CN116552630A - Vehicle remote control steering system and control method - Google Patents

Vehicle remote control steering system and control method Download PDF

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Publication number
CN116552630A
CN116552630A CN202310585709.1A CN202310585709A CN116552630A CN 116552630 A CN116552630 A CN 116552630A CN 202310585709 A CN202310585709 A CN 202310585709A CN 116552630 A CN116552630 A CN 116552630A
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CN
China
Prior art keywords
valve
steering
port
remote control
flow
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310585709.1A
Other languages
Chinese (zh)
Inventor
李福生
李利民
杨俊�
邵可
徐晓勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MCC Baosteel Technology Services Co Ltd
Original Assignee
MCC Baosteel Technology Services Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MCC Baosteel Technology Services Co Ltd filed Critical MCC Baosteel Technology Services Co Ltd
Priority to CN202310585709.1A priority Critical patent/CN116552630A/en
Publication of CN116552630A publication Critical patent/CN116552630A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B62D5/09—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 means for actuating valves
    • B62D5/093—Telemotor driven by steering wheel movement
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/07—Supply of pressurised fluid for steering also supplying other consumers ; control thereof
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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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)

Abstract

The invention provides a vehicle remote control steering system which comprises a driving steering system, wherein the driving steering system comprises a steering device, a left steering limit electromagnetic valve, a right steering limit electromagnetic valve, a flow amplifying valve, a load sensitive pump and a steering cylinder, and further comprises a remote control steering system, the remote control steering system comprises a remote control steering valve group, a plurality of shuttle valves, a pressure sensor and a remote control panel, a function key is arranged on the remote control panel, the remote control panel is in communication connection with the remote control steering valve group, and the remote control steering valve group is connected into the driving steering system through the plurality of shuttle valves. The invention adds a remote control steering system on the existing manual steering system, and the two steering modes can be independently operated and can be freely switched on a remote control panel. The pressure sensor is arranged for detecting whether the steering gear rotates to output motion or not, so that the possible instruction interference between the remote control steering system and the driving steering system is effectively prevented, and the safety of operation is improved.

Description

Vehicle remote control steering system and control method
Technical Field
The invention relates to the technical field of mechanical equipment auxiliary tools, in particular to a vehicle remote control steering system and a control method.
Background
The remote control operation is particularly important to the conditions of complicated working conditions, especially the operation in dangerous areas such as a furnace front or in a narrow space, the emergency treatment on fire and the like. The remote control is certainly one of the necessary trends of the future development of the special transportation vehicle, and the use of the remote control can greatly improve the operation safety of the special transportation vehicle and reduce the labor intensity of operators.
At present, a 4-gear gearbox is commonly adopted for special metallurgical vehicles such as a holding tank, the highest speed exceeds 25km/h, and higher requirements are put on the controllability of steering speed. The molten iron car is limited by factors such as safety, cost and the like, and a synchronous pull rod steering system is mostly adopted, so that the turning radius is large, the car body is long, the line of sight in the car is poor, and the adverse effects are brought to manual driving steering. The existing metallurgical special vehicle steering is generally a full-hydraulic steering system based on a flow amplifying valve, is flexible and reliable to operate and good in micro-motion performance, adopts a small-displacement steering gear and flow amplifier type, the displacement of the steering gear is generally not more than 400ml/r, the volume is small, and the required operating torque is small. However, at present, a remote control scheme of a full-hydraulic steering system with a flow amplifying valve is in a preliminary design stage based on functional design, and no mature application scheme which is economical, practical, safe and reliable is available.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a vehicle remote control steering system and a control method thereof, which are designed to improve the reliability of the vehicle remote control steering system and the control method thereof in all directions on the premise of small cost change, and to practically ensure the steering safety operation of special wheeled transportation vehicles such as hot metal cars, tank trucks, etc. in production operation.
To achieve the above and other related objects, the present invention provides a vehicle remote control steering system, including a steering system, the steering system including a steering gear, a left steering limit solenoid valve, a right steering limit solenoid valve, a flow amplifying valve, a load-sensitive pump, and a steering cylinder, wherein an L port of the steering gear is communicated with an L port of the flow amplifying valve through the left steering limit solenoid valve, an R port of the steering gear is communicated with an R port of the flow amplifying valve through the right steering limit solenoid valve, a T port of the steering gear is communicated with a T port of the flow amplifying valve, a P port of the steering gear is communicated with a P port and a PP port of the flow amplifying valve, an LS port of the steering gear is communicated with an LS port of the flow amplifying valve, and a load-sensitive pump is communicated with an HP port of the flow amplifying valve; the load sensitive pump is connected with an oil tank for providing pressure oil; the remote control steering system comprises a remote control steering valve group, a plurality of shuttle valves, a pressure sensor and a remote control panel, wherein a function key is arranged on the remote control panel, the remote control panel is in communication connection with the remote control steering valve group, the remote control steering valve group is connected into the driving steering system through the plurality of shuttle valves, and the pressure sensor is connected between an LS port of a steering gear and an LS port of a flow amplifying valve and is used for detecting feedback pressure of the LS port of the steering gear; and the CL port and the CR port of the flow amplifying valve are respectively communicated with the steering cylinder.
Preferably, the flow amplifying valve comprises an oil supplementing overflow valve, a flow amplifier, a priority valve and an LS overflow valve, wherein an inlet of the priority valve is communicated with an HP port of the flow amplifying valve, an outlet of the priority valve is communicated with an EF port of the flow amplifying valve, and the EF port is connected with other working devices; the inlet of the LS overflow valve is communicated with a spring cavity of the priority valve, the outlet of the LS overflow valve is communicated with an HT port of the flow amplifying valve, and the HT port of the flow amplifying valve is provided with an oil tank; the flow amplifier is communicated with a T port, an L port, an R port, a P port, an HT port, a CL port and a CR port of the flow amplifying valve; the oil supplementing overflow valve is arranged between the flow amplifier and the CL and CR ports of the flow amplifier.
Preferably, the number of the directors is two, namely a front director and a rear director, and the front director and the rear director are respectively arranged at the front end and the rear end of the vehicle; a first left-turning shuttle valve is further arranged between the steering gear and the left-turning limit electromagnetic valve, and an L port of the front steering gear and an R port of the rear steering gear are both connected to the first left-turning shuttle valve; and a first right-turning shuttle valve is further arranged between the steering device and the right-turning limiting electromagnetic valve, and an R port of the front steering device and an L port of the rear steering device are both connected to the first right-turning shuttle valve.
Preferably, the steering system further comprises a plurality of pressure feedback shuttle valves, wherein the pressure feedback shuttle valves comprise a first pressure feedback shuttle valve, a second pressure feedback shuttle valve and a third pressure feedback shuttle valve, and the LS port of the front steering gear and the LS port of the rear steering gear output feedback pressure oil through the second pressure feedback shuttle valve; the output end of the second pressure feedback shuttle valve is communicated with the pressure sensor, the input end of the first pressure feedback shuttle valve and the input end of the third pressure feedback shuttle valve, the other input end of the third pressure feedback shuttle valve is communicated with the other input end of the first pressure feedback shuttle valve, and the output end of the third pressure feedback shuttle valve is communicated with the LS port of the flow amplifying valve; and the output end of the first pressure feedback shuttle valve is communicated with the LS port of the load sensitive pump.
Preferably, the remote control steering valve group comprises an electric proportional valve, a loading valve, an LS signal shuttle valve and a back pressure check valve, wherein an A port of the electric proportional valve is communicated with an A port of the loading valve, a B port of the electric proportional valve is communicated with a B port of the loading valve, a T port of the electric proportional valve is communicated with a T port of the loading valve and is communicated with an oil tank through the back pressure check valve, a P port of the loading valve is communicated with a T port of the loading valve, and a P port of the electric proportional valve is communicated with a P port and a PP port of the flow amplifying valve; the LS signal shuttle valve is arranged between an A port of the electric proportional valve and a B port of the electric proportional valve, and is communicated with the first pressure feedback shuttle valve.
Preferably, an A port of the electric proportional valve is communicated with an R port of the remote control steering valve group, and a B port of the electric proportional valve is communicated with an L port of the remote control steering valve group; the remote control steering system comprises a plurality of remote control steering systems, wherein the remote control steering systems are characterized in that the plurality of shuttle valves in the remote control steering systems comprise a second left-turning shuttle valve and a second right-turning shuttle valve, an L port of each remote control steering valve group is connected with a left-turning limit electromagnetic valve, the second left-turning shuttle valve is arranged between the two, and the first left-turning shuttle valve is connected with the second left-turning shuttle valve; the R port of the remote control steering valve group is connected with a right steering limit electromagnetic valve, a second right steering shuttle valve is arranged between the R port and the right steering limit electromagnetic valve, and the first right steering shuttle valve is connected with the second right steering shuttle valve.
Preferably, the electric proportional valve is a three-position four-way valve, and the loading valve is a two-position four-way switch type electromagnetic reversing valve.
Preferably, the remote control panel is further provided with a signal transmitter, and the signal transmitter is used for transmitting a control command input by a function key in the remote control panel to the remote control steering valve group to realize remote control of steering of the vehicle.
In order to achieve the above object or other objects, the present invention also discloses a method for controlling a remote control steering system of a vehicle, which comprises the following steps:
S1: when steering of the vehicle is controlled by driving the steering system:
s1.1: turning the direction device leftwards, wherein the L port of the direction device outputs pressure oil with flow rate proportional to the rotating speed, and the pressure oil enters the L port of the flow amplifying valve through the left steering limit electromagnetic valve to amplify the flow; the load sensitive pump determines the outlet pressure oil flow of the load sensitive pump according to the flow input signal of the L-port oil way of the flow amplifying valve and the amplifying proportion coefficient of the flow amplifying valve, and the pressure oil pumped by the load sensitive pump flows into the steering cylinder through the flow amplifying valve to realize the steering of the vehicle through the steering cylinder;
s1.2: turning the steering gear right, wherein the R port of the steering gear outputs pressure oil with flow rate proportional to the rotating speed, and the pressure oil enters the R port of the flow amplifying valve through the right steering limit electromagnetic valve to amplify the flow; the load sensitive pump determines the outlet pressure oil flow of the load sensitive pump according to the flow input signal of the flow amplifying valve R port oil way and the amplifying proportion coefficient of the flow amplifying valve, the pressure oil pumped by the load sensitive pump flows into the steering cylinder through the flow amplifying valve, and the steering of the vehicle is realized through the steering cylinder;
S2: when the steering of the vehicle is controlled by the remote control steering system:
s2.1: setting sensing parameters of the pressure sensor by an operator through a remote control panel;
s2.2: an operator sends a control signal through a remote control panel, and if the sensing parameters detected by the pressure sensor do not meet the sensing parameter requirements input in the step S2.1, the remote control steering valve group does not work and the left steering limit electromagnetic valve and the right steering limit electromagnetic valve are electrically locked; if the sensing parameters detected by the pressure sensor meet the sensing parameter requirements input in the step S2.1, executing the next step;
s2.3: when the sensing parameters detected by the pressure sensor meet the sensing parameter requirements input in the step S2.1, the remote control steering valve group is powered on, the remote control steering valve group controls the pressure oil flow entering the L port and the R port of the flow amplifying valve, the load sensitive pump determines the outlet pressure oil flow of the load sensitive pump according to the flow input signals of the L port and the R port oil ways of the flow amplifying valve and the amplification proportion coefficient of the flow amplifying valve, and the pressure oil pumped by the load sensitive pump flows into the steering cylinder through the flow amplifying valve and realizes the steering of the vehicle through the steering cylinder.
Preferably, the sensing parameter of the pressure sensor in the step S2.1 is set to be 0.5Mpa; when the sensing parameter of the pressure sensor is smaller than 0.5MPa, the steering of the vehicle can be controlled through the remote control steering system.
As described above, the vehicle remote control steering system and the control method according to the present invention have the following advantageous effects:
the invention relates to a remote control steering system and a control method of a vehicle, wherein a remote control steering system consisting of a remote control steering valve group, a plurality of shuttle valves, a pressure sensor and a remote control panel is added on the existing manual steering system, the remote control steering system is connected with the driving steering system in parallel, and both steering modes can be independently operated and can be freely switched on the remote control panel. The pressure sensor is arranged on the LS port of the steering gear and used for detecting whether the steering gear rotates to output motion or not, so that the possible instruction interference between the remote control steering system and the driving steering system is effectively prevented, and the safety of operation is improved.
Drawings
FIG. 1 is a schematic diagram of the hydraulic control principle of a vehicle remote control steering system of the present invention;
FIG. 2 is a schematic diagram of a method of controlling a remote control steering system of a vehicle in accordance with the present invention;
Fig. 3 is a schematic view of function keys of a remote control panel in the remote control steering system of the vehicle according to the present invention.
Reference numerals illustrate:
1. remote control steering valve group; 101. an electric proportional valve; 102. a loading valve; 103. a back pressure check valve; 104. LS signal shuttle valve; 2. a flow amplifying valve; 201. an oil-compensating overflow valve; 202. a flow amplifier; 203. a priority valve; 204. LS overflow valve; 3. a second left-turn shuttle valve; 4. a left steering limit electromagnetic valve; 5. a right steering limit electromagnetic valve; 6. a second right turn shuttle valve; 7. a first pressure feedback shuttle valve; 8. a front steering gear; 9. a second pressure feedback shuttle valve; 10. a pressure sensor; 11. a rear steering gear; 12. a third pressure feedback shuttle valve; 13. a load-sensitive pump; 14. a first left-turn shuttle valve; 15. a first right turn shuttle valve.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are otherwise, required to achieve the objective and effect taught by the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
As shown in fig. 1-3, the invention provides a vehicle remote control steering system, which comprises a steering system, wherein the steering system comprises a steering device, a left steering limit electromagnetic valve 4, a right steering limit electromagnetic valve 5, a flow amplifying valve 2, a load sensitive pump 13 and a steering cylinder, an L port of the steering device is communicated with an L port of the flow amplifying valve 2 through the left steering limit electromagnetic valve 4, an R port of the steering device is communicated with an R port of the flow amplifying valve 2 through the right steering limit electromagnetic valve 5, a T port of the steering device is communicated with a T port of the flow amplifying valve 2, a P port of the steering device is communicated with a P port and a PP port of the flow amplifying valve 2, an LS port of the steering device is communicated with an LS port of the flow amplifying valve 2, and the load sensitive pump 13 is communicated with an HP port of the flow amplifying valve 2; the load sensitive pump 13 is connected with an oil tank for providing pressure oil; the remote control steering system comprises a remote control steering valve group 1, a plurality of shuttle valves, a pressure sensor 10 and a remote control panel, wherein a function key is arranged on the remote control panel, the remote control panel is in communication connection with the remote control steering valve group 1, the remote control steering valve group 1 is connected into the driving steering system through the plurality of shuttle valves, and the pressure sensor 10 is connected between an LS port of a direction device and an LS port of a flow amplifying valve 2 and is used for detecting feedback pressure of the LS port of the direction device; the CL port and the CR port of the flow amplifying valve 2 are respectively communicated with the steering cylinder.
The remote control steering system of the vehicle is additionally provided with the remote control panel on the basis of the driving steering system, and can select a manual driving steering mode or a remote control mode through the remote control panel, so that different control modes can be selected according to different places, and the application range is wide. The pressure sensor 10 is arranged, the pressure detection parameter is preset in the pressure sensor 10, whether the steering gear has action output or not is detected through the pressure sensor 10, the possible instruction interference between the remote control steering system and the driving steering system is effectively prevented, and the safety of operation is improved.
Further, in this embodiment, the pressure sensor 10 is used to detect whether the steering of the steering gear has an action output, and once the pressure exceeds the unloading set value (generally set to 0.5 MPa), it is determined that the steering gear is in the manual driving mode, and if the function key on the remote control panel is set to the remote control driving mode, it is determined that the steering gear may be abnormal, and an early warning is sent. In other embodiments, the pressure sensor 10 may be replaced with a pressure switch.
Preferably, as shown in fig. 1, the flow amplifying valve 2 comprises an oil compensating overflow valve 201, a flow amplifier 202, a priority valve 203 and an LS overflow valve 204, wherein an inlet of the priority valve 203 is communicated with an HP port of the flow amplifying valve 2, an outlet of the priority valve 203 is communicated with an EF port of the flow amplifying valve 2, and the EF port is connected with other working devices; the priority valve 203 is also communicated with the P port and the PP port of the flow amplifying valve 2, the inlet of the LS overflow valve 204 is communicated with the spring cavity of the priority valve 203, the outlet of the LS overflow valve 204 is communicated with the HT port of the flow amplifying valve 2, and the HT port of the flow amplifying valve 2 is provided with an oil tank; the flow amplifier 202 is communicated with the T port, the L port, the R port, the P port, the HT port, the CL port and the CR port of the flow amplifying valve 2; the makeup oil overflow valve 201 is provided between the flow amplifier 202 and CL and CR ports of the flow amplifying valve 2.
Preferably, as shown in fig. 1, the number of the directors is two, namely a front director 8 and a rear director 11, and the front director 8 and the rear director 11 are respectively arranged at the front end and the rear end of the vehicle; a first left-turn shuttle valve 14 is also arranged between the steering gear and the left-turn limit electromagnetic valve 4, and an L port of the front steering gear 8 and an R port of the rear steering gear 11 are both connected to the first left-turn shuttle valve 14; a first right-turning shuttle valve 15 is further arranged between the steering gear and the right-turning limit electromagnetic valve 5, and an R port of the front steering gear 8 and an L port of the rear steering gear 11 are both connected to the first right-turning shuttle valve 15. The steering gear includes a front steering gear 8 and a rear steering gear 11, and the front steering gear 8 and the rear steering gear 11 are provided at the front end and the rear end of the vehicle, respectively, so that when the length of the vehicle is long, the driver can drive the front steering gear 8 or the rear steering gear 11 to conveniently steer the vehicle.
Preferably, as shown in fig. 1, the steering system further includes a plurality of pressure feedback shuttle valves, the pressure feedback shuttle valves including a first pressure feedback shuttle valve 7, a second pressure feedback shuttle valve 9, and a third pressure feedback shuttle valve 12, the LS port of the front steering gear 8 and the LS port of the rear steering gear 11 feeding back pressure oil through the second pressure feedback shuttle valve 9; the output end of the second pressure feedback shuttle valve 9 is communicated with the pressure sensor 10, the input end of the first pressure feedback shuttle valve 7 and the input end of the third pressure feedback shuttle valve 12, the other input end of the third pressure feedback shuttle valve 12 is communicated with the other input end of the first pressure feedback shuttle valve 7, and the output end of the third pressure feedback shuttle valve is communicated with the LS port of the flow amplifying valve 2; the output of the first pressure feedback shuttle valve 7 communicates with the LS port of the load sensitive pump 13.
Preferably, as shown in fig. 1, the remote control steering valve group 1 comprises an electric proportional valve 101, a loading valve 102, an LS signal shuttle valve 104 and a back pressure check valve 103, wherein an a port of the electric proportional valve 101 is communicated with an a port of the loading valve 102, a B port of the electric proportional valve 101 is communicated with a B port of the loading valve 102, a T port of the electric proportional valve 101 is communicated with a T port of the loading valve 102 and is communicated with an oil tank through the back pressure check valve 103, a P port of the loading valve 102 is communicated with a T port of the loading valve 102, and a P port of the electric proportional valve 101 is communicated with a P port and a PP port of the flow amplifying valve 2; the LS signal shuttle valve 104 is provided between the a port of the electric proportional valve 101 and the B port of the electric proportional valve 101, and the LS signal shuttle valve 104 communicates with the first pressure feedback shuttle valve 7. When the electric proportional valve 101 is in the middle position, the port A and the port B of the electric proportional valve 101 are communicated with the port T, when the loading valve 102 is in the middle position, the port A and the port B of the loading valve 102 are also communicated with the port T of the loading valve 102, and the port T of the loading valve 102 is communicated with the port P of the loading valve 102; the port A of the electric proportional valve 101 is communicated with the port A of the loading valve 102, the port B of the electric proportional valve 101 is communicated with the port B of the loading valve 102, more than two flow unloading channels on the electric proportional valve 101 and the loading valve are ensured when the electric proportional valve and the loading valve are in the middle position, and steering failure of the electric proportional valve and the loading valve caused by zero point offset or clamping stagnation is avoided.
Preferably, as shown in fig. 1, an A port of the electric proportional valve 101 is communicated with an R port of the remote control steering valve group 1, and a B port of the electric proportional valve 101 is communicated with an L port of the remote control steering valve group 1; the remote control steering system comprises a plurality of shuttle valves, a first left-turn shuttle valve (3) and a second right-turn shuttle valve (6), wherein an L port of the remote control steering valve group (1) is connected with a left steering limit electromagnetic valve (4), the second left-turn shuttle valve (3) is arranged between the two, and a first left-turn shuttle valve (14) is connected with the second left-turn shuttle valve (3); the R port of the remote control steering valve group 1 is connected with a right steering limit electromagnetic valve 5, a second right steering shuttle valve 6 is arranged between the R port and the right steering limit electromagnetic valve, and a first right steering shuttle valve 15 is connected with the second right steering shuttle valve 6. In this embodiment, the L port of the front steering gear 8 and the R port of the rear steering gear 11 are respectively connected to two inlets of the first left-turn shuttle valve 14, the outlet of the first left-turn shuttle valve 14 is connected to one of the inlets of the second left-turn shuttle valve 3, and the L port of the remote control steering valve group 1 is connected to the other inlet of the second left-turn shuttle valve 3; the outlet of the second left-turning shuttle valve 3 is connected with a left-turning limit electromagnetic valve 4. The steering of the front steering gear 8 and the steering of the rear steering gear 11 are converged through the first left-turn shuttle valve 14, and the steering of the steering gear and the remote control steering valve group 1 are converged through the second left-turn shuttle valve 3, so that the co-operation control of the remote control steering system and the driving steering system can be realized. Similarly, the connection modes of the first right-turning shuttle valve 15, the second right-turning shuttle valve 6 and the right-turning limit electromagnetic valve 5 are the same, so that the common coordination control of the remote control steering system and the driving steering system is realized.
Further, in this embodiment, the first left-turn shuttle valve 14, the second left-turn shuttle valve 3, the first right-turn shuttle valve 15, and the second right-turn shuttle valve 6 all preferably adopt one end of the shuttle valve to realize the control function, and then consider to adopt an electric control ball valve, a manual ball valve, etc. for replacement, so that the control points in the steering system can be reduced as much as possible, and the cost can be reduced.
Preferably, the electric proportional valve 101 is a three-position four-way valve, and the loading valve 102 is a two-position four-way switch type electromagnetic reversing valve. The electric proportional valve 101 is provided with two proportional electromagnets, the two proportional electromagnets are respectively arranged on an A port side and a B port side of the electric proportional valve 101, when any proportional electromagnet is powered on, and when the loading valve 102 is powered on, one of the A port or the B port of the electric proportional valve 101 completes the pressure building process, and the pressure is transmitted downwards through the LS signal shuttle valve 104.
Further, a signal transmitter is further arranged in the remote control panel, and is used for transmitting a control command input by a function key in the remote control panel to the remote control steering valve group 1, so that the remote control of steering of the vehicle is realized.
Further, in this embodiment, the vehicle is further provided with a vehicle-mounted system, and the vehicle-mounted system is provided with a master controller for receiving a control signal transmitted by the remote control panel, and transmitting the signal to the remote control steering valve group 1, so as to control the electric proportional valve 101 and the loading valve 102 in the remote control steering valve group 1 to obtain electric power after receiving the signal.
Further, as shown in fig. 3, the function keys on the remote control panel include the following knobs:
1. gear selection knob: for determining the speed of the vehicle in and out of the vehicle when steering, the speed is preferably set by setting the rotational speed of a driver such as an engine or a wheel motor.
2. Steering mode selection knob: the knob is divided into an artificial driving steering mode and a remote control steering mode, and is also a remote control permission button.
3. Parking release button: before steering, it must be ensured that the parking is successfully released before proceeding to the next step, otherwise the left steering limit solenoid valve 4 and the right steering limit solenoid valve 5 are electrically self-locking.
4. Proportional steering remote control handle: the handle may output a proportional signal to ensure that the electro-proportional valve 101 follows the control of the proportional steering remote handle in synchronism.
5. Remote control steering pump load button: the reliable unloading of the hydraulic system is ensured when no steering action exists, and the system oil consumption is reduced. (further, in this embodiment, the steering pump is a load-sensitive pump 13 for pumping pressurized oil into the steering pump of the vehicle)
6. Manual driving of the steering button is prohibited: when in the manual steering mode, the remote control mode and the manual steering mode are allowed to be controlled in a combined mode for convenient operation. When in the remote control mode, in order to avoid instruction interference between the manual steering mode and the remote control mode, the manual steering prohibition button can be pressed down, so that the safety of operation is ensured.
7. Emergency stop button: when the vehicle is in abnormal steering and needs to be suddenly stopped, the power source can be remotely controlled to cut off, such as the engine or the wheel motor, so as to stop the operation of the vehicle.
8. Vehicle start button: refers to remote control starting of the engine.
In addition, some important indicator lamps, such as manual steering indicator lamps, remote control steering indicator lamps, parking release indicator lamps, stop valve power-on indicator lamps and the like, are arranged on the remote control panel. The stop valve power-on indicator lamp is used for displaying whether the left steering stop solenoid valve 4 and the right steering stop solenoid valve 5 are powered on or not.
In order to achieve the above object or other objects, the present invention also discloses a method for controlling a remote control steering system of a vehicle, which adopts the remote control steering system of a vehicle, as shown in fig. 2 and 3, and comprises the following steps:
a1: when the steering system is driven to control the steering of the vehicle, the control steps and principles are as follows:
a1.1: starting the engine, and setting the manual steering mode by a driver through a steering mode selection knob; at the moment, the manual driving steering indicator lights are on, and the manual waiting steering mode is entered. If the manual driving steering button is prohibited to be triggered on the remote control panel, one end of the electric proportional valve 101 is fully charged through remote control transmission, meanwhile, the steering limiting valve (the steering limiting valve comprises the left steering limiting electromagnetic valve 4 and the right steering limiting electromagnetic valve 5) is electrically locked to steer, the loading valve 102 is prohibited from being charged, the loading valve 102 is actively unloaded by the load sensitive pump 13, the loading valve 102 enters an interlocking state, the safety operation requirement of combined control with remote control steering is met, and improper operation of the manual driving on the vehicle can be avoided through remote control.
A1.2: when the manual steering prohibiting button on the remote control panel is not triggered in the step A1.1, the driver can manually control the steering of the vehicle. The driver turns the front steering gear 8 leftwards (rightwards), the L port (R port) of the front steering gear 8 outputs pressure oil with a certain flow rate with the rotating speed, and the pressure oil flows out through the first left-turning shuttle valve 14 (the first right-turning shuttle valve 15) and then reaches the L port (R port) of the flow amplifier 202 in the flow amplifying valve 2 through the second left-turning shuttle valve 3 (the second right-turning shuttle valve 6) and the left-turning limit electromagnetic valve 4 (the right-turning limit electromagnetic valve 5) to be amplified by the flow amplifying valve 2; the load-sensitive pump 13 outputs pressure oil with a flow rate proportional to the rotation speed of the steering gear, and meanwhile, the LS port of the front steering gear 8 feeds back pressure to the second pressure feedback shuttle valve 9, and part of the pressure enters the first pressure feedback shuttle valve 7 and then enters the LS port of the load-sensitive pump 13 to complete the pressure establishment of the load-sensitive pump 13. The amplified flow output by the load sensitive pump 13 and the pressure oil output by the L port (R port) of the front steering gear 8 are converged and then flow into a steering cylinder together, and the steering cylinder works to drive the vehicle to complete left (right) steering at a certain angle; the pressure oil output by the LS port of the front steering gear 8 enters the third pressure feedback shuttle valve 12 through the other part of the second pressure feedback shuttle valve 9, after being output by the third pressure feedback shuttle valve 12, the pressure oil enters the spring cavity of the priority valve 203, so that the right position of the priority valve 203 is ensured to be communicated, that is, the steering priority is ensured, the pressure oil output by the load sensitive pump 13 smoothly enters the steering cylinder instead of the EF port, and the LS overflow valve 204 is used for limiting the maximum pressure of the LS port in the flow amplifying valve 2.
The driver turns the rear steering gear 11 right (left), the R port (L port) of the rear steering gear 11 outputs pressure oil with a certain flow rate with the rotating speed, the pressure oil passes through the first left-turning shuttle valve 14 (the first right-turning shuttle valve 15), then passes through the second left-turning shuttle valve 3 (the second right-turning shuttle valve 6) and the left-turning limit electromagnetic valve 4 (the right-turning limit electromagnetic valve 5) to reach the L port (R port) of the flow amplifier 202 in the flow amplifying valve 2, and passes through the flow amplifying valve 2; the load-sensitive pump 13 outputs pressure oil with a flow rate which is in a certain proportion to the rotating speed, meanwhile, the LS port of the front steering gear 8 feeds back pressure to the second pressure feedback shuttle valve 9, and part of the pressure enters the first pressure feedback shuttle valve 7 and then enters the LS port of the load-sensitive pump 13, so that the pressure building of the load-sensitive pump 13 is completed. The amplified flow output by the load-sensitive pump 13 and the pressure oil output by the R port (L port) of the front steering gear 8 are converged and then flow into a steering cylinder, and the steering cylinder works to drive the vehicle to complete left (right) steering at a certain angle.
A2: when the steering system is used for controlling the steering of the vehicle, the control steps and the principle are as follows:
a2.1: starting the engine, setting a steering mode selection knob on a remote control panel by a driver to be in a remote control steering mode, and after the remote control steering mode is set, turning on a remote control steering indicator lamp, wherein the master controller carries out self-checking on the parking release condition firstly, and if the parking state is released, the parking release indicator lamp is turned on at the moment, so that the next operation can be carried out; if the parking state is not released, the steering limit valve is powered on to be lightened, and meanwhile, the left steering limit electromagnetic valve 4 and the right steering limit electromagnetic valve 5 are powered on to be self-locked, so that steering is automatically limited;
A2.2: when the parking state has been released and the parking release indicator is on, the pressure sensor 10 detects whether the pressure between the LS port of the front steering wheel 8 and the LS port of the rear steering wheel 11 is smaller than the set pressure parameter (in the present embodiment, the set pressure parameter of the pressure sensor 10 is 0.5 MPa). Step a2.2.1 is performed when the pressure sensor 10 detects that the pressure is less than the set pressure parameter, and step A2.2.2 is performed when the pressure sensor 10 detects that the pressure is greater than the set pressure parameter.
A2.2.1: when the pressure sensor 10 detects that the pressure is smaller than the set pressure parameter, a driver outputs a signal through the proportional steering remote control handle, the signal is transmitted to a main controller of the vehicle-mounted system, then the main controller controls the loading valve 102 to be powered on, an A port or a B port of the loading valve 102 transmits a signal to an LS port of the load sensitive pump 13 through the LS signal shuttle valve 104, the load sensitive pump 13 builds pressure, and the load sensitive pump 13 transmits pressure oil to a P port of the flow amplifier 202 through the priority valve 203.
Then, when the proportional steering remote control handle is operated to turn left, one end of the electric proportional valve 101 is powered on, the proportional electromagnet at the end side of the opening B is powered on, the corresponding loading valve 102 is powered on to build pressure, at the moment, pressure oil in the opening B of the electric proportional valve 101 passes through the first left-turn shuttle valve 14 and then passes through the second left-turn shuttle valve 3 and the left-turn limit electromagnetic valve 4 to reach the L opening of the flow amplifier 202 in the flow amplifying valve 2, and after passing through the flow amplifying valve 2, the pressure oil and amplified flow output by the load sensitive pump 13 are converged and then flow into a steering cylinder together, and the steering cylinder works to drive the vehicle to turn left at a certain angle;
Then, when the steering remote control handle is operated to turn right, one end of the electric proportional valve 101 is electrified, the proportional electromagnet at the end side of the opening A is electrified and loaded with the corresponding loading valve 102 to build pressure, at the moment, the pressure oil in the opening A of the electric proportional valve 101 passes through the first right-turn shuttle valve 15 and then passes through the second right-turn shuttle valve 6 and the right-turn limit electromagnetic valve 5 to reach the R opening of the flow amplifier 202 in the flow amplifying valve 2, and after passing through the flow amplifying valve 2, the pressure oil and the amplified flow output by the load-sensitive pump 13 are converged and then flow into a steering cylinder together, and the steering cylinder works to drive the vehicle to turn right at a certain angle.
When the driver outputs a signal through the proportional steering remote control handle, but the signal is not successfully transmitted to the master controller, or the driver does not operate the proportional steering remote control handle, or the steering angle of the remotely operated vehicle is small (the setting is problematic, for example, 10% or less of the normal output signal is set), the master controller prohibits the charge valve 102 from being electrified (the load sensitive pump 13 is automatically unloaded), any end (port A or port B) of the electric proportional valve 101 can be electrified, and at the moment, even if one end of the electric proportional valve 101 is electrified and has pressure oil, the charge pressure cannot be conveyed in the charge valve 102, and the remote control of the vehicle cannot be realized, so that the occurrence of accidental steering is stopped.
A2.2.2: when the pressure sensor 10 detects that the pressure is greater than the set pressure parameter, the following may occur:
(1) when the pressure sensor 10 detects that the pressure is greater than the set pressure parameter, the proportional electromagnet at either end of the electric proportional valve 101 is fully charged, and the loading valve 102 is not charged (i.e. the electric proportional valve 101 and the loading valve 102 are interlocked), until the pressure detected by the pressure sensor 10 is less than the set pressure parameter, the remote control operation can be performed. The reason why the pressure sensor 10 detects that the pressure is greater than the set parameter at this time is: the pressure sensor 10 is arranged to effectively avoid the instruction interference of the remote control steering system and the driving steering system, thereby improving the safety of the operation.
(2) When the pressure sensor 10 detects that the pressure is larger than the set pressure parameter, the steering limit valve (namely the left steering limit electromagnetic valve 4 and the right steering limit electromagnetic valve 5) is powered, and the steering is automatically locked, so that the purpose of the pressure sensor 10 is to lock the left steering limit electromagnetic valve 4 and the right steering limit electromagnetic valve 5, and potential safety hazards are avoided.
(3) When the pressure sensor 10 detects that the pressure is larger than the set pressure parameter, the manual driving steering indicating lamp is turned on.
(4) When the pressure sensor 10 detects that the pressure is larger than the set pressure parameter, the main controller of the vehicle-mounted system performs fault early warning.
When the pressure sensor 10 detects that the pressure is greater than the set pressure parameter, the four conditions are simultaneously present, the steering limiting valve is electrically locked, and the electric proportional valve 101 and the loading valve 102 are interlocked, so that the safety is ensured.
Further, in the present embodiment, the preset pressure parameter of the pressure sensor 10 is 0.5MPa.
Further, in step a2.2.1, the driver can control the steering speed through the gear selection knob, that is, the remote control panel sends a control signal to the main controller, and the main controller controls the pressure oil flow output by the electric proportional valve 101 to the flow amplifying valve 2 by controlling the current of the proportional electromagnet at one end of the electric proportional valve 101, so as to control the steering speed.
Further, in step A2, when the steering gear rotates, the pressure oil between the LS port of the front steering gear 8 and the LS port of the rear steering gear 11 flows to the third pressure feedback shuttle valve 12 through a part of the second pressure feedback shuttle valve 9, and reaches the LS port of the flow amplifying valve 2, and the LS overflow valve 204 in the flow amplifying valve 2 is used to limit the maximum pressure of the LS port in the flow amplifying valve 2; the other part of pressure oil passing through the second pressure feedback shuttle valve 9 flows to the first pressure feedback shuttle valve 7, and is directly fed back to the LS port of the load sensitive pump 13 after coming out of the first pressure feedback shuttle valve 7, so that the pressure building and unloading processes of the load sensitive pump 13 are realized.
Further, the pressure of the spring at the right end of the priority valve 203 determines the pressure difference between the inlet and outlet of the steering gear and the front and rear of the electric proportional valve 101, so that the basic stability of the pressure difference between the front and rear of the electric proportional valve 101 is ensured, and the adverse effect of the fluctuation of steering load on the real-time rotation speed control of the electric proportional valve 101 is eliminated.
Further, in step A2, after the charging valve 102 is powered, one end of the electric proportional valve 101 is powered, the charging valve 102 keeps the pressure of the end of the electric proportional valve 101, and outputs the high side pressure through the LS signal shuttle valve 104, and a part of the pressure directly reaches the LS port of the load sensitive pump 13 through the first pressure feedback shuttle valve 7 to complete the pressure establishment, and the other part of the pressure reaches the LS port of the flow amplifying valve 2 through one end of the third pressure feedback shuttle valve 12 to complete the pressure limitation, so that the priority valve 203 works in the right position, i.e. the priority supply steering is performed, and the redundant flow is used by other working devices through the EF port of the priority valve 203 after the supply steering is completed.
The vehicle remote control steering system and the control method have the following beneficial effects:
1. the remote control panel is arranged and is in communication connection with a main controller in the vehicle-mounted system, and the remote control panel is provided with a plurality of function keys, so that the interference of the manual driving steering system to the remote control steering system can be avoided through the functions of different buttons in the function keys.
2. The invention meets the requirement of the operation control of the remote control mode and the manual driving mode combined steering, and expands the flexibility of steering operation.
3. The invention improves the safety, reliability, economy and practicability of the remote control steering scheme.
4. The invention adds a remote control steering system on the basis of the driving steering system, and the two steering modes can be independently operated and can be freely switched on the remote control panel.
5. The invention is provided with the pressure sensor 10, and the pressure sensor 10 is used for judging whether the steering gear is abnormal or not, and providing important judgment basis for further making steering locking or manual steering pressure unloading and remote control steering unloading.
6. In the invention, when the vehicle is in the manual driving mode, the manual driving steering button is forbidden to operate, namely the electric proportional valve 101 is electrified, so that the active unloading of the load sensitive pump 13 can be realized, and the steering limit valve is electrified to lock the steering, so that the safety steering control requirement of combining manual driving steering and remote control steering is realized.
7. In the invention, when the manual driving mode is switched to the remote control steering mode, under the condition that the self-checking parking is released, the proportional steering remote control handle does not act, or does not expect small-angle action (such as 10% or less of the output of a set signal), the steering pressure unloading working condition is automatically entered, namely, the loading valve 102 is powered off (the load sensitive pump 13 is unloaded), but one of proportional electromagnets of the electric proportional valve 101 is powered on.
Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (10)

1. The utility model provides a vehicle remote control steering system, includes driving steering system, driving steering system includes steering gear, left steering limit solenoid valve (4), right steering limit solenoid valve (5), flow amplification valve (2), load sensitive pump (13), and steering cylinder, the L mouth of steering gear is through left steering limit solenoid valve (4) and flow amplification valve (2) L mouth intercommunication, steering gear's R mouth is through right steering limit solenoid valve (5) and flow amplification valve (2) R mouth intercommunication, steering gear's T mouth and flow amplification valve (2) T mouth intercommunication, steering gear's P mouth and flow amplification valve (2) P mouth and PP mouth intercommunication, steering gear's LS mouth and flow amplification valve (2) LS mouth intercommunication, load sensitive pump (13) and flow amplification valve (2) HP mouth intercommunication; the load sensitive pump (13) is connected with an oil tank for providing pressure oil; the method is characterized in that: the remote control steering system comprises a remote control steering valve group (1), a plurality of shuttle valves, a pressure sensor (10) and a remote control panel, wherein the remote control panel is provided with function keys, the remote control panel is in communication connection with the remote control steering valve group (1), the remote control steering valve group (1) is connected into the driving steering system through the plurality of shuttle valves, and the pressure sensor (10) is connected between an LS port of a steering device and an LS port of a flow amplifying valve (2) and used for detecting feedback pressure of the LS port of the steering device; and the CL port and the CR port of the flow amplifying valve (2) are respectively communicated with the steering cylinder.
2. The vehicle remote control steering system according to claim 1, wherein: the flow amplifying valve (2) comprises an oil supplementing overflow valve (201), a flow amplifier (202), a priority valve (203) and an LS overflow valve (204), wherein an inlet of the priority valve (203) is communicated with an HP port of the flow amplifying valve (2), an outlet of the priority valve (203) is communicated with an EF port of the flow amplifying valve (2), and the EF port is connected with other working devices; the priority valve (203) is also communicated with a P port and a PP port of the flow amplifying valve (2), an inlet of the LS overflow valve (204) is communicated with a spring cavity of the priority valve (203), an outlet of the LS overflow valve (204) is communicated with an HT port of the flow amplifying valve (2), and an HT port of the flow amplifying valve (2) is provided with an oil tank; the flow amplifier (202) is communicated with the T port, the L port, the R port, the P port, the HT port, the CL port and the CR port of the flow amplifying valve (2); the oil supplementing overflow valve (201) is arranged between the flow amplifier (202) and the CL port and the CR port of the flow amplifying valve (2).
3. The vehicle remote control steering system according to claim 1, wherein: the number of the directors is two, namely a front director (8) and a rear director (11), and the front director (8) and the rear director (11) are respectively arranged at the front end and the rear end of the vehicle; a first left-turning shuttle valve (14) is further arranged between the steering gear and the left-turning limit electromagnetic valve (4), and an L port of the front steering gear (8) and an R port of the rear steering gear (11) are both connected to the first left-turning shuttle valve (14); a first right-turning shuttle valve (15) is further arranged between the steering gear and the right-turning limiting electromagnetic valve (5), and an R port of the front steering gear (8) and an L port of the rear steering gear (11) are both connected to the first right-turning shuttle valve (15).
4. A vehicle remote control steering system according to claim 3, wherein: the steering system further comprises a plurality of pressure feedback shuttle valves, wherein the pressure feedback shuttle valves comprise a first pressure feedback shuttle valve (7), a second pressure feedback shuttle valve (9) and a third pressure feedback shuttle valve (12), and an LS port of the front steering gear (8) and an LS port of the rear steering gear (11) output feedback pressure oil through the second pressure feedback shuttle valve (9); the output end of the second pressure feedback shuttle valve (9) is communicated with the pressure sensor (10), the input end of the first pressure feedback shuttle valve (7) and the input end of the third pressure feedback shuttle valve (12), the other input end of the third pressure feedback shuttle valve (12) is communicated with the other input end of the first pressure feedback shuttle valve (7), and the output end of the third pressure feedback shuttle valve (12) is communicated with the LS port of the flow amplifying valve (2); the output end of the first pressure feedback shuttle valve (7) is communicated with an LS port of the load sensitive pump (13).
5. The vehicle remote control steering system according to claim 4, wherein: the remote control steering valve group (1) comprises an electric proportional valve (101), a loading valve (102), an LS signal shuttle valve (104) and a back pressure check valve (103), wherein an A port of the electric proportional valve (101) is communicated with an A port of the loading valve (102), a B port of the electric proportional valve (101) is communicated with a B port of the loading valve (102), a T port of the electric proportional valve (101) is communicated with a T port of the loading valve (102) and is communicated with an oil tank through the back pressure check valve (103), a P port of the loading valve (102) is communicated with a T port of the loading valve (102), and a P port of the electric proportional valve (101) is communicated with a P port and a PP port of the flow amplifying valve (2); the LS signal shuttle valve (104) is arranged between an A port of the electric proportional valve (101) and a B port of the electric proportional valve (101), and the LS signal shuttle valve (104) is communicated with the first pressure feedback shuttle valve (7).
6. The vehicle remote control steering system according to claim 5, wherein: the A port of the electric proportional valve (101) is communicated with the R port of the remote control steering valve group (1), and the B port of the electric proportional valve (101) is communicated with the L port of the remote control steering valve group (1); the remote control steering system comprises a plurality of shuttle valves, wherein the plurality of shuttle valves in the remote control steering system comprise a second left-turning shuttle valve (3) and a second right-turning shuttle valve (6), an L port of the remote control steering valve group (1) is connected with a left-turning limit electromagnetic valve (4), the second left-turning shuttle valve (3) is arranged between the two, and the first left-turning shuttle valve (14) is connected with the second left-turning shuttle valve (3); the R port of the remote control steering valve group (1) is connected with a right steering limit electromagnetic valve (5), a second right steering shuttle valve (6) is arranged between the R port and the right steering limit electromagnetic valve, and the first right steering shuttle valve (15) is connected with the second right steering shuttle valve (6).
7. The vehicle remote control steering system according to claim 6, wherein: the electric proportional valve (101) is a three-position four-way valve, and the loading valve (102) is a two-position four-way switch type electromagnetic reversing valve.
8. The vehicle remote control steering system according to claim 1, wherein: the remote control panel is also provided with a signal transmitter which is used for transmitting a control command input by a function key in the remote control panel to the remote control steering valve group (1) so as to realize the remote control of the steering of the vehicle.
9. A method of controlling a vehicle remote control steering system, employing the vehicle remote control steering system according to any one of claims 1 to 8, characterized in that: the method comprises the following steps:
s1: when steering of the vehicle is controlled by driving the steering system:
s1.1: turning the direction device leftwards, outputting pressure oil with flow rate proportional to the rotating speed from an L port of the direction device, and enabling the pressure oil to enter an L port of a flow amplifying valve (2) through a left steering limit electromagnetic valve (4) to amplify the flow; the load-sensitive pump (13) determines the outlet pressure oil flow of the load-sensitive pump (13) according to the flow input signal of the L-port oil way of the flow amplifying valve (2) and the amplification proportion coefficient of the flow amplifying valve (2), and the pressure oil pumped by the load-sensitive pump (13) flows into the steering cylinder through the flow amplifying valve (2) to realize the steering of the vehicle through the steering cylinder;
s1.2: turning the steering gear right, wherein the R port of the steering gear outputs pressure oil with flow rate proportional to the rotating speed, and the pressure oil enters the R port of the flow amplifying valve (2) through the right steering limit electromagnetic valve (5) to amplify the flow; the load-sensitive pump (13) determines the outlet pressure oil flow of the load-sensitive pump (13) according to the flow input signal of the R-port oil way of the flow amplifying valve (2) and the amplification proportion coefficient of the flow amplifying valve (2), and the pressure oil pumped by the load-sensitive pump (13) flows into the steering cylinder through the flow amplifying valve (2) to realize the steering of the vehicle through the steering cylinder;
S2: when the steering of the vehicle is controlled by the remote control steering system:
s2.1: an operator sets sensing parameters of the pressure sensor (10) through a remote control panel;
s2.2: an operator sends a control signal through a remote control panel, and if the sensing parameters detected by the pressure sensor (10) do not meet the sensing parameter requirements input in the step S2.1, the remote control steering valve group (1) does not work and the left steering limit electromagnetic valve (4) and the right steering limit electromagnetic valve (5) are electrically locked; if the sensing parameters detected by the pressure sensor (10) meet the sensing parameter requirements input in the step S2.1, executing the next step;
s2.3: when the sensing parameters detected by the pressure sensor (10) meet the sensing parameter requirements input in the step S2.1, the remote control steering valve group (1) is powered, the remote control steering valve group (1) controls the pressure oil flow entering the L port and the R port of the flow amplifying valve (2), and the load sensitive pump (13) determines the outlet pressure oil flow of the load sensitive pump (13) according to the flow input signals of the L port and the R port oil ways of the flow amplifying valve (2) and the amplification proportion coefficient of the flow amplifying valve (2), and the pressure oil pumped by the load sensitive pump (13) flows into the steering cylinder through the flow amplifying valve (2) and realizes the steering of the vehicle through the steering cylinder.
10. The vehicle remote control steering system control method according to claim 9, characterized in that: setting the induction parameter of the pressure sensor (10) in the step S2.1 to be 0.5Mpa; when the sensing parameter of the pressure sensor (10) is smaller than 0.5MPa, the vehicle can be controlled to steer through the remote control steering system.
CN202310585709.1A 2023-05-23 2023-05-23 Vehicle remote control steering system and control method Pending CN116552630A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310585709.1A CN116552630A (en) 2023-05-23 2023-05-23 Vehicle remote control steering system and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310585709.1A CN116552630A (en) 2023-05-23 2023-05-23 Vehicle remote control steering system and control method

Publications (1)

Publication Number Publication Date
CN116552630A true CN116552630A (en) 2023-08-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310585709.1A Pending CN116552630A (en) 2023-05-23 2023-05-23 Vehicle remote control steering system and control method

Country Status (1)

Country Link
CN (1) CN116552630A (en)

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