneously powered on, when the third oil port X is communicated with the oil inlet P, under the pressure action, the hydraulic control port is opened, the hydraulic control check valve group loses the one-way conduction effect, the oil in the first oil chamber and the second oil chamber can flow out to the first oil port N, so that the centering oil cylinder 2 is in the floating position, and when the first solenoid valve and the second solenoid valve are simultaneously powered off, when the third oil port X is communicated with the oil return port T, the hydraulic control check valve group keeps the one-way effect, the oil can only flow out from the first oil port N to enter the first oil chamber and the second oil chamber, so that the centering oil cylinder 2 is in the centering position. In addition, the four-way reversing valve can also be a two-position four-way hydraulic reversing valve and is provided with a fourth oil port K, and the fourth oil port K can be communicated with the first oil port N, so that when the first electromagnetic valve and the second electromagnetic valve are simultaneously electrified, the first oil port N is communicated with the oil return port T, the centering oil cylinder 2 is in a floating position, the two-position four-way hydraulic reversing valve is in the first position, the hydraulic power-assisted steering device is communicated with the hydraulic source 31 and the oil tank 32, otherwise, when the first electromagnetic valve and the second electromagnetic valve are simultaneously electrified, the first oil port N is communicated with the oil inlet P, the centering oil cylinder 2 is in the centering position, the two-position four-way hydraulic reversing valve is in the second position, the hydraulic power-assisted steering device is only communicated with the oil tank 32, hydraulic power is lacked, and the steering bridge is difficult to drive to steer. Overflow valves can be arranged in the integrated valve group and the centering valve 21, and pressure monitoring ports can be arranged on the integrated valve group and the centering valve 21 so as to monitor hydraulic pressure in real time and facilitate early troubleshooting.
According to some embodiments of the present disclosure, as shown in fig. 1, the electric power steering mechanism 1 includes a pitman arm 13, a steering rod 14, and a pitman arm 15, the pitman arm 13 is drivingly connected to an output shaft of the steering gear 11, the pitman arm 15 is connected to a steer axle kingpin 91, and the pitman arm 13, the steering rod 14, and the pitman arm 15 are sequentially articulated to constitute a double rocker link mechanism. The input end of the steering hanging arm 13 is in transmission connection with the output shaft of the steering gear 11 to synchronously rotate along with the output shaft, the output end of the steering hanging arm 13 is hinged with the steering pull rod 14, the steering hanging arm 13 swings in the positive and negative directions within the set positive and negative rotation range of the output shaft, so that the steering pull rod 14 and the steering rocker arm 15 are driven to swing together, the rotation angle of the output shaft is converted into the rotation angle of the steering axle main pin 91, and the rotation angle of the wheels 9 is controlled. In other embodiments, the output shaft of the steering gear 11 can be drivingly connected to the steer axle kingpin 91 through other types of transmission assemblies, which are easily implemented by those skilled in the art and will not be described herein.
According to a second aspect of the present disclosure, there is provided a vehicle, schematically illustrated in fig. 2, including a mechanical steering axle 71 drivingly connected to the steering wheel 6, an electrically controlled steering axle 72 located behind the mechanical steering axle 71, the electrically controlled steering axle 72 being provided with the above-mentioned steering system, and a controller 8 for controlling the steering system according to a steering angle of the mechanical steering axle 71. The driver controls the steering wheel 6 to rotate, the mechanical steering axle 71 rotates rapidly and accurately along with the steering wheel 6 to realize the steering intention of the driver, and the controller 8 controls the steering system according to the rotation angle of the mechanical steering axle 71, and is in communication connection with the motor 12 and the control valve group in the steering system to realize the high-precision control of the rotation angle of the electric control steering axle 72. The controller 8 may calculate the rotation angle of the electrically controlled steering axle 72 located behind the mechanical steering axle 71 based on ackermann principle, so as to control the motor 12 in the electrically controlled steering system to drive the corresponding wheel rotation angle. On the basis that the steering system can control the wheel rotation angle with high precision, the vehicle provided by the disclosure has high wheel rotation angle precision and low wheel abrasion speed.
According to some embodiments of the present disclosure, the vehicle further comprises a first rotation angle sensor and a second rotation angle sensor, the first rotation angle sensor being mounted on the mechanical steering axle 71 for detecting a first rotation angle of the mechanical steering axle 71 and feeding back to the controller 8; the second corner sensor is installed on the electronic control steering axle 72 and is used for detecting a second corner of the electronic control steering axle 72 and feeding the second corner back to the controller 8, and the controller 8 calculates a pre-turning angle of the electronic control steering axle according to the received first corner and the received second corner so as to control the steering system to drive the electronic control steering axle 72 to steer. Firstly, the controller 8 calculates the corresponding angle of the electrically controlled steering axle 72 corresponding to the first rotation angle according to the first rotation angle and based on ackermann's theorem, calculates the pre-rotation angle of the electrically controlled steering axle 72 according to the real-time rotation angle already possessed by the electrically controlled steering axle 72 fed back by the second rotation angle sensor, and if the pre-rotation angle is not zero, controls the centering cylinder 2 to be at the floating position through the control valve group, and simultaneously communicates the hydraulic power steering gear with the hydraulic source 31, and then transmits the pre-rotation angle to the motor 12, and the motor 12 rotates according to the received pre-rotation angle. After the motor 12 rotates in place, the rotation can be fed back to the controller 8, and the controller 8 can detect whether the electric control steering axle is in place by using a second rotation angle sensor.
According to some embodiments of the present disclosure, the number of the electronically controlled steering axles 72 may be plural, and each of the electronically controlled steering axles 72 is provided with a steering system, and the plural steering systems are respectively connected to the controller 8. For a multi-axle vehicle, the more steering axles are, the larger the vehicle body is, the poorer the turning trafficability is, and the lower the motion flexibility of the vehicle body is, here, the first steering axle positioned at the forefront is a mechanical steering axle 71, the rear part of the vehicle body is an electronic control steering axle 72, each electronic control steering axle 72 is provided with a steering system, and the corresponding wheels 9 can be independently controlled to turn with high precision, so that an all-wheel steering function is realized, the trafficability of the multi-axle vehicle during turning is favorably improved, and the motion flexibility of the multi-axle vehicle is improved.
According to some embodiments of the present disclosure, the vehicle may have a plurality of driving modes, and a control panel may be provided in the cab for the driver to select different driving modes according to road conditions to meet the driving needs of the vehicle. Accordingly, in different driving modes, the steering angle relationship between the electrically controlled steering axle and the mechanical steering axle is different, and the controller 8 can calculate the steering angle of the electrically controlled steering axle 72 through a designed calculation formula in different driving modes. For example, the vehicle may have at least one of a normal road running mode in which the electronically controlled steering axle 72 and the mechanical steering axle 71 have a reverse steering angle relationship, a tight turn running mode, a crab running mode, an anti-swing running mode, and a rear axle lock running mode; in a small-turning driving mode, the electric control steering axle 72 and the mechanical steering axle 71 have reverse steering, and the steering angle of the electric control steering axle 72 is larger than the steering angle relation of a steering angle in a normal road driving mode; in the crab running mode, the electric control steering axle 72 and the mechanical steering axle 71 have the same steering angle relationship; in the anti-tail-flick running mode, the electrically controlled steering axle 72 and the mechanical steering axle 71 have the same direction of steering, and in the direction from the front to the rear, the rotation angle of the mechanical steering axle 71 is larger than that of the electrically controlled steering axle 72, and the rotation angles of the plurality of electrically controlled steering axles 72 are sequentially reduced by this rotation angle relationship; in the rear axle locking running mode, the wheels of the electric control steering axle 72 can be locked in a centering mode through a hydraulic centering mechanism in a steering system, and the mechanical steering axle 71 is steered independently. And regarding the specific calculation formulas in different modes, those skilled in the art can obtain the calculation formulas based on the ackerman principle and performing optimal design and multiple experimental verifications according to the vehicle type, and details are not repeated here.
According to some embodiments of the present disclosure, a control handle may be provided in a cab of a vehicle, the control handle may independently control a steering system, and the vehicle has a rear axle independent steering driving mode in which the mechanical steering axle 71 is not steered and the electronically controlled steering axle 72 is steered. This brake valve lever can be connected with controller 8 communication, and controller 8 is according to received brake valve lever's operating command, and according to the feedback of the second corner sensor on the automatically controlled steering axle 72, calculates the angle of prerotation of every automatically controlled steering axle 72, then control motor 12 rotates, and drive wheel 9 turns to accurately, realizes that the locomotive does not turn to, and the effect that the rear of a vehicle turned to improves the flexibility of automobile body motion.
The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the above embodiments, the various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations will not be further described in the present disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure as long as it does not depart from the gist of the present disclosure.
Claims (9)
1. Steering system, characterized in that it comprises an electric steering mechanism (1) and a hydraulic centering mechanism, said electric steering mechanism (1) comprising a steering gear (11) for driving connection with a steering axle kingpin (91) of a wheel (9) and an electric motor (12) powering this steering gear (11), said hydraulic centering mechanism comprising a centering cylinder (2) and a control valve group, said centering cylinder (2) having, under the control of said control valve group, a floating position in which said centering cylinder (2) floats to allow said steering gear (11) to drive said wheel (9) to steer, and a centering position in which said centering cylinder (2) operates to center said wheel (9),
the steering gear (11) is a hydraulic power steering gear which shares a hydraulic source (31) with the hydraulic centering mechanism, the control valve group comprises a first control valve module (41) and a second control valve module (42), the first control valve module (41) is connected between the hydraulic source (31) and the hydraulic power steering gear to control the hydraulic power steering gear to work, and the second control valve module (42) is connected between the hydraulic source (31) and the centering oil cylinder (2) to control the hydraulic power steering gear to move between the floating position and the centering position.
2. A steering system according to claim 1, characterized in that the control valve pack is an integrated valve pack in which the first control valve module (41) and the second control valve module (42) are integrated.
3. The steering system according to claim 2, wherein the integrated valve set has an oil inlet (P), an oil return port (T) and a plurality of working ports, the oil inlet (P) is communicated with the hydraulic source (31), the oil return port (T) is communicated with an oil tank (32), the hydraulic power steering gear is connected to two working ports, the first control valve module (41) includes a four-way reversing valve connected between the oil inlet (P), the oil return port (T) and the two working ports, the second control valve module (42) includes a reversing valve set connected between the oil inlet (P), the oil return port (T) and the corresponding working ports and communicated with the centering valve (21) of the centering oil cylinder (2) through the corresponding working ports.
4. A steering system according to claim 1, characterized in that the electric power steering mechanism (1) comprises a steering pendant (13), a steering tie rod (14) and a steering rocker (15), the steering pendant (13) is in transmission connection with the output shaft of the steering gear (11), the steering rocker (15) is connected with the steering axle kingpin (91), and the steering pendant (13), the steering tie rod (14) and the steering rocker (15) are articulated in sequence to constitute a double rocker link mechanism.
5. A vehicle, characterized by comprising a mechanical steering axle (71) in driving connection with a steering wheel (6) and an electrically controlled steering axle (72) behind the mechanical steering axle (71), the electrically controlled steering axle (72) being provided with a steering system according to any one of claims 1-4, and by comprising a controller (8) for controlling the steering system according to the steering angle of the mechanical steering axle (71).
6. The vehicle of claim 5, further comprising:
a first rotation angle sensor mounted on the mechanical steering axle (71) for detecting a first rotation angle of the mechanical steering axle (71) and feeding back to the controller (8); and
a second rotation angle sensor which is arranged on the electric control steering axle (72) and is used for detecting a second rotation angle of the electric control steering axle (72) and feeding back the second rotation angle to the controller (8),
the controller (8) calculates the pre-turning angle of the electric control steering axle according to the received first turning angle and the received second turning angle so as to control the steering system to drive the electric control steering axle (72) to turn.
7. The vehicle according to claim 5 or 6, characterized in that the electrically controlled steering axle (72) is plural, and each of the electrically controlled steering axles (72) is provided with the steering system, which is connected to the controller (8), respectively.
8. Vehicle according to claim 5 or 6, characterized in that the vehicle has a normal road driving mode, a tight-turning driving mode, a crab-running driving mode, an anti-tail-swing driving mode and/or a rear axle lock driving mode,
in the normal road driving mode, the electrically controlled steering axle (72) and the mechanical steering axle (71) are steered in the opposite direction;
in the small-turn driving mode, the electric control steering axle (72) and the mechanical steering axle (71) are reversely steered, and the steering angle of the electric control steering axle (72) is larger than the steering angle in the normal road driving mode;
in the crab running mode, the electric control steering axle (72) and the mechanical steering axle (71) steer in the same direction;
in the anti-tail-throwing driving mode, the electric control steering axle (72) and the mechanical steering axle (71) steer in the same direction, in the forward and backward directions, the rotating angle of the mechanical steering axle (71) is larger than that of the electric control steering axle (72), and the rotating angles of the electric control steering axles (72) are sequentially reduced;
in the rear axle locking running mode, wheels (9) of the electric control steering axle (72) are locked in a centering mode through the hydraulic centering mechanism in the steering system, and the mechanical steering axle (71) is steered independently.
9. The vehicle according to claim 5 or 6, characterized in that a control handle is provided in a cab of the vehicle, the control handle independently controlling the steering system, the vehicle having a rear axle independent steering running mode in which the mechanical steering axle (71) is not steered and the electronically controlled steering axle (72) is steered.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911312643.9A CN112977600B (en) | 2019-12-18 | 2019-12-18 | Steering system and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911312643.9A CN112977600B (en) | 2019-12-18 | 2019-12-18 | Steering system and vehicle |
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| CN112977600A CN112977600A (en) | 2021-06-18 |
| CN112977600B true CN112977600B (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911312643.9A Active CN112977600B (en) | 2019-12-18 | 2019-12-18 | Steering system and vehicle |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113734278A (en) * | 2021-09-30 | 2021-12-03 | 湖南爱力液压密封技术有限公司 | Vehicle five-axle steering control system and method |
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| US5289894A (en) * | 1992-03-31 | 1994-03-01 | Imra America, Inc. | Steering system for a vehicle |
| CN107685767A (en) * | 2017-08-16 | 2018-02-13 | 吉林大学 | A kind of multiaxis wheel-hub motor driven vehicle trailing wheel steering-by-wire drive device and its forward method |
| CN107826164A (en) * | 2017-11-01 | 2018-03-23 | 中国北方车辆研究所 | A kind of multi-wheel steering system and control method based on electric power-assisted |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112004001258B4 (en) * | 2003-07-09 | 2012-02-02 | Trw Automotive U.S. Llc | Device for pivoting steerable wheels of a vehicle |
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| US5289894A (en) * | 1992-03-31 | 1994-03-01 | Imra America, Inc. | Steering system for a vehicle |
| CN107685767A (en) * | 2017-08-16 | 2018-02-13 | 吉林大学 | A kind of multiaxis wheel-hub motor driven vehicle trailing wheel steering-by-wire drive device and its forward method |
| CN107826164A (en) * | 2017-11-01 | 2018-03-23 | 中国北方车辆研究所 | A kind of multi-wheel steering system and control method based on electric power-assisted |
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| CN112977600A (en) | 2021-06-18 |
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