CN206926718U - A kind of Electro-hydraulic Hybrid Type pilotless automobile steering - Google Patents
A kind of Electro-hydraulic Hybrid Type pilotless automobile steering Download PDFInfo
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- CN206926718U CN206926718U CN201720872897.6U CN201720872897U CN206926718U CN 206926718 U CN206926718 U CN 206926718U CN 201720872897 U CN201720872897 U CN 201720872897U CN 206926718 U CN206926718 U CN 206926718U
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- steering
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- hybrid type
- pilotless automobile
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Abstract
The utility model discloses a kind of Electro-hydraulic Hybrid Type pilotless automobile steering, includes vehicle frame, steering spindle, turns to motor, turn to shaft position sensor, tooth sector group, hydraulic steering pump group, power cylinder, gear ＆ rack structure, hydraulic oil pipe, oil storage tank, shield and steering linkage.The steering motor is engaged by tooth sector group with steering spindle transmits moment of torsion, and the hydraulic steering pump group promotes power cylinder to carry out power-assisted from oil storage tank pump oil after pressurization；The utility model combines the advantages of hydraulic booster can provide larger power steering and quickly follow and the response that electric control system has is rapid, controls the advantages of accurate, the course changing control being adapted under each vehicle condition of automatic driving vehicle.
Description
Technical field
It the utility model is related to a kind of Electro-hydraulic Hybrid Type pilotless automobile steering.
Background technology
Currently, unmanned technology fast development, automatic driving vehicle course changing control part are typically individually driven using motor
Dynamic control, when vehicle operates steadily and road conditions are preferable, good control effect individually can be obtained using drive and control of electric machine,
But it is slow to frequently can lead to wheel steering system reaction because steering moment demand is larger when vehicle is in static or low speed is run
It is stagnant；Easily cause understeer or turn to overshoot, turn to jitter phenomenon；This phenomenon is particularly evident in load-carrying, existing steering
In control system to unmanned technical requirements existing technological deficiency, turn into the technology of those skilled in the art urgently
Problem.
The content of the invention
The technical problems to be solved in the utility model is the defects of overcoming prior art, there is provided a kind of Electro-hydraulic Hybrid Type nobody
Drive a car steering, to solve in existing Unmanned Systems' technology, response hysteresis that steering control system has with
And the response of steering has the problem of very big otherness under different vehicle conditions.
In order to solve the above-mentioned technical problem, the utility model provides following technical scheme：
The utility model provides a kind of Electro-hydraulic Hybrid Type pilotless automobile steering, and it includes steering spindle, described turn
It is fixed on to axle by turning to shaft holder on vehicle frame, the steering spindle drives steering to enter by motor steering control system
Row turns to；Fluid-link steering is additionally provided with the vehicle frame and is servo-actuated force aid system, the fluid-link steering is servo-actuated force aid system hydraulic rotation
To power-assisted pump group, oil storage tank, hydraulic oil pipe and power cylinder etc.；The hydraulic steering pump group adds from the oil storage tank pump oil
Power steering is carried out by power cylinder after pressure；Hydraulic oil pipe is connected between the hydraulic steering pump group and power cylinder.
Further, the motor steering control system include motor, tooth sector group, steering position encoder and
Gear ＆ rack structure；The steering motor is engaged by the tooth sector group with the steering spindle transmits moment of torsion.
Further, the hydraulic steering pump group is arranged on vehicle frame with oil storage tank.
Further, the both ends of the power cylinder are provided with drag link, and shield, the horizontal stroke are provided with the drag link
The end set of pull bar has bulb.
Further, the steering position encoder is arranged in the steering spindle, passes through the data to position coder
Detection can obtain the actual steering angle of deflecting roller.
The beneficial effect that the utility model is reached is：
The utility model adds hydraulic steering power-assisted system in existing motor drives steering control system, reduces electricity
The demand power of machine, the steering jitter problem that may be brought due to road surface friction force mutation can be avoided to a certain extent.And
After electric rotary failure, by the control to hydraulic pressure pump group, hydraulic pressure active steering can be achieved, improve to a certain extent and be
The reliability of system.
The utility model uses electronic active control in wheel steering system, hydraulic booster follow-up steering scheme, so
The characteristics of whole steering control system has that response is rapid, and moment of torsion is larger, suitable under various vehicle conditions to wheel steering system
Accurate control；Motor steering control system promotes steering column to be rotated with less moment of torsion, and fluid-link steering is servo-actuated power-assisted
System provides larger moment of torsion to follow steering to carry out power steering, because the high pulling torque that hydraulic booster system provides is servo-actuated
Property, can be inherently eliminated it is single turn to overshoot when using electric machine control system caused by Uneven road, understeer with
And jitter problem is turned to, the utility model is easily controllable and control effect is good, the steering being adapted under each vehicle condition of each vehicle
Control, because it has, two sets of steering are standby each other, the course changing control under the pilotless automobile that is particularly suitable for use in.
The utility model utilizes the response quickly of system of motor control, controls accuracy；Quick using hydraulic booster follows
Property carries out course changing control；The hydraulic steering pump group that different automobile types can be matched by adjusting selection is identical so as to reach
Control effect.
Brief description of the drawings
Accompanying drawing is used for providing further understanding to of the present utility model, and a part for constitution instruction, with this practicality
New embodiment is used to explain the utility model together, does not form to limitation of the present utility model.In the accompanying drawings：
Fig. 1 is structural representation of the present utility model.
Embodiment
Preferred embodiment of the present utility model is illustrated below in conjunction with accompanying drawing, it will be appreciated that described herein excellent
Select embodiment to be merely to illustrate and explain the utility model, be not used to limit the utility model.
As shown in figure 1, a kind of Electro-hydraulic Hybrid Type pilotless automobile steering, including motor 1 is turned to, turn to tooth
Wheel group 2, steering position encoder 3, steering spindle 4, turn to shaft holder 5, hydraulic steering pump group 6, oil storage tank 7, hydraulic oil
Pipe 8, shield 9, drag link 10, bulb 11, gear ＆ rack structure 12, power cylinder 13 and vehicle frame 14.The steering motor 1
Engaged by tooth sector group 2 with steering spindle 4 and transmit moment of torsion, the steering spindle 4 is fixed on vehicle frame 14 by turning to shaft holder 5
On, the steering spindle drives steering to be turned to by gear ＆ rack structure 12.The hydraulic steering pump group 6 is from storage
The pump oil of oil tank 7, power steering is carried out by power cylinder 13 after pressurization；The power steering pump group 6 is arranged on vehicle frame with oil storage tank 7
On 14, high-pressure oil pipe is connected between the hydraulic steering pump group 6 and power cylinder 13.
The utility model uses electronic active control, hydraulic power-assisted steering scheme；After power steering assembly failure, use
Hydraulic pressure active steering.After electric powered steering partial failure, electric powered steering circuit is disconnected, can be real by the control to hydraulic circuit
Existing provisional course changing control.
In the utility model, motor steering control system promotes steering column to be rotated with less moment of torsion,
Fluid-link steering is servo-actuated force aid system and provides larger moment of torsion to follow steering to carry out power steering, due to hydraulic booster system
The high pulling torque trackability of offer, it can be inherently eliminated when list uses electric machine control system and be turned to caused by Uneven road
Overshoot, understeer and steering jitter problem, the utility model is easily controllable and control effect is good, is adapted to each vehicle
Course changing control under each vehicle condition, because it has, 2 sets of steering are standby each other, the steering under the pilotless automobile that is particularly suitable for use in
Control.
Finally it should be noted that：Preferred embodiment of the present utility model is the foregoing is only, is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it can still modify to the technical scheme described in foregoing embodiments, or to which part technical characteristic
Carry out equivalent substitution.All any modification, equivalent substitution and improvements within the spirit and principles of the utility model, made etc.,
It should be included within the scope of protection of the utility model.
Claims (5)
1. a kind of Electro-hydraulic Hybrid Type pilotless automobile steering, it is characterised in that including steering spindle, the steering spindle passes through
Turn to shaft holder to be fixed on vehicle frame, the steering spindle drives steering to be turned to by motor steering control system；
The vehicle frame is provided with fluid-link steering and is servo-actuated force aid system, and the fluid-link steering is servo-actuated force aid system and includes hydraulic steering pump
Group, oil storage tank, hydraulic oil pipe and power cylinder；The hydraulic steering pump group is from the oil storage tank pump oil, by dynamic after pressurization
Power cylinder carries out power steering；Hydraulic oil pipe is connected between the hydraulic steering pump group and power cylinder.
A kind of 2. Electro-hydraulic Hybrid Type pilotless automobile steering according to claim 1, it is characterised in that the electricity
Machine steering control system includes motor, tooth sector group, steering position encoder and gear ＆ rack structure；Described turn to is driven
Dynamic motor is engaged by the tooth sector group with the steering spindle transmits moment of torsion.
A kind of 3. Electro-hydraulic Hybrid Type pilotless automobile steering according to claim 1, it is characterised in that the liquid
Power steering pump group is pressed to be arranged on oil storage tank on vehicle frame.
4. a kind of Electro-hydraulic Hybrid Type pilotless automobile steering according to claim 1, it is characterised in that described dynamic
The both ends of power cylinder are provided with drag link, and shield is provided with the drag link, and the end set of the drag link has bulb.
5. a kind of Electro-hydraulic Hybrid Type pilotless automobile steering according to claim 2, it is characterised in that described turn
It is arranged on to position coder in the steering spindle, the reality of deflecting roller can be obtained by the Data Detection to position coder
Steering angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720872897.6U CN206926718U (en) | 2017-07-19 | 2017-07-19 | A kind of Electro-hydraulic Hybrid Type pilotless automobile steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720872897.6U CN206926718U (en) | 2017-07-19 | 2017-07-19 | A kind of Electro-hydraulic Hybrid Type pilotless automobile steering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206926718U true CN206926718U (en) | 2018-01-26 |
Family
ID=61355786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720872897.6U Active CN206926718U (en) | 2017-07-19 | 2017-07-19 | A kind of Electro-hydraulic Hybrid Type pilotless automobile steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206926718U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310624A (en) * | 2017-07-19 | 2017-11-03 | 苏州青飞智能科技有限公司 | A kind of Electro-hydraulic Hybrid Type pilotless automobile steering |
-
2017
- 2017-07-19 CN CN201720872897.6U patent/CN206926718U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310624A (en) * | 2017-07-19 | 2017-11-03 | 苏州青飞智能科技有限公司 | A kind of Electro-hydraulic Hybrid Type pilotless automobile steering |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 226000 room 316, building 2, No. 109, Yongfu Road, Tangzha Town Street, Chongchuan District, Nantong City, Jiangsu Province Patentee after: Qingyizhihang (Nantong) Technology Co.,Ltd. Address before: 215500 No. 188 Yunshen Road, Changshu High-tech Industrial Development Zone, Suzhou City, Jiangsu Province Patentee before: SUZHOU QINGFEI INTELLIGENT TECHNOLOGY Co.,Ltd. |