CN113911207B - Steering system with automatic centering and emergency starting functions - Google Patents
Steering system with automatic centering and emergency starting functions Download PDFInfo
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- CN113911207B CN113911207B CN202111168643.3A CN202111168643A CN113911207B CN 113911207 B CN113911207 B CN 113911207B CN 202111168643 A CN202111168643 A CN 202111168643A CN 113911207 B CN113911207 B CN 113911207B
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- 238000004146 energy storage Methods 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 239000012530 fluid Substances 0.000 claims description 26
- 230000001502 supplementing effect Effects 0.000 claims description 26
- 238000004891 communication Methods 0.000 claims description 15
- 230000008602 contraction Effects 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 238000003466 welding Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000001595 contractor effect Effects 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 302
- 238000010586 diagram Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 6
- 239000010729 system oil Substances 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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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
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1554—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles
- B62D7/1572—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to a steering system with automatic centering and emergency starting functions, which is used for realizing the stable, reliable and efficient automatic centering and emergency starting functions of a steering control system and reducing the complexity of the system. The power source is used for providing pressure and flow required by the system, and the nested steering cylinder I is an actuating mechanism and is used for realizing steering and centering of the vehicle; the first nested steering cylinder is controlled by a first-proportion steering control valve group of the cylinder and comprises a centering oil cavity, an extending oil cavity and a contracting oil cavity; the centering energy accumulator provides centering power for the first nested steering cylinder through a centering energy accumulator control valve group; the emergency energy accumulator is used for providing energy when the power source cannot provide working pressure required by the steering of the vehicle, and the power source is pressurized through the emergency energy storage valve bank; the emergency pressure sensor is used for measuring the emergency pressure of the emergency energy accumulator, and when the emergency pressure is lower than the normal working pressure of the system, the power source stores energy for the emergency energy accumulator.
Description
Technical Field
The invention relates to a steering system with automatic centering and emergency starting functions, and belongs to the application fields of hydraulic machinery and motor vehicles.
Background
With the improvement of the requirements on the transportation capacity of the vehicle and the improvement of the requirements on the stability, the safety and the comfort of the vehicle, the reliability of the steering of the vehicle can be ensured, the steering stability can be still kept until the vehicle is stopped under the condition that the power source of the system is invalid, the problems of high efficiency, energy saving, efficiency loss reduction and the like of the system can be realized, and the system becomes the technical difficulty faced by the current domestic vehicle manufacturers and can not be effectively solved all the time, so the development of the proportional steering control system with the functions of automatic centering and emergency starting is particularly necessary. In the prior art, the hydraulic steering system generally needs to independently control the steering oil cylinder and the centering oil cylinder to respectively realize the wheel steering function and the centering function, so that the complexity of system pipeline arrangement and a guiding connection mechanism is increased, the high integration of the steering system is realized, and the simplification of the system arrangement is of great significance in upgrading the all-wheel steering of the multi-axle vehicle.
Disclosure of Invention
In order to realize the stable, reliable and efficient automatic centering and emergency starting functions of the steering control system and reduce the complexity of the system, the invention provides the steering system with the automatic centering and emergency starting functions, which comprises a power source, a centering energy accumulator control valve group, a centering pressure sensor, a centering energy accumulator, an oil cylinder-proportion steering control valve group, a nested steering oil cylinder-system pressure sensor, a stop valve, an emergency pressure sensor, an emergency energy accumulator group and an emergency energy accumulator,
the power source is used for providing pressure and flow required by the hydraulic system;
the first nested steering cylinder is an actuating mechanism and is connected with the vehicle steering mechanism and used for achieving the steering effect expected by the vehicle, and comprises a centering function, wherein the first nested steering cylinder is controlled by a first cylinder proportional steering control valve group and comprises a centering oil cavity oil inlet, an oil tank extending oil inlet and a shrinkage oil cavity oil inlet;
the power of the first nested steering cylinder is provided by a centering energy accumulator, wherein the energy storage and the energy release of the centering energy accumulator are controlled by a centering energy accumulator control valve group, and when the centering pressure sensor detects that the oil outlet pressure of the centering energy accumulator is smaller than a threshold value, the centering energy accumulator control valve group controls a power source to store the energy of the centering energy accumulator; in the centering process, a centering energy accumulator control valve group controls a centering energy accumulator to provide unique power for a first nested steering cylinder;
the emergency energy accumulator is used for replacing the power source to provide energy when the power source cannot provide working pressure required by vehicle steering; the emergency energy accumulator is pressurized by a power source through an emergency energy storage valve group;
the emergency pressure sensor is used for measuring the emergency pressure of the emergency accumulator, and when the emergency pressure is lower than the normal working pressure of the system, the power source stores energy into the emergency accumulator; when the emergency pressure is higher than the normal working pressure of the system, the power source stops storing energy to the emergency energy accumulator;
the system pressure sensor is connected in parallel at an oil outlet A of the power source and is used for measuring the oil outlet pressure of the power source;
further, the invention provides the pressure and the flow rate driven by the hydraulic system by the power source, wherein the power source comprises a pump system, a one-way valve for a pump, a main oil filter, an oil way control valve, an overflow valve and an oil return filter;
the specific connection relation is that a valve bank oil outlet A of the power source is connected with oil inlets P of other valve banks in the system, a valve bank oil return port T of the power source is connected with oil return ports T of other valve banks in the system, a valve bank oil return port T of the power source is connected with an oil return filter, a main oil filter is connected with an oil way control valve in series and then is combined with an overflow valve in parallel, and two ends of an oil inlet and outlet way of the parallel combination are respectively connected with a pump system and the oil return filter to form the power source; the pump system is connected with the main oil filter through a one-way valve for a pump, and is an electric pump system for driving a high-pressure oil pump by a motor, or is connected with a power take-off port of a vehicle engine or a transmission case, wherein an oil way control valve is a two-position three-way valve;
further, the emergency energy storage valve group comprises a one-way valve, a pressure relief safety valve, a safety overflow valve and an emergency stop valve, wherein the emergency stop valve is arranged between the oil inlet P and the oil supply port P1, the emergency stop valve, the parallel structure of the pressure relief safety valve and the safety overflow valve and the one-way valve are sequentially arranged between the oil supply port P1 and the oil return port T, the one-way valve, the oil supply port P1, the energy storage device connection port AC and the pressure measuring port MP are communicated, the energy storage device connection port AC is connected with an emergency energy storage device when in use, the oil supply port P1 is connected with a main pressure oil duct of a system after being connected with the stop valve in series, the pressure measuring port MP is connected with an emergency pressure sensor, and the pressure set by the safety overflow valve is equal to or slightly higher than the highest working pressure required by the system. The oil inlet P is positioned between the parallel structures of the emergency stop valve, the pressure relief safety valve and the safety overflow valve, the oil return port T is connected with the oil outlet of the one-way valve, and the oil supply port P1, the accumulator connection port AC and the pressure measuring port MP are connected with the oil outlet of the emergency stop valve after being communicated.
Further, the centering energy accumulator control valve group consists of an energy accumulator communication valve and a centering pressure control valve, wherein the energy accumulator communication valve and the centering pressure control valve are two-position two-way valves, a connecting port AC is connected with a centering energy accumulator, a pressure measuring port CY1 is connected with a centering pressure sensor for testing centering pressure, an oil inlet P is connected with an oil outlet A of a power source, and a centering port DZ is connected with a centering oil cavity of a nested steering oil cylinder; and a centering pressure control valve and an energy accumulator communication valve are sequentially arranged between the oil inlet P and the connecting port AC of the centering energy accumulator control valve group, and a centering port DZ oil port for connecting the nested steering oil cylinder is positioned between the energy accumulator communication valve and the centering pressure control valve. The accumulator communication valve and the centering pressure control valve are two-position two-way valves.
Further, the oil cylinder-proportion steering control valve group comprises a proportion flow control valve, a three-position four-way fluid supplementing valve, a fluid supplementing valve one-way valve and a control valve one-way valve, wherein the proportion flow control valve is connected with the three-position four-way fluid supplementing valve in parallel, and an oil inlet of the proportion flow control valve and an oil inlet of the three-position four-way fluid supplementing valve are connected with an oil inlet P of the valve group in parallel; the oil return port of the proportional flow control valve behind the check valve of the series control valve is connected in parallel with the oil return port of the three-position four-way fluid supplementing valve behind the check valve of the series fluid supplementing valve, and is connected with the oil return port T of the valve group; the two oil outlets of the proportional flow control valve and the two oil outlets of the three-position four-way fluid supplementing valve are respectively connected in parallel and then connected with the SS1 and SC1 oil ports of the valve group in series, a control oil cylinder shrinkage port SS1 of the oil cylinder one-proportion steering control valve group is connected with a shrinkage control cavity of the nested steering oil cylinder one, a control oil cylinder elongation port SC1 of the oil cylinder one-proportion steering control valve group is connected with an extension control cavity of the nested steering oil cylinder one, and the three-position four-way fluid supplementing valve serves as a supplement control valve of the proportional flow control valve to play a redundant control role; the three-position four-way fluid supplementing valve is used as a supplementary control valve of the proportional flow control valve to play a redundant control role, namely when the system finds that the proportional flow control valve fails and the flow direction of the oil cannot be switched normally and the flow is controlled, the system controls the three-position four-way fluid supplementing valve to complete the extending or contracting action of the oil cylinder, so that the running safety of the vehicle is ensured.
The emergency stop valve, the stop valve and the centering pressure control valve are two-position two-way normally-closed electromagnetic valves, and the accumulator communication valve and the pressure relief safety valve are two-position two-way normally-open electromagnetic valves.
Advantageous effects
The invention integrates three functions of automatic centering, emergency starting and steering, fills the blank of the prior art, and improves the stability, reliability and high efficiency of the steering system, wherein the integrated emergency starting function mainly assists in completing the steering function under the extreme condition of system failure. In addition, as the steering cylinder integrates a plurality of chambers, the working efficiency of the steering system is greatly improved, and the problem of along-distance loss caused by complex pipelines is solved.
Drawings
FIG. 1 is a schematic diagram of a proportional steering control system with multiple cylinder zones with automatic centering and emergency starting functions;
FIG. 2 is a schematic diagram of a proportional steering control system with multiple cylinders with only auto-centering;
FIG. 3 is a schematic diagram of a proportional steering control system with automatic centering and emergency starting functions for a single cylinder;
FIG. 4 is a schematic diagram of power source composition (reset state, system not working, no pressure build, idle cycle);
FIG. 5 is a schematic diagram of a centering accumulator control valve block assembly;
FIG. 6 is a schematic diagram of a proportional steering control valve set;
FIG. 7 is a schematic diagram of an emergency accumulator valve block;
FIG. 8 is a system overall control logic;
FIG. 9 is a system workflow;
FIG. 10 is a cross-sectional view of a nested steering cylinder I;
FIG. 11 is a top view of a nested steering cylinder one;
FIG. 12 is a cross-sectional view of a base;
fig. 13 is a cross-sectional view of each oil inlet of the base.
In the figure: 1-power source, 2-centering energy accumulator control valve bank, 3-centering pressure sensor, 4-centering energy accumulator, 5-cylinder first-proportion steering control valve bank, 6-nested steering cylinder I, 7-cylinder angular displacement sensor, 8-cylinder second-angular displacement sensor, 9-nested steering cylinder II, 10-cylinder second-proportion steering control valve bank, 11-system pressure sensor, 12-stop valve, 13-emergency pressure sensor, 14-emergency energy accumulator valve bank, 15-emergency energy accumulator, 16-pump system, 17-pump check valve, 18-main oil filter, 19-oil circuit control valve, 20-overflow valve, 21-oil return filter, 22-energy accumulator communication valve, 23-centering pressure control valve, 24-proportion flow control valve, 25-three-position four-way fluid supplementing valve, 26-fluid-supplementing valve check valve, 27-control valve check valve, 28-check valve, 29-relief safety valve, 30-relief valve, 31-emergency stop valve, 32-fourth centering oil chamber oil inlet, 33-first extension oil chamber oil inlet, 34-first extension oil chamber, 35-second retraction oil chamber, 36-fourth centering oil chamber, 37-fifth extension oil chamber, 38-third centering oil chamber, 39-third centering oil chamber oil inlet, 40-fifth extension oil chamber oil inlet, 41-second retraction oil chamber oil inlet, 42-piston, 43-floating piston, 44-piston rod, 45-base, 46-centering oil cylinder, 47-fixed rod, 48-steering oil cylinder, 49-oil port weld holder, 50-guide sleeve, 51-fourth centering oil chamber runner, 52-connector A, 53-connector B, 54-first extended oil gallery flow passage
Detailed Description
The system takes a nested steering cylinder with a centering function, which is connected with a vehicle steering mechanism, as an executing mechanism, acquires system pressure, emergency pressure, front and rear axle steering angles and even inclination signals of a vehicle mass center position as feedback parameters of system control, calculates the feedback parameters through a system control algorithm, gives out target parameters, controls the speed and output load of the executing mechanism by controlling the output pressure and flow of a hydraulic system, and finally realizes the expected steering effect of the vehicle.
The following describes the components of the system according to the present invention in detail with reference to the accompanying drawings:
as shown in fig. 4, which is a schematic diagram of power source composition, the oil outlet a and the oil return port T of the valve bank are respectively connected with the oil inlets P and the oil return ports T of other valve banks in the system, so as to provide high-pressure working oil and system oil return connection. The power source 1 comprises a pump system 16, a one-way valve 17 for a pump, a main oil filter 18, an oil way control valve 19, an overflow valve 20 and an oil return filter 21. The pump system 16 may be an electric pump system in which a high-pressure oil pump is driven by a motor, or may be driven by power of a system by connecting the high-pressure pump to a power take-off port of a vehicle engine or a transmission case. The oil way control valve 19 is connected with the main oil filter 18 in series and then is combined with the overflow valve 20 in parallel, and then is connected with the pump system 16 and the oil return filter 21 in series to form a power source, the maximum working pressure of the system is controlled through the overflow valve 20, the system fault caused by the excessive pressure is prevented, the trend of oil is switched through the oil way control valve 19, and when the system does not work, the oil return tank can be switched, so that excessive power loss is avoided.
Fig. 5 is a schematic diagram of a centered accumulator control valve set assembly. The centering accumulator control valve group 2 consists of an accumulator communication valve 22, a centering pressure control valve 23, an accumulator connection port AC is connected with a centering accumulator 4, a pressure measuring port CY1 is connected with a centering pressure sensor 3 for testing centering pressure, a centering port DZ oil port for connecting a steering centering mechanism is positioned between the accumulator communication valve 22 and the centering pressure control valve 23, the centering pressure control valve 23 and the accumulator communication valve 22 are sequentially arranged between an oil inlet P of the centering accumulator control valve group 2 and the accumulator connection port AC, when the centering pressure is in normal operation, the system detects the centering pressure in real time, when the centering pressure can not meet the actual use requirement, the system controls the centering pressure control valve 23 to supply power, the centering accumulator 4 is connected with a power source 1, the centering pressure control valve 23 is powered off after the centering accumulator 4 is pressurized until the system use requirement is met, the centering accumulator communication valve 22 is a two-position two-normally-open electromagnetic valve, and the centering accumulator 4 is connected with the steering cylinder centering structure through the electromagnetic valve under normal conditions, the steering cylinder and the hydraulic pressure impact is not only effectively centered, but also can provide buffer when the cylinder pressure impact is large.
Fig. 6 is a schematic diagram of a proportional steering control valve group, the proportional steering control valve group 5 comprises a proportional flow control valve 24, a three-position four-way fluid supplementing valve 25, a fluid supplementing valve one-way valve 26 and a control valve one-way valve 27, the control valve one-way valve 27 is connected in series at the oil return port of the proportional flow control valve 24, the fluid supplementing valve one-way valve 26 is connected in series at the oil return port of the three-position four-way fluid supplementing valve 25, the steering cylinder is controlled by controlling the reversing of the proportional flow control valve 24, the three-position four-way fluid supplementing valve 25 is connected with the proportional flow control valve 24 in parallel, a system oil conveying channel is increased, and the oil flow is supplemented when the emergency steering is provided.
Fig. 7 is a schematic diagram of an emergency energy storage valve bank, which comprises a one-way valve 28, a pressure relief safety valve 29, a safety overflow valve 30 and an emergency stop valve 31, wherein the emergency stop valve 31 is arranged between an oil inlet P and an oil supply port P1; an emergency stop valve 31, a parallel structure of a pressure relief safety valve 29 and a safety relief valve 30, and a check valve 28 are sequentially arranged between the oil supply port P1 and the oil return port T; the system comprises an oil supply port P1, an energy accumulator connector AC and a pressure measuring port MP, wherein the energy accumulator connector AC is connected with an emergency energy accumulator 15 when in use, the oil supply port P1 is connected with a stop valve 12 in series and then is connected with a system main pressure oil duct, the pressure measuring port MP is connected with an emergency pressure sensor 13, a safety relief valve 30 is used for setting pressure equal to or slightly higher than the highest working pressure required by the system, a pressure relief safety valve 29 is used for cutting off electricity when the system works, an emergency stop valve 31 is used for supplying electricity and is used for charging the emergency energy accumulator 15, when the pressure measured by the emergency pressure sensor 13 meets the pressure required by the system, the emergency stop valve 31 is used for locking in a power losing mode, the emergency system is charged, and when the system power source 1 cannot work normally or the system needs to turn, the stop valve 12 is used for electrically connecting the emergency energy accumulator 15 with the system main pressure oil duct, and supplying emergency pressure for the system. The emergency shut-off valve 31 is typically a two-position two-way normally-closed solenoid valve, the pressure relief valve 29 is typically a two-position two-way normally-open solenoid valve, and the shut-off valve 12 is typically a two-position two-way normally-closed solenoid valve.
As shown in fig. 8-9, the system uses a high-pressure pump driven by a motor or an engine power take-off as a power source to provide high-pressure power, uses a steering cylinder as an executive component, controls the extension or contraction of a piston rod of the steering cylinder through a functional valve group to realize vehicle steering, and realizes detection and closed-loop control of a steering angle through a sensor system. In the system adjusting process, whether the system works normally or not is judged by monitoring a vehicle running speed signal, a steering wheel angle signal, a wheel angle signal, pressure signals of all parts of the system and the like, if the system works normally, whether the rotation speed of a motor or an engine power take-off port reaches the use requirement or not is checked, if the motor or the engine power take-off port reaches the use requirement, a control valve group charges and discharges oil to a steering cylinder, the wheel angle signal and working pressure signals of all positions are collected in real time, if the rotation speed of the motor or the engine power take-off port does not reach the use requirement, an emergency steering system is started, a compensating pressure is provided for the system by using an energy accumulator, normal work is ensured, whether the working pressure and the wheel angle meet the use requirement or not is further judged, if the target position is reached, an automatic centering function is executed, steering is finished, and if the target position is not reached, the oil charging and discharging of the steering cylinder is continuously regulated until the requirement is met. In addition, as the rear wheel steering angle has direct influence on the turning radius, and the turning radius of the vehicle is inversely proportional to the centrifugal force born by the vehicle body during turning, the larger the centrifugal force is, the larger the vehicle body side inclination angle is, so that dangerous situations such as rollover and the like are possibly generated, aiming at the situation, an inclination angle sensor is arranged near the center of mass position of the vehicle body and used for monitoring the vehicle body side inclination angle during turning of the vehicle, the rear wheel steering angle needs to be reduced along with the increase of the vehicle body side inclination angle as a feedback signal of the rear wheel steering angle, the threshold value of the vehicle body side inclination angle is not larger than 6 degrees, and the closed-loop control is carried out on the rear wheel steering angle, so that the safety and the stability of the vehicle in the running process can be effectively improved.
For multi-axle heavy-duty vehicles, the vehicle speed is typically no more than 25km/h when the system is used for rear-wheel steering, and the rear-wheel steering operation is not performed after the speed exceeds 25km/h to ensure that the vehicle running safety system is locked.
The system of the invention can be added with the nested steering cylinder and the corresponding components according to actual needs, and the invention is described in different combination modes.
Embodiment one: steering system with single oil cylinder and automatic centering and emergency starting functions
Fig. 3 is a schematic diagram and a steering system composition with automatic centering and emergency starting functions for a single oil cylinder, wherein an oil outlet A of a power source 1 is connected with an oil inlet P of a proportional steering control valve group 5 of the oil cylinder, a system pressure sensor 11 is connected in parallel at the oil outlet A of the power source 1, a centering pressure sensor 3 and a centering energy accumulator 4 are connected in parallel and respectively connected to a pressure measuring port CY1 port and an energy accumulator connecting port AC port of the centering energy accumulator control valve group 2, an oil inlet P of the centering energy accumulator control valve group 2 is connected with the oil outlet A of the power source 1, a centering port DZ port is connected with a centering oil port DZ1 of a nested steering oil cylinder I6, and automatic centering of steering is realized through back pressure provided by the centering energy accumulator 4; the control cylinder shrinkage port SS1 of the first-proportion steering control valve group 5 of the oil cylinder is connected with the shrinkage control cavity of the first nested steering cylinder 6, and the control cylinder extension port SC1 of the first-proportion steering control valve group 5 of the oil cylinder is connected with the extension control cavity of the first nested steering cylinder 6 for realizing the steering function;
the emergency pressure sensor 13 and the emergency accumulator 15 are connected in parallel, the emergency pressure sensor MP end and the accumulator AC end of the emergency energy storage valve bank 14 are respectively connected, the oil inlet P of the emergency energy storage valve bank 14 is connected with the oil outlet A of the power source 1 to provide high-pressure oil, the oil return port T of the emergency energy storage valve bank 14 is connected with the oil return port T of the power source 1 to relieve pressure, the oil supply port P1 of the emergency energy storage valve bank 14 is connected with the oil inlet P of the oil cylinder one-proportion steering control valve bank 5 to provide emergency steering pressure for the steering oil cylinder, and the emergency pressure sensor 13 is used for monitoring whether the pressure of the emergency accumulator 15 meets the pressure required by vehicle emergency steering.
It should be noted that, the principle of the proportional steering control system with the automatic centering and emergency starting functions of the single oil cylinder and the multiple oil cylinders is the same, each oil cylinder can independently control the steering of one axle, and for a multi-axle vehicle, the use requirement can be met only by correspondingly increasing the number of the proportional steering control valve groups and the steering oil cylinders.
The system is provided with an emergency starting function, namely when the system power source 1 cannot provide working pressure required by vehicle steering (the working pressure is related to vehicle load, tire model, steering mechanism arrangement and steering cylinder inner diameter, and different vehicle pressures are different), the emergency energy accumulator valve group 14 controls the emergency energy accumulator 15 to replace the power source 1 to provide energy to the system.
When the system is initially put into use, the power source 1 pressurizes the emergency energy accumulator 15 to the normal working pressure of the system through the emergency energy accumulator valve bank 14, the emergency energy accumulator valve bank 14 is disconnected, after the system is subsequently put into use, the emergency pressure sensor 13 is detected at each time when the vehicle is electrified, and when the emergency pressure is lower than the normal working pressure of the system, the power source 1 pressurizes the emergency energy accumulator 15 through the emergency energy accumulator valve bank 14.
When the emergency starting is carried out, the system power source 1 is judged to be incapable of providing the working pressure required by the steering of the vehicle through the acquisition system pressure sensor 11, and the emergency accumulator valve group 14 is controlled through the controller at the moment, so that the emergency accumulator 15 is used for pressurizing the system instead of the power source 1, the smooth steering action is ensured, and meanwhile, the fault is reported to the upper computer.
Compared with the traditional system, the system has an emergency starting function and an automatic centering function, wherein the automatic centering function is that after turning is completed, a centering energy accumulator 4 integrated in the system pushes a piston rod of a nested steering cylinder I to reset to realize a rapid centering function, or in order to ensure the running safety of a vehicle, vehicle roll acceleration is calculated by collecting a vehicle speed signal and combining the gravity center position of the vehicle and the rotation angle of a basic steering shaft, and when the calculated roll acceleration is larger than the roll acceleration for safe running of the vehicle, the wheels of other steering shafts are automatically centered by controlling a centering energy accumulator control valve group 2 and an oil cylinder one-dimensional steering control valve group 5, and the active steering is changed into the follow-up steering, so that the roll risk of the vehicle with a high-speed small turning radius is reduced.
The following describes a specific process of automatic centering using the nested steering cylinder shown in fig. 10 as an example:
nested steering shown in FIG. 10The oil cylinder specifically comprises a base 45, a centering oil cylinder 46, a fixed rod 47, a piston 42, a steering oil cylinder 48, an oil port welding seat 49, a floating piston 43, a guide sleeve 50 and a piston rod 44. The base 45 is fixedly connected with the centering cylinder 46, a hollow fixing rod 47 is assembled on one side of the base 45 facing the centering cylinder 46, the hollow piston 42 is fixedly connected with the piston rod 44, a blind hole is formed in the center of one side, connected with the piston 42, of the piston rod 44, the free end of the fixing rod 47 is inserted into the inner hole of the piston 42 and the blind hole of the piston rod 44 and is arranged in the centering cylinder 46, and further a first extending oil cavity 34 is formed among the base 45, the centering cylinder 46, the outer wall of the fixing rod 47 and the piston 42, and a fourth centering oil cavity 36 is formed by the inner hole of the fixing rod 47 and the blind hole in the piston rod 44; one end of the steering cylinder 48 is fixedly connected with the other end of the centering cylinder 46 opposite to the base 45, the other end of the steering cylinder 48 is fixedly connected with the guide sleeve 50, an annular boss is processed on the inner wall surface of the steering cylinder 48, the floating piston 43 is of an annular structure with a stepped section, wherein a small-diameter excircle penetrates through an annular boss center hole of the steering cylinder 48, and a large-diameter excircle is matched with the inner wall surface of the steering cylinder 48, so that a fifth extending oil cavity 37 is formed between the inner wall surface of the steering cylinder 48 and the first end surface of the annular boss, and between the small-diameter excircle of the floating piston 43 and the annular end surface at the step; the free end of the piston rod 44 sequentially passes through the central through hole of the small-diameter outer circular end surface of the floating piston 43 and the central hole of the guide sleeve 50, so that a third centering oil cavity 38 is formed among the guide sleeve 50, the piston rod 44, the inner wall surface of the steering oil cylinder 48 and the large-diameter outer circular end surface of the floating piston 43, and a second shrinkage oil cavity 35 is formed between the end surface of the piston 42 and the annular boss of the steering oil cylinder 48; the outer wall of the steering cylinder 48 is radially provided with three through holes serving as oil inlets, three oil port welding seats 49 are respectively fixed in the three through holes on the outer wall of the steering cylinder 48 in a threaded or welded mode and are respectively communicated with the third centering oil cavity 38, the fifth extending oil cavity 37 and the second contracting oil cavity 35, a first extending oil cavity oil inlet 33 and a first extending oil cavity runner 54 are arranged on the base 45 and are used for being communicated with the first extending oil cavity 34, and a fourth centering oil cavity oil inlet 32 is arranged on the base 45 and is used for being communicated with the fourth centering oil cavity 36. The fixed rod 47 and the base 45 are matched with a static seal groove and an opposite circular through hole which are processed on the circumference surfaceThe through-hole is coaxial with the fourth central oil chamber oil inlet 32 in the circumferential direction of the base 45 and is equipped with an elastic cotter pin which can serve as both axial and circumferential positioning of the fixing rod 47, and a static seal ring is fitted in a static seal groove in the upper circumferential surface of the fixing rod 47. A stepped through hole is formed in the axial center of the piston 42 perpendicularly to the end face, and a piston rod 44 is coaxially assembled in the stepped hole with a large diameter, and the piston rod 44 is connected to the piston 42 by screw threads or welding. Separate oil lines exist in first extension oil chamber 34, second contraction oil chamber 35, and fifth extension oil chamber 37 for controlling the oil pressure inside the oil chambers, and third centering oil chamber 38 and fourth centering oil chamber 36 are connected by piping and with an external accumulator that provides centering initial pressure P 0 。
The automatic centering process is specifically as follows:
the proportional flow control valve 24 of the cylinder-to-steering control valve group 5 is powered off, the proportional flow control valve 24 is in the middle position, the first extension oil cavity 34 and the fifth extension oil cavity 37 are connected with system oil return through the oil port SC1, the second contraction oil cavity 35 is connected with system oil return through the oil port SS1, the pressure of the first extension oil cavity 34, the fifth extension oil cavity 37 and the second contraction oil cavity 35 is relieved, the fourth centering oil cavity 36 and the third centering oil cavity 38 are connected with the centering accumulator 4 through the DZ port of the centering accumulator control valve group 2, pressure oil is injected into the steering cylinder fourth centering oil cavity 36 and the third centering oil cavity 38, the pressure oil injected into the third centering oil cavity 38 drives the floating piston 43 to move in the direction of contracting oil inlet cylinder, the fifth extension oil cavity 37 is assisted to relieve pressure, the pressure oil injected into the fourth centering oil cavity 36 drives the piston 42 and a piston rod 44 connected with the piston rod 44 to move out of the extending cylinder, and the pressure of the second contraction oil cavity 35 is assisted to relieve pressure, and the pressure difference exists between the sections of the fourth centering oil cavity 36 and the third centering oil cavity 38, and the steering cylinder is limited by the pressure difference of the steering cylinder is stopped when the floating piston 43 is pushed to the inside the steering cylinder, and the steering cylinder is limited inside the steering cylinder is limited by the steering inside the steering cylinder.
The steering process of the steering system according to the present invention is specifically described as follows:
the fourth centering oil cavity oil inlet 32 is connected with the third centering oil cavity oil inlet 39 in parallel and then is connected with the DZ oil port of the centering energy accumulator control valve bank 2, the first extending oil cavity oil inlet 33 is connected with the fifth extending oil cavity oil inlet 40 in parallel and then is connected with the SC1 port of the oil cylinder proportional steering control valve bank 5, and the second contracting oil cavity oil inlet 41 is connected with the SS1 port of the oil cylinder proportional steering control valve bank 5.
When the steering device works normally, the oil flow direction and the oil flow rate are switched through the oil cylinder-proportion steering control valve group 5, the power provided by the power source 1 is transmitted to the steering oil cylinder to shrink or stretch out, and the vehicle steering mechanism is driven through shrinkage or stretching out of the steering oil cylinder, so that the purpose of controlling the steering of the vehicle is achieved.
The specific working process is as follows:
working condition 1: the piston rod 44 is contracted
The proportional flow control valve 24 of the first proportional steering control valve group 5 of the oil cylinder is electrified and switched to be connected with an oil port of the SS1 for discharging oil, the oil enters a second shrinkage oil cavity 35 of the steering oil cylinder through an SS1 port of the first proportional steering control valve group 5 of the oil cylinder, meanwhile, a first extension oil cavity 34 and a fifth extension oil cavity 37 of the steering oil cylinder are connected with system oil return through an SC1 port of the first proportional steering control valve group 5 of the oil cylinder, the pressure of the first extension oil cavity 34 and the fifth extension oil cavity 37 is relieved, and the pressure oil entering the second shrinkage oil cavity 35 of the steering oil cylinder drives a piston 42 and a piston rod 44 connected with the piston to move towards the direction in the shrinkage oil cylinder;
the specific course of motion is analyzed as follows:
the hydraulic oil flows into the second contracting oil chamber 35 through the second contracting oil chamber oil inlet 41, the oil pressure P in the second contracting oil chamber 35 is raised, when P is more than P 0 When the oil pushes the piston 42 to retract, the fourth centering oil chamber 36 is reduced in volume, the third centering oil chamber 38 is increased in volume, the floating piston 43 is pushed leftwards, and the piston rod 44 is driven by the piston 42 to retract.
Working condition 2: the piston rod 44 is extended
The proportional flow control valve 24 of the oil cylinder one-proportion steering control valve group 5 is electrified and switched to be connected with the SC1 port for discharging oil, the oil flows into the fifth extending oil cavity 37 through the SC1 port of the oil cylinder one-proportion steering control valve group 5 and flows into the first extending oil cavity 34 through the first extending oil cavity oil inlet 40 and flows into the first extending oil cavity 34 through the first extending oil cavity flow channel 54 through the first extending oil cavity oil inlet 33, meanwhile, the second contracting oil cavity 35 of the steering oil cylinder is connected with system oil return through the SS1 port of the oil cylinder one-proportion steering control valve group 5, the pressure of the second contracting oil cavity 35 is relieved, and the pressure oil entering the first extending oil cavity 34 and the fifth extending oil cavity 37 of the steering oil cylinder drives the floating piston 43, the piston 42 and the piston rod 44 connected with the floating piston 42 to move towards the direction outside the extending oil cylinder.
The specific course of motion is analyzed as follows:
the oil pressure P in fifth extension oil chamber 37 and first extension oil chamber 34 increases, when P > P 0 When the floating piston 43 and the piston 42 are pushed, because the cross-sectional area of the floating piston 43 is smaller than that of the piston 42, the floating piston 43 moves before the piston 42, and the piston 42 moves to push the piston rod 44 to extend, so that the condition that the piston rod 44 extends is realized, wherein the floating piston 43 can move relative to the piston rod 44.
Embodiment two: steering system with double oil cylinders and automatic centering and emergency starting functions
Fig. 1 is a schematic diagram and composition of a proportional steering control system with automatic centering and emergency starting functions for a double oil cylinder, which is different from the first embodiment in that a nested steering oil cylinder two 9 and an oil cylinder two proportional steering control valve group corresponding to the nested steering oil cylinder two 9 are added, and the connection relationship and the working principle are unchanged, specifically: the P oil inlets of the first-proportion steering control valve group 5 and the second-proportion steering control valve group 10 of the oil cylinder are respectively connected with an A oil outlet of the power source 1, a control oil cylinder shrinkage port SS1 of the first-proportion steering control valve group 5 of the oil cylinder is connected with a shrinkage control cavity of the first nested steering oil cylinder 6, a control oil cylinder elongation port SC is connected with an extension control cavity of the first nested steering oil cylinder 6, a control oil cylinder shrinkage port SS2 of the second-proportion steering control valve group 10 of the oil cylinder is connected with a shrinkage control cavity of the second nested steering oil cylinder 9, and the control oil cylinder elongation port SC is connected with the extension control cavity of the second nested steering oil cylinder 9 to respectively control extension and shrinkage of piston rods of the first and second nested steering oil cylinders 6 and 9 to achieve the purpose of controlling steering of a vehicle. The centering pressure sensor 3 and the centering accumulator 4 are connected in parallel and are respectively connected to a pressure measuring port CY1 port and an accumulator connecting port AC port of the centering accumulator control valve bank 2, an oil inlet P of the centering accumulator control valve bank 2 is connected with an oil outlet A of the power source 1, a centering port DZ port is respectively connected with centering oil ports DZ1 and DZ2 of the nested steering cylinder I6 and the nested steering cylinder II 9, the purpose of automatic centering of steering is achieved through back pressure provided by the centering accumulator 4, and an accumulator communicating valve 22 is arranged between the centering port DZ ends of the centering accumulator 4 and the centering accumulator control valve bank 2 and is usually a two-position normally open electromagnetic valve. The centering pressure sensor 3 is used for monitoring whether the pressure of the centering accumulator 4 meets the pressure required by automatic centering of the vehicle, when the pressure is lower than the pressure required by the centering, the centering pressure control valve 23 in the centering accumulator control valve group 2 is opened, the power source 1 is connected to charge the centering accumulator 4 until the pressure meets the centering pressure of the vehicle, and the centering pressure control valve 23 is usually a two-position normally closed electromagnetic valve.
The emergency pressure sensor 13 and the emergency accumulator 15 are connected in parallel and are respectively connected with the pressure sensor connection port MP end and the accumulator connection port AC end of the emergency energy storage valve bank 14, the oil inlet P of the emergency energy storage valve bank 14 is connected with the oil outlet A of the power source 1 to provide high-pressure oil, the oil return port T is connected with the oil return port T of the power source 1 to relieve pressure, and the oil supply port P1 is connected with the oil inlets P of the first-proportion steering control valve bank 5 and the second-proportion steering control valve bank 10 of the oil cylinder to provide emergency steering pressure for the steering oil cylinder. The emergency pressure sensor 13 is used for monitoring whether the pressure of the emergency accumulator 15 meets the pressure required by the emergency steering of the vehicle, when the pressure is lower than the pressure required by the emergency steering, the emergency stop valve 31 in the emergency energy storage valve group 14 is opened, and the power source 1 is connected to charge the emergency accumulator 15 until the pressure meets the emergency steering pressure of the vehicle. During normal operation of the system, the pressure relief valve 29 in the emergency accumulator valve block 14 is in the charged shut-off state.
According to the actual vehicle steering requirement, the number of the oil cylinders can be increased or decreased, and a plurality of integrated control valves can be combined at will according to the actual requirement by a person skilled in the art to realize steering adjustment.
Embodiment III: steering system with double oil cylinders only having automatic centering function
Fig. 2 is a schematic diagram of a steering system with only an automatic centering function for a double cylinder. The working process is the same as that of the steering system with the automatic centering and emergency starting functions of the double oil cylinders shown in fig. 1, and the difference is that a stop valve 12, an emergency pressure sensor 13, an emergency energy storage valve bank 14 and an emergency energy storage device 15 are not arranged.
It should be noted that the steering system arrangement according to the invention can be mounted on different types of vehicles in the manner described above, and that the system can comprise one or more steering cylinders and corresponding hydraulic control valve sets according to the needs of the vehicle use, and that various modifications and changes can be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A steering system with automatic centering and emergency starting functions, characterized in that: comprises a power source (1), a centering energy accumulator control valve group (2), a centering pressure sensor (3), a centering energy accumulator (4), an oil cylinder one-proportion steering control valve group (5), a nested steering oil cylinder one (6), a system pressure sensor (11), a stop valve (12), an emergency pressure sensor (13), an emergency energy storage valve group (14) and an emergency energy accumulator (15),
the power source (1) is used for providing the pressure and flow required by the hydraulic system,
the first nested steering cylinder (6) is an actuating mechanism and is connected with the vehicle steering mechanism for realizing steering and centering of the vehicle, the first nested steering cylinder (6) is controlled by the first cylinder proportional steering control valve group (5), and the first nested steering cylinder (6) comprises a centering oil cavity, an extending oil cavity and a contracting oil cavity;
the centering energy accumulator (4) provides centering power for the nested steering cylinder I (6) through the centering energy accumulator control valve group (2); the centering energy accumulator (4) stores energy from the power source (1) to the centering energy accumulator (4) through the centering energy accumulator control valve group (2), and when the centering pressure sensor (3) detects that the oil outlet pressure of the centering energy accumulator (4) is smaller than a threshold value, the centering energy accumulator control valve group (2) controls the power source (1) to store energy to the centering energy accumulator (4);
the emergency accumulator (15) is used for replacing the power source (1) to provide energy when the power source (1) cannot provide the working pressure required by the steering of the vehicle; the emergency energy accumulator (15) is pressurized by the power source (1) through the emergency energy storage valve group (14);
the emergency pressure sensor (13) is used for measuring the emergency pressure of the emergency energy accumulator (15), and when the emergency pressure is lower than the normal working pressure of the system, the power source (1) stores energy for the emergency energy accumulator (15); when the emergency pressure is higher than the normal working pressure of the system, the power source (1) stops storing energy to the emergency energy accumulator (15);
the system pressure sensor (11) is connected in parallel at the oil outlet A of the power source (1) and is used for measuring the oil outlet pressure of the power source (1).
2. A steering system with automatic centering and emergency starting function according to claim 1, wherein: the power source (1) comprises a pump system (16), a one-way valve (17) for a pump, a main oil filter (18), an oil way control valve (19), an overflow valve (20) and an oil return filter (21); the specific connection relation is that a valve bank oil outlet A of a power source (1) is connected with oil inlets P of other valve banks in the system, a valve bank oil return port T of the power source (1) is connected with oil return ports T of other valve banks in the system, the valve bank oil return port T of the power source (1) is connected with an oil return filter (21), a main oil filter (18) is connected with an oil way control valve (19) in series and then is combined with an overflow valve (20) in parallel, and two ends of an oil inlet and outlet way of the parallel combination are respectively connected with a pump system (16) and the oil return filter (21) to form the power source; wherein the pump system (16) is connected with the main oil filter (18) through a one-way valve (17) for the pump.
3. A steering system with automatic centering and emergency starting function according to claim 2, characterized in that: the pump system (16) is an electric pump system that drives a high pressure oil pump by an electric motor, or connects the high pressure pump to a power take-off port of a vehicle engine or transmission.
4. A steering system with automatic centering and emergency starting function according to claim 2, characterized in that: the oil way control valve (19) is a two-position three-way valve, an oil inlet of the two-position three-way valve is connected with an outlet of the main oil filter (18), a low-pressure oil outlet is connected with an oil return opening T of the valve bank and an oil return filter (21), and a high-pressure oil outlet is connected with an oil outlet A of the valve bank.
5. A steering system with automatic centering and emergency starting function according to claim 1, wherein: the emergency energy storage valve bank (14) comprises a one-way valve (28), a pressure relief safety valve (29), a safety overflow valve (30) and an emergency stop valve (31), wherein the emergency stop valve (31) is arranged between an oil inlet P and an oil supply port P1 of the emergency energy storage valve bank (14), the emergency stop valve (31), a parallel structure formed by the pressure relief safety valve (29) and the safety overflow valve (30) and the one-way valve (28) are sequentially arranged between the oil supply port P1 and an oil return port T of the emergency energy storage valve bank (14); the oil supply port P1 of the emergency energy storage valve group (14), the energy storage device connection port AC and the pressure measuring port MP are communicated, the oil supply port P1 is connected with the main pressure oil duct of the system after being connected with the stop valve (12) in series, the pressure measuring port MP is connected with the emergency pressure sensor (13), and the pressure of the safety overflow valve (30) is set to be equal to or slightly higher than the highest working pressure required by the system;
the oil inlet P is positioned between the parallel structures of the emergency stop valve (31), the pressure relief safety valve (29) and the safety overflow valve (30), the oil return port T is connected with the oil outlet of the one-way valve (28), the oil supply port P1, the accumulator connection port AC and the pressure measuring port MP are communicated and then connected with the oil outlet of the emergency stop valve (31), and the accumulator connection port AC is connected with the emergency accumulator (15) during use.
6. A steering system with automatic centering and emergency starting function according to claim 1, wherein: the centering energy accumulator control valve group (2) consists of an energy accumulator communication valve (22) and a centering pressure control valve (23), wherein the energy accumulator communication valve (22) and the centering pressure control valve (23) are two-position two-way valves, a connecting port AC is connected with a centering energy accumulator (4), a pressure measuring port CY1 is connected with a centering pressure sensor (3) for testing centering pressure, an oil inlet P is connected with an oil outlet A of a power source (1), and a centering port DZ is connected with a centering oil cavity of a nested steering oil cylinder I (6); a centering pressure control valve (23) and an energy accumulator communication valve (22) are sequentially arranged between an oil inlet P and a connecting port AC of the centering energy accumulator control valve group (2), and a centering port DZ oil port for connecting the nested steering cylinder I (6) is positioned between the energy accumulator communication valve (22) and the centering pressure control valve (23).
7. A steering system with automatic centering and emergency starting function according to claim 1, wherein: the oil cylinder one-proportion steering control valve group (5) comprises a proportion flow control valve (24), a three-position four-way fluid supplementing valve (25), a fluid supplementing valve one-way valve (26) and a control valve one-way valve (27), wherein the proportion flow control valve (24) is connected with the three-position four-way fluid supplementing valve (25) in parallel, and oil inlets of the proportion flow control valve (24) and the three-position four-way fluid supplementing valve (25) are connected with an oil inlet P of the valve group in parallel; an oil return port of the proportional flow control valve (24) behind the serial control valve check valve (27) is connected in parallel with an oil return port of the three-position four-way fluid supplementing valve (25) behind the serial fluid supplementing valve check valve (26) and is connected with an oil return port T of the valve group; the two oil outlets of the proportional flow control valve (24) and the two oil outlets of the three-position four-way fluid supplementing valve (25) are respectively connected in parallel and then connected with the SS1 and SC1 oil ports of the valve group in series, a control oil cylinder shrinkage port SS1 of the oil cylinder one-proportion steering control valve group (5) is connected with a shrinkage oil cavity of the nested steering oil cylinder one (6), a control oil cylinder extension port SC1 of the oil cylinder one-proportion steering control valve group (5) is connected with an extension oil cavity of the nested steering oil cylinder one (6), and the three-position four-way fluid supplementing valve (25) plays a redundant control role as a supplementary control valve of the proportional flow control valve (24);
the three-position four-way fluid supplementing valve (25) is used as a supplementary control valve of the proportional flow control valve (24) to play a redundant control role, namely when the system finds that the proportional flow control valve (24) fails and the flow direction of the oil cannot be switched normally and the flow is controlled, the system controls the three-position four-way fluid supplementing valve (25) to complete the extending or contracting action of the oil cylinder, so that the running safety of the vehicle is ensured.
8. A steering system with automatic centering and emergency starting function according to claim 1, wherein: the nested steering cylinder I (6) comprises a base (45), a centering cylinder (46), a fixed rod (47), a piston (42), a steering cylinder (48), an oil port welding seat (49), a floating piston (43), a guide sleeve (50) and a piston rod (44); the base (45) is fixedly connected with the centering oil cylinder (46)A hollow fixed rod (47) is assembled on one side of the base (45) facing the centering oil cylinder (46), the hollow piston (42) is fixedly connected with the piston rod (44), a blind hole is formed in the center of one side, connected with the piston (42), of the piston rod (44), the free end of the fixed rod (47) is inserted into the inner hole of the piston (42) and the blind hole of the piston rod (44) and is arranged in the centering oil cylinder (46), and a first extending oil cavity (34) is formed among the base (45), the centering oil cylinder (46), the outer wall of the fixed rod (47) and the piston (42), and a fourth centering oil cavity (36) is formed by the inner hole of the fixed rod (47) and the blind hole in the piston rod (44); one end of a steering cylinder (48) is fixedly connected with the other end of a centering cylinder (46) opposite to a base (45), the other end of the steering cylinder (48) is fixedly connected with a guide sleeve (50), an annular boss is processed on the inner wall surface of the steering cylinder (48), a floating piston (43) is of an annular structure with a stepped section, wherein a small-diameter outer circle penetrates through an annular boss center hole of the steering cylinder (48), a large-diameter outer circle is matched with the inner wall surface of the steering cylinder (48), and a fifth extending oil cavity (37) is formed between the inner wall surface of the steering cylinder (48) and the first end surface of the annular boss, and between a small-diameter outer circle of the floating piston (43) and the annular end surface at the step; the free end of the piston rod (44) sequentially passes through a central through hole of the small-diameter outer circular end surface of the floating piston (43) and a central hole of the guide sleeve (50), so that a third centering oil cavity (38) is formed among the guide sleeve (50), the piston rod (44), the inner wall surface of the steering oil cylinder (48) and the large-diameter outer circular end surface of the floating piston (43), and a second shrinkage oil cavity (35) is formed between the end surface of the piston (42) and the annular boss of the steering oil cylinder (48); three through holes serving as oil inlets are radially formed in the outer wall of the steering oil cylinder (48), three oil port welding seats (49) are respectively fixed in the three radial through holes in the outer wall of the steering oil cylinder (48) in a threaded or welded mode and are respectively communicated with a third centering oil cavity (38), a fifth extending oil cavity (37) and a second contracting oil cavity (35), a first extending oil cavity oil inlet (33) and a first extending oil cavity runner (54) are formed in the base (45) and are used for being communicated with the first extending oil cavity (34), a fourth centering oil cavity oil inlet (32) is formed in the base (45) and is used for being communicated with the fourth centering oil cavity (36), a static seal groove and an opposite circular through hole are formed in the circumferential surface of the fixed rod (47) matched with the base (45), and the circular through hole is identical with the fourth centering oil cavity oil inlet (32) in the circumferential direction of the base (45)The shaft is provided with an elastic cotter pin which can be used for the axial and circumferential positioning of the fixed rod (47), and a static seal ring is arranged in a static seal groove on the upper circumferential surface of the fixed rod (47); a step-shaped through hole is processed at the axial center of the piston (42) perpendicular to the end face, a piston rod (44) is coaxially assembled in the step hole with a large diameter, and the piston rod (44) is connected to the piston (42) through threads or welding; the first extension oil chamber (34), the second contraction oil chamber (35) and the fifth extension oil chamber (37) are provided with separate oil pipes for controlling the oil pressure inside the oil chambers, and the third centering oil chamber (38) and the fourth centering oil chamber (36) are communicated by pipelines and are connected with an external accumulator, and the accumulator provides centering initial pressure P 0 。
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Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101724902B1 (en) * | 2015-09-15 | 2017-04-07 | 현대자동차주식회사 | Integrated power steering system for front wheel-rear wheel of vehicle and control method thereof |
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| DE3615740A1 (en) * | 1985-05-23 | 1986-11-27 | Zahnradfabrik Friedrichshafen Ag, 7990 Friedrichshafen | Multi-axle steering system |
| US5032997A (en) * | 1988-04-27 | 1991-07-16 | Nissan Motor Co., Ltd. | Fail-safe vehicle control system |
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| CN113911207A (en) | 2022-01-11 |
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