CN114789752A - Hydraulic steering system of unmanned vehicle and unmanned vehicle - Google Patents
Hydraulic steering system of unmanned vehicle and unmanned vehicle Download PDFInfo
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- CN114789752A CN114789752A CN202210466080.4A CN202210466080A CN114789752A CN 114789752 A CN114789752 A CN 114789752A CN 202210466080 A CN202210466080 A CN 202210466080A CN 114789752 A CN114789752 A CN 114789752A
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- servo
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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
- B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
- B62D5/12—Piston and cylinder
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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
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
Abstract
The application discloses unmanned vehicle's hydraulic steering system and unmanned vehicle. The hydraulic steering system comprises a power unit, a steering execution unit, an oil supplementing control valve and an energy accumulator. The power unit is provided with an oil supply port. The steering execution unit comprises a steering rod, a steering servo oil cylinder and a servo valve. The steering servo oil cylinder comprises a rod cavity and a rodless cavity. The servo valve is provided with a first oil port, a second oil port, a third oil port and a fourth oil port, the first oil port is connected with the rod cavity, the second oil port is connected with the rodless cavity, the third oil port is connected with the oil supply port, and the fourth oil port is connected with the oil tank. The oil supply control valve is arranged on an oil path between the third oil port and the oil supply port. And the oil-replenishing control valve is provided with a first oil-replenishing port and a second oil-replenishing port. The first oil supplementing port is connected with the oil supply port. The second oil supplementing port is connected with the third oil port. The oil supplementing control valve acts to control the first oil supplementing port and the second oil supplementing port to be communicated or disconnected. The energy accumulator is connected with the second oil supplementing port. The hydraulic steering system has higher steering control precision.
Description
Technical Field
The application relates to a hydraulic steering system of an unmanned vehicle and the unmanned vehicle.
Background
The four-wheel steering technology can improve the safety and the maneuverability of the vehicle in high-speed running. Most vehicles adopt the Ackerman steering technology, the rotating angles of the inner wheel and the outer wheel are different during the Ackerman steering, the turning radius of the inner side tire is smaller than that of the outer side tire, all the wheels conform to a natural motion track and roll around an instantaneous center in a circle mode, and the abrasion of the tires can be reduced. For a hydraulically driven steering system, achieving ackermann steering requires that each steering cylinder be individually actuated.
At present, a common hydraulic proportional valve is adopted in a hydraulic steering system, and a valve core of the common hydraulic proportional valve has a certain overlapping coverage amount on a valve port when in a neutral position, so that the overlapping coverage amount causes that the hydraulic proportional valve cannot respond to the movement of the valve core within a certain input signal range, and no corresponding pressure or flow is generated, so that the existence of the dead zone can seriously influence the stability and the dynamic characteristic of the hydraulic proportional valve. The hydraulic steering system generally adopts a common steering oil cylinder, and has the problems of low-speed crawling and low control precision; the existing communication mode of the hydraulic proportional valve and the steering oil cylinder has the problem that the steering wheel drifts due to the fact that the oil cylinder cannot be locked when the road surface obstacle is met.
It is noted herein that the statements in this background section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Disclosure of Invention
The application provides a hydraulic steering system and unmanned car of unmanned car to improve steering control's control accuracy.
The present application provides in a first aspect a hydraulic steering system for an unmanned vehicle, comprising:
a power unit having an oil supply port;
the steering execution unit comprises a steering rod, a steering servo oil cylinder and a servo valve, wherein the steering rod is used for being connected with wheels; the steering servo oil cylinder comprises a cylinder barrel and a piston rod which is telescopically arranged in the cylinder barrel, one of the cylinder barrel and the piston rod is connected with a steering rod, the other of the cylinder barrel and the piston rod is connected with the frame, and an inner cavity of the cylinder barrel comprises a rod cavity and a rodless cavity; the servo valve is provided with a first oil port, a second oil port, a third oil port and a fourth oil port, the first oil port is connected with the rod cavity, the second oil port is connected with the rodless cavity, the third oil port is connected with the oil supply port, and the fourth oil port is connected with the oil tank;
the oil supplementing control valve is arranged on an oil path between the third oil port and the oil supply port, the oil supplementing control valve is provided with a first oil supplementing port and a second oil supplementing port, the first oil supplementing port is connected with the oil supply port, the second oil supplementing port is connected with the third oil port, and the oil supplementing control valve acts to control the first oil supplementing port to be communicated with or disconnected from the second oil supplementing port; and
and the energy accumulator is connected with the second oil supplementing port.
In some embodiments, the hydraulic steering system further includes a controller coupled to the oil supply control valve and the servo valve and configured to control the oil supply control valve to actuate such that the first oil supply port and the second oil supply port are communicated to charge the accumulator, and to control the servo valve to actuate the steering servo cylinder upon receiving the steering signal.
In some embodiments, the hydraulic steering system further comprises a displacement sensor arranged in the steering servo oil cylinder, the displacement sensor is used for detecting the displacement of the piston rod in real time and feeding the displacement back to the controller, and the controller controls the opening degree of the valve port of the servo valve according to the displacement of the piston rod.
In some embodiments, the controller is configured to receive the turn signal through a remote control.
In some embodiments, the power unit comprises a hydraulic pump and an on-off valve, an oil outlet of the hydraulic pump is connected with the oil supply port, and an oil outlet of the hydraulic pump is connected with the oil tank through the on-off valve.
In some embodiments, the hydraulic steering system further includes a hydraulic lock and an unloading switch valve, the hydraulic lock is disposed between the steering servo cylinder and the servo valve, the unloading switch valve is disposed between the hydraulic lock and the oil tank, a first unloading oil port of the unloading switch valve is connected to the hydraulic lock, a second unloading oil port of the unloading switch valve is connected to the oil tank, and the unloading switch valve is actuated to control on and off between the first unloading oil port and the second unloading oil port.
In some embodiments, the hydraulic steering system further includes a high pressure filter, and the oil supply port of the power unit is connected to the first oil supply port of the oil supply control valve through the high pressure filter.
In some embodiments, the hydraulic steering system includes at least two steering actuators disposed in correspondence with the at least two wheels, and the power unit is configured to supply oil to the at least two steering actuators.
In some embodiments, the hydraulic steering system further comprises a pressure sensor for detecting the oil pressure of the accumulator.
The application provides an unmanned vehicle, including above-mentioned hydraulic steering system in the second aspect.
Based on the technical scheme that this application provided, hydraulic steering system adopts steering servo cylinder and servo valve to control the action of steering column to the realization is compared with ordinary proportional valve and ordinary hydro-cylinder among the prior art, and steering control accuracy is higher to the control of wheel steering. The improvement of the steering control precision enables the hydraulic steering system to achieve direction fine adjustment during high-speed driving, improves safety of unmanned vehicles during high-speed driving, and can effectively prevent uncontrolled drifting of the steering wheels. In addition, the steering execution unit of the hydraulic steering system is connected with the energy accumulator and the power unit, so that the energy accumulator serves as a first oil source to provide an oil source for the steering servo oil cylinder in the process of starting the power unit to build pressure, the time difference of pressure building of the power unit is further compensated, and power is provided for the steering servo oil cylinder in real time. On the other hand, when the power unit breaks down, the energy accumulator can also provide an oil source for the steering servo oil cylinder, and steering under an emergency working condition is realized.
Other features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a structural view of a hydraulic steering system of an unmanned vehicle according to an embodiment of the present application.
Fig. 2 is a control schematic diagram of a hydraulic steering system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …", "above … …", "above … …", "above", and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously positioned and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1, the hydraulic steering system of the unmanned vehicle according to the embodiment of the present application includes a power unit 6, a steering actuator, an oil replenishment control valve 9, and an accumulator 11. Wherein the power unit 6 has an oil supply port. The steering execution unit comprises a steering rod 2, a steering servo cylinder 3 and a servo valve 12. The steering rod 2 is used for connecting with the wheels. The steering servo cylinder 3 includes a cylinder tube and a piston rod telescopically arranged in the cylinder tube. One of the cylinder and the piston rod is connected with the steering rod 2, and the other of the cylinder and the piston rod is connected with the frame. The inner cavity of the cylinder barrel comprises a rod cavity and a rodless cavity. The servo valve 12 has a first port a, a second port B, a third port P, and a fourth port T, the first port a is connected to the rod chamber, the second port B is connected to the rodless chamber, the third port P is connected to the oil supply port, and the fourth port T is connected to the oil tank. The oil-replenishing control valve 9 is provided on the oil path between the third port and the oil supply port. And the oil-replenishing control valve 9 has a first oil-replenishing port and a second oil-replenishing port. The first oil supplementing port is connected with the oil supply port. The second oil supplementing port is connected with the third oil port. The oil supply control valve 9 acts to control the first oil supply port and the second oil supply port to be communicated or disconnected. The accumulator 11 is connected with the second oil supplementing port.
The hydraulic steering system of the embodiment of the application adopts the steering servo oil cylinder 3 and the servo valve 12 to control the action of the steering rod 2 so as to realize the control of the steering of the wheels, and compared with a common proportional valve and a common oil cylinder in the prior art, the steering control precision is higher. The improvement of the steering control precision enables the hydraulic steering system of the embodiment of the application to realize direction fine adjustment during high-speed running, improves the safety of high-speed running of the unmanned vehicle, and can effectively prevent uncontrolled drift of the steering wheel. In addition, the steering execution unit of the hydraulic steering system in the embodiment of the application is connected with the energy accumulator 11 and the power unit 6, so that in the process of starting the power unit 6 to build pressure, the energy accumulator 11 serves as a first oil source to provide an oil source for the steering servo oil cylinder, the time difference of building pressure of the power unit is further made up, and power is provided for the steering servo oil cylinder in real time. On the other hand, when the power unit breaks down, the energy accumulator 11 can also provide an oil source for the steering servo oil cylinder, and steering under an emergency working condition is realized.
In some embodiments, the hydraulic steering system includes at least two steering actuator units disposed corresponding to at least two wheels, and the power unit is configured to supply oil to the at least two steering actuator units.
As shown in fig. 1, in one particular embodiment, the drone vehicle includes four wheels. Correspondingly, the hydraulic steering system comprises four steering execution units which are arranged corresponding to the four wheels. Therefore, the steering of each wheel is independently controlled by the respective steering execution unit, so that the unmanned vehicle can be switched into front wheel steering or rear wheel steering in the running process, Ackerman steering and crab steering can be realized, and the maneuvering performance of the unmanned vehicle is improved.
Specifically, as shown in fig. 1, the power unit 6 provides an oil source for four steering actuator units. And the power unit 6 is connected to the two steering actuator units at the front end via an oil replenishment control valve 9 and an accumulator 11. The power unit 6 is connected to the two steering actuators at the rear end via a further oil replenishment valve 9 and a further energy accumulator 11.
The structure of each of the four steering actuator units is substantially the same, so only the structure of the steering actuator unit in which the steering control of the wheels 1 is performed will be described in detail below. As shown in fig. 1, the steering actuator unit includes a steering rod 2, a steering servo cylinder 3, a hydraulic lock 4, and a servo valve 12. The steering rod 2 is connected to the wheel 1. A cylinder barrel of the steering servo oil cylinder 3 is connected with the steering rod 2, a piston rod of the steering servo oil cylinder 3 is connected with the frame, and the steering servo oil cylinder 3 is connected with the servo valve 12 through the hydraulic lock 4. Specifically, a rod cavity of the steering servo cylinder 3 is connected with a first oil port a of the servo valve 12 through the hydraulic lock 4, and a rodless cavity of the steering servo cylinder 3 is connected with a second oil port B of the servo valve 12 through the hydraulic lock 4. The third port P of the servo valve 12 is connected to the accumulator 11 and to the power unit 6 through the oil replenishment control valve 9. The servo valve 12 is a directional valve and the servo valve 12 acts to control the steering servo cylinder 3. For example, when the servo valve 12 is in the left position, the first oil port a communicates with the third oil port P, so that the oil enters the rod chamber of the steering servo cylinder 3; when the servo valve 12 is in the right position, the second port B is communicated with the third port P, so that the oil enters the rodless chamber of the steering servo cylinder 3. The servo valve 12 is an electromagnetic servo valve, and is operable under the control of an electric signal received from a controller.
In some embodiments, referring to fig. 1, the hydraulic steering system further comprises an unloading on-off valve 5. The unloading switch valve 5 is arranged between the hydraulic lock 4 and the oil tank. A first unloading oil port of the unloading switch valve 5 is connected with the hydraulic lock 4. And a second unloading oil port of the unloading switch valve 5 is connected with the oil tank, and the unloading switch valve 5 acts to control the connection and disconnection between the first unloading oil port and the second unloading oil port. When the unmanned vehicle moves straight without turning, the unloading switch valve 5 is controlled to act to enable the first unloading oil port and the second unloading oil port to be communicated, so that a pressure oil path between the hydraulic lock 4 and the servo valve 12 is unloaded to an oil tank, the hydraulic lock is prevented from being opened by oil pressure when the oil cylinder is impacted by the ground, turning deviation is avoided, the turning servo oil cylinder is ensured to be locked, and the straight-line running of the vehicle is ensured.
In some embodiments, the hydraulic steering system further comprises a controller. The controller is coupled with the oil replenishing control valve 9 and the servo valve 12. And is configured to control the operation of the oil-replenishing control valve 9 such that the first oil-replenishing port and the second oil-replenishing port communicate to replenish the accumulator 11. And controls the servo valve 12 to operate so that the steering servo cylinder 3 operates, upon receiving the steering signal.
In some embodiments, the hydraulic steering system further comprises a pressure sensor 10 for detecting the oil pressure of the accumulator.
Therefore, when the oil pressure of the accumulator 11 detected by the pressure sensor 10 is below the set value, the oil supply control valve 9 is opened to communicate the first oil supply port with the second oil supply port, so that the oil supply port of the power unit 6 can be used for charging the accumulator 11, and after the oil pressure of the accumulator 11 reaches the set pressure value, the oil supply control valve 9 is closed. However, after receiving the steering signal, the servo valve 12 acts under the action of the electrical signal to control the steering servo cylinder 3 to act, at this time, the energy accumulator 11 can be used as a first oil source to provide oil for the steering servo cylinder 3, and after the power unit 6 is pressurized, the energy accumulator 11 and the energy accumulator 11 can supply oil for the steering servo cylinder 3 together.
In some embodiments, the hydraulic steering system further comprises a displacement sensor arranged in the steering servo cylinder 3. The displacement sensor is used for detecting the displacement of the piston rod in real time and feeding the displacement back to the controller. The controller controls the opening of the valve port of the servo valve 12 according to the displacement of the piston rod. The steering servo oil cylinder 3 is internally provided with a high-precision displacement sensor, the displacement is fed back to the controller in real time, and the controller receiving the feedback signal automatically adjusts the size of a valve port of the servo valve according to the difference value between the set value and the actual value, so that the telescopic length of the steering servo oil cylinder 3 is automatically adjusted, and the steering precision is improved.
In some embodiments, power unit 6 includes a hydraulic pump 61 and an on-off valve 62. An oil outlet of the hydraulic pump 61 is connected to the oil supply port. The outlet of the hydraulic pump 62 is connected to the oil tank via an on-off valve 62. Thus, when the hydraulic pump 61 is started, the on-off valve 62 is opened, so that the hydraulic pump 61 is started without load. After the start, the on-off valve 62 is closed, and the oil supply to the steering actuator is realized.
In some embodiments, the hydraulic steering system further comprises a high pressure filter 8. An oil supply port of the power unit 6 is connected to a first oil supply port of an oil supply control valve 9 through a high-pressure filter 8. The high-pressure filter 8 can effectively filter oil impurities and reduce the faults of the servo valve. And the high-pressure filter 8 is also provided with a bypass valve and a differential pressure signaling device, and has the function of blocking alarm.
In some embodiments, the controller is configured to receive the turn signal through a remote control. The remote controller is in wireless connection with the controller, and an operator sends a steering signal to the controller through the remote controller. For example, the remote control includes at least one of a handle, knob, or steering wheel, such that when the handle, knob, or steering wheel is dialed by an operator, the controller receives a signal to steer.
The embodiment of the application also provides an unmanned vehicle which comprises the hydraulic steering system.
The structure and control principle of the hydraulic steering system according to one embodiment of the present application will be described in detail with reference to fig. 1 and 2.
As shown in fig. 1, the hydraulic steering system of the unmanned vehicle according to the embodiment of the present application includes a wheel 1, a steering rod 2, a steering servo cylinder 3, a hydraulic lock 4, an unloading switch valve 5, a power unit 6, a high-pressure filter 8, an oil-replenishing control valve 9, a pressure sensor 10, an accumulator 11, and a servo valve 12.
The power unit 6 includes a hydraulic pump 61, a motor, an oil tank, an oil suction filter, a liquid level meter, an air filter, an overflow valve 63, and an on-off valve 62.
A cylinder barrel of a steering servo oil cylinder 3 is connected with a steering rod 2, a piston rod of the steering servo oil cylinder 3 is connected with a frame, a hydraulic lock 4 is arranged between the steering servo oil cylinder 3 and a servo valve 12, one end of an unloading switch valve 5 is arranged between the hydraulic lock 4 and the servo valve 12, and the other end of the unloading switch valve is connected with an oil tank.
The working process of the hydraulic steering system comprises the following steps: the motor drives the hydraulic pump 61 to output hydraulic oil, the switch valve 62 is in a normally open state, so that the power unit is started in a no-load state, after the power unit is started, the switch valve 62 is powered on, the oil supplementing control valve 9 is powered on at the same time, the energy accumulator 11 is filled with the oil, after the pressure set by the pressure sensor 10 is reached, the oil supplementing control valve 9 is powered off, the switch valve 62 is powered off and opened at the same time, then the pump stops running after no-load unloading, when the servo valve 12 receives a steering current signal, a valve port is opened, the energy accumulator 11 supplies the steering servo cylinder 3 with the oil first, the switch valve 62 is powered on, the power unit 6 and the energy accumulator 11 supply the steering servo cylinder 3 with the oil at the same time, the steering servo cylinder 3 pushes the steering rod 2, and the steering rod 2 drives the wheels 1 to rotate.
When the pressure sensor 10 detects that the pressure in the accumulator 11 is below a set value, the power unit 6 is started to supply oil to the accumulator 11, and the power unit 6 stops supplying oil until the pressure in the accumulator 11 reaches the set value.
The high-pressure filter 8 can effectively filter oil impurities, reduces the faults of the servo valve, is provided with a bypass valve and a pressure difference signaling device, and has the function of blocking alarm.
As shown in fig. 2, the controller of the present embodiment includes a servo controller and a vehicle controller. A high-precision displacement sensor is arranged in the steering servo oil cylinder 3, the displacement is fed back to a servo controller and a vehicle control unit in real time, and the servo controller receiving a feedback signal automatically adjusts the opening and closing size of a servo valve according to the difference value between a set value and an actual value, so that the telescopic length of the servo oil cylinder is automatically adjusted, and the steering precision is improved; the vehicle control unit receiving the feedback signal can convert the displacement signal into a corner signal and display the corner signal on a vehicle display screen.
When the servo valve 12 is electrified, the unloading switch valve 5 is closed all the time, when the steering handle returns to the middle position, the current signal of the servo valve 12 is zero, the wheel runs linearly, and the unloading switch valve 5 is electrified instantaneously, so that a pressure oil path between the hydraulic lock 4 and the servo valve 12 is unloaded to an oil tank, the hydraulic lock is prevented from being opened by oil pressure when the oil cylinder is impacted by the ground, the steering deviation is prevented, the servo oil cylinder can be locked, and the linear running of a vehicle is ensured.
As shown in fig. 2, the steering control process of the unmanned vehicle is as follows: and a steering instruction is sent to the vehicle control unit by dialing a handle of the remote controller. The whole vehicle controller sends an instruction to the servo controller through the CAN bus, the instruction signal is sent to the servo valve 12 by the servo controller, an electric-mechanical converter in the servo valve 12 converts an input electric signal into a mechanical quantity, a pilot-stage valve converts the mechanical quantity into hydraulic pressure to drive a main valve, and the main valve outputs flow and pressure. The magnitude of the current signal determines the output flow direction and magnitude of the main valve of the servo valve. The whole vehicle controller sends different steering instructions to the four servo controllers, and the four servo controllers respectively control the opening degrees of the four servo valves, so that front wheel steering, rear wheel steering, all wheel steering and crab steering can be realized. Meanwhile, signals of the displacement sensor are fed back to the vehicle control unit and the servo controller, target values and actual values of the extending lengths of the oil cylinders are compared in real time, and the servo controller adjusts the opening degree of each servo valve in real time to realize steering closed-loop control.
In conclusion, the hydraulic steering system of the embodiment can realize high-precision fine-adjustment steering during high-speed driving by adopting the servo valve and the servo steering oil cylinder, and the driving maneuverability and the safety performance of the whole vehicle are high. And the energy accumulator can realize the quick start of the steering servo oil cylinder and realize the emergency steering when the power unit fails.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present application and not to limit it; although the present application has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the specific embodiments of the application or equivalent replacements of some of the technical features may still be made; all of which are intended to be encompassed within the scope of the claims appended hereto without departing from the spirit and scope of the present disclosure.
Claims (10)
1. A hydraulic steering system for an unmanned vehicle, comprising:
a power unit (6) having an oil supply port;
the steering execution unit comprises a steering rod (2), a steering servo oil cylinder (3) and a servo valve (12), wherein the steering rod (2) is used for being connected with wheels; the steering servo oil cylinder (3) comprises a cylinder barrel and a piston rod which is telescopically arranged in the cylinder barrel, one of the cylinder barrel and the piston rod is connected with the steering rod (2), the other of the cylinder barrel and the piston rod is connected with a frame, and an inner cavity of the cylinder barrel comprises a rod cavity and a rodless cavity; the servo valve (12) is provided with a first oil port, a second oil port, a third oil port and a fourth oil port, the first oil port is connected with the rod cavity, the second oil port is connected with the rodless cavity, the third oil port is connected with the oil supply port, and the fourth oil port is connected with an oil tank;
the oil supplementing control valve (9) is arranged on an oil path between the third oil port and the oil supply port, the oil supplementing control valve (9) is provided with a first oil supplementing port and a second oil supplementing port, the first oil supplementing port is connected with the oil supply port, the second oil supplementing port is connected with the third oil port, and the oil supplementing control valve (9) acts to control the first oil supplementing port to be communicated with or disconnected from the second oil supplementing port; and
and the energy accumulator (11) is connected with the second oil supplementing port.
2. The hydraulic steering system of the unmanned vehicle of claim 1, further comprising a controller coupled to the oil replenishment control valve and the servo valve and configured to control the oil replenishment control valve to operate such that the first oil replenishment port and the second oil replenishment port are communicated to charge the accumulator, and to control the servo valve to operate such that the steering servo cylinder (3) operates after receiving a steering signal.
3. The hydraulic steering system of the unmanned vehicle of claim 2, further comprising a displacement sensor arranged in the steering servo cylinder (3), wherein the displacement sensor is used for detecting the displacement of the piston rod in real time and feeding back the displacement to a controller, and the controller controls the opening degree of the valve port of the servo valve (12) according to the displacement of the piston rod.
4. The unmanned vehicle hydraulic steering system of claim 2, wherein the controller is configured to receive the steering signal via a remote control.
5. The hydraulic steering system for an unmanned vehicle according to claim 1, wherein the power unit (6) comprises a hydraulic pump (61) and an on-off valve (62), an oil outlet of the hydraulic pump (61) is connected with the oil supply port, and an oil outlet of the hydraulic pump (61) is connected with an oil tank through the on-off valve (62).
6. The hydraulic steering system of the unmanned vehicle according to claim 1, further comprising a hydraulic lock (4) and an unloading switch valve (5), wherein the hydraulic lock (4) is arranged between the steering servo cylinder (3) and the servo valve (12), the unloading switch valve (5) is arranged between the hydraulic lock (4) and an oil tank, a first unloading oil port of the unloading switch valve (5) is connected with the hydraulic lock (4), a second unloading oil port of the unloading switch valve (5) is connected with the oil tank, and the unloading switch valve (5) acts to control on-off between the first unloading oil port and the second unloading oil port.
7. The hydraulic steering system for an unmanned vehicle according to claim 1, further comprising a high pressure filter (8), wherein the oil supply port of the power unit (6) is connected to the first oil supply port of the oil supply control valve (9) through the high pressure filter (8).
8. The hydraulic steering system for an unmanned vehicle according to claim 1, wherein the hydraulic steering system comprises at least two steering execution units provided corresponding to at least two wheels, and the power unit is configured to supply oil to the at least two steering execution units.
9. The hydraulic steering system for an unmanned vehicle according to claim 1, further comprising a pressure sensor (10) for detecting an oil pressure of the accumulator.
10. An unmanned vehicle comprising the hydraulic steering system according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210466080.4A CN114789752A (en) | 2022-04-29 | 2022-04-29 | Hydraulic steering system of unmanned vehicle and unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210466080.4A CN114789752A (en) | 2022-04-29 | 2022-04-29 | Hydraulic steering system of unmanned vehicle and unmanned vehicle |
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| CN114789752A true CN114789752A (en) | 2022-07-26 |
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| CN202210466080.4A Pending CN114789752A (en) | 2022-04-29 | 2022-04-29 | Hydraulic steering system of unmanned vehicle and unmanned vehicle |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE10245618A1 (en) * | 2002-09-30 | 2004-04-15 | Liebherr-Werk Ehingen Gmbh | Active rear-axle steering for a vehicular crane has steered rear-axles in pairs to trigger a rear-axle steering deflection electronically and to activate movement via hydraulic steering cylinders |
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| CN110371185A (en) * | 2019-04-04 | 2019-10-25 | 丰疆智能科技股份有限公司 | The automatically controlled steering hydraulic system of multi-mode and walking arrangement |
| US20190360173A1 (en) * | 2017-08-11 | 2019-11-28 | Komatsu Ltd. | Work vehicle |
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| DE10245618A1 (en) * | 2002-09-30 | 2004-04-15 | Liebherr-Werk Ehingen Gmbh | Active rear-axle steering for a vehicular crane has steered rear-axles in pairs to trigger a rear-axle steering deflection electronically and to activate movement via hydraulic steering cylinders |
| CN102019958A (en) * | 2010-12-06 | 2011-04-20 | 徐州重型机械有限公司 | Six-shaft automobile chassis crane and steering control system and method thereof |
| CN102030037A (en) * | 2010-12-06 | 2011-04-27 | 徐州重型机械有限公司 | Crane for eight-shaft automobile chassis, and steering control system and method of eight-shaft automobile chassis |
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| CN103465955A (en) * | 2013-09-24 | 2013-12-25 | 徐州重型机械有限公司 | Hydraulic control valve bank for locking steering shaft of crane, steering system and crane |
| US20190360173A1 (en) * | 2017-08-11 | 2019-11-28 | Komatsu Ltd. | Work vehicle |
| CN207526790U (en) * | 2017-11-13 | 2018-06-22 | 三一汽车制造有限公司 | Oil cylinder Load Relief System, anchoring vehicle and engineering machinery |
| CN109250657A (en) * | 2018-12-03 | 2019-01-22 | 江苏建筑职业技术学院 | A kind of aerial work platform steering system and control method |
| CN110371185A (en) * | 2019-04-04 | 2019-10-25 | 丰疆智能科技股份有限公司 | The automatically controlled steering hydraulic system of multi-mode and walking arrangement |
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