CN210162151U - Drive-by-wire steering system and fire engine - Google Patents
Drive-by-wire steering system and fire engine Download PDFInfo
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- CN210162151U CN210162151U CN201920576543.6U CN201920576543U CN210162151U CN 210162151 U CN210162151 U CN 210162151U CN 201920576543 U CN201920576543 U CN 201920576543U CN 210162151 U CN210162151 U CN 210162151U
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Abstract
The utility model discloses a wire-controlled steering system and a fire engine, which comprises a steering control mechanism, an ECU and a steering executing mechanism; the steering control mechanism comprises a steering wheel, a steering column and a steering return device; the steering wheel is connected with the steering aligning device through the steering column; an angle measuring device that measures a rotation angle of a steering wheel; the steering executing mechanism comprises a proportional reversing valve group, a right rear steering oil cylinder, a right rear angle transmission box, a right rear wheel, a left rear steering oil cylinder, a left rear angle transmission box, a left rear wheel, a left front angle transmission box, a left front steering oil cylinder, a right front wheel, a right front angle transmission box and a right front steering oil cylinder; an oil inlet of the proportional reversing valve group is connected with the oil inlet loop, and an oil outlet of the proportional reversing valve group is respectively connected with the left front steering oil cylinder, the right front steering oil cylinder, the left rear steering oil cylinder and the right rear steering oil cylinder and is used for realizing independent control of steering actions of all wheels through the proportional reversing valve group; the angle measuring device and the proportional reversing valve set are respectively in signal connection with the ECU.
Description
Technical Field
The utility model belongs to the technical field of the vehicle turns to, in particular to drive-by-wire a steering system and fire engine.
Background
At present, steering systems are divided into three categories: mechanical steering system, power assisted steering system and steer-by-wire system. The steer-by-wire system generally consists of a steering wheel assembly, an actuating motor, a sensor, an ECU, a fault self-diagnosis system and a power auxiliary system. The steering wheel steering mechanism is characterized in that a mechanical connecting part between the steering wheel and the steering wheel is eliminated, the limitation of mechanical firmware is thoroughly eliminated, the steering wheel steering mechanism is completely realized by electric energy, and the steering wheel steering mechanism has better operation stability. Its advantage is: 1) mechanical connecting parts between a steering wheel and steering wheels are eliminated, so that impact caused by ground problems cannot be transmitted to a driver through the steering wheel, and driving fatigue is reduced; 2) the problem of steering interference is eliminated, the omnibearing automatic control is realized, the smoothness of the automobile is improved, and a foundation is laid for integrated control; 3) the steering aligning moment can be adjusted at any time through software according to road condition requirements without redesigning, so that the adjustability of the steer-by-wire system is stronger; 4) from the functional perspective, mechanical connecting parts are not needed, the driving space of a driver is larger, the driving comfort is enhanced, and the system is lighter. However, the reliability is low, and the design and manufacturing cost of the wire control system is high, which has not been widely used.
The prior art has the following defects:
(1) the electric signal is fed back to the motor by means of force to generate a aligning torque, a mechanical automatic aligning device is not provided, and the aligning torque of the steering wheel cannot be provided if the electric signal fails, so that the steering wheel and wheels are not synchronous, and the driving safety is reduced;
(2) four steering modes, namely front wheel steering, four-wheel steering, pivot steering and crab walking, can be switched, the requirement of each region on the steering performance of the vehicle is basically met, but a rear wheel steering mode is lacked;
(3) the steering ratio is not adjustable, namely the ratio of the steering wheel angle to the wheel angle is consistent, and the contradiction between the high-speed driving stability and the low-speed transfer convenience in a narrow space cannot be solved.
SUMMERY OF THE UTILITY MODEL
The purpose is as follows: in order to overcome the defects existing in the prior art, the utility model provides a drive-by-wire steering system and fire engine.
The technical scheme is as follows: in order to solve the technical problem, the utility model discloses a technical scheme does:
a wire-controlled steering system comprises a steering control mechanism, an ECU and a steering execution mechanism;
the steering control mechanism comprises a steering wheel, a steering column and a steering return device; the steering wheel is connected with the steering aligning device through the steering column; the steering aligning device is a mechanical automatic aligning device and is used for driving the steering wheel to automatically align when the rotating force of the steering wheel is relieved; the steering control mechanism is also provided with an angle measuring device which is used for measuring the rotating angle of the steering wheel;
the steering executing mechanism comprises a proportional reversing valve group, a right rear steering oil cylinder, a right rear angle transmission box, a right rear wheel, a left rear steering oil cylinder, a left rear angle transmission box, a left rear wheel, a left front angle transmission box, a left front steering oil cylinder, a right front wheel, a right front angle transmission box and a right front steering oil cylinder;
an oil inlet of the proportional reversing valve group is connected with the oil inlet loop, an oil outlet of the proportional reversing valve group is respectively connected with the left front steering oil cylinder, the right front steering oil cylinder, the left rear steering oil cylinder and the right rear steering oil cylinder, and the left front steering oil cylinder is connected with a left front wheel through a left front angle transmission case; the right front steering oil cylinder is connected with a right front wheel through a right front corner transmission box; the left rear steering oil cylinder is connected with a left rear wheel through a left rear angle transmission box; the right rear steering oil cylinder is connected with a right rear wheel through a right rear angle transmission box; the control system is used for realizing independent control of steering action of each wheel through the proportional reversing valve group;
the angle measuring device and the proportional reversing valve set are respectively in signal connection with the ECU.
Preferably, the steering and correcting device comprises a first support, a rotating shaft, a mounting plate, a sliding rail, a sliding block, a second support, a belt, an air spring and a rotating seat;
wherein, the revolving shaft is arranged on the mounting plate; the rotary seat is coaxially connected with the rotary shaft;
one end of the gas spring is fixed on the mounting plate through the first support, and the other end of the gas spring is fixed on the second support; the second bracket is fixedly connected with the sliding block;
the slide rail is fixed on the mounting plate, and the slide block is connected with the slide rail in a sliding manner and can slide back and forth along the direction of the slide rail;
one end of the belt is fixed on the rotary seat, and the other end of the belt is fixed on the second support;
when the rotating force acts on the rotating shaft, the rotating shaft drives the rotating seat to rotate, one end of the belt is wound around the rotating seat, the other end of the belt drives the sliding block to slide on the sliding rail, and the gas spring is compressed to generate torque; when the rotating force acting on the rotating shaft is relieved, the air spring is restored to the original state to drive the sliding block to slide, and the other end of the belt moves along with the second support to drive the rotating shaft to rotate reversely, so that the rotating shaft is automatically corrected.
Furthermore, the steering and aligning device also comprises a driving gear, a driven gear and a corner encoder; the steering wheel is characterized in that the driving gear is coaxially connected with the rotating shaft, the driving gear is meshed with the driven gear, the driven gear is coaxially connected with the corner encoder and used for detecting the corner of the steering wheel through the corner encoder, and the corner encoder is in signal connection with the ECU.
More preferably, the slide rail and the gas spring are arranged in parallel.
Furthermore, a left rear angle sensor, a right rear angle sensor, a left front angle sensor and a right front angle sensor are respectively arranged on the left front steering cylinder, the right front steering cylinder, the left rear steering cylinder and the right rear steering cylinder and used for detecting the wheel rotation angle.
Furthermore, the left rear angle sensor, the right rear angle sensor, the left front angle sensor and the right front angle sensor are in signal connection with the ECU.
Further, the steer-by-wire system further comprises a speed sensor; the speed sensor is used for detecting the speed of the vehicle; the speed sensor is in signal connection with the ECU.
Further, the steering control mechanism further comprises a steering mode switching device, and the steering mode switching device is in signal connection with the ECU;
the steering mode switching device is used for selecting a steering mode, wherein the steering mode comprises the following steps: front wheel steering, rear wheel steering, four-wheel steering, crab steering and pivot steering.
Further, the steering operation mechanism further comprises a steering ratio switching device; the steering ratio switching device is in signal connection with the ECU;
the steering ratio switching device is used for selecting a steering ratio, wherein the steering ratio comprises a high steering ratio and a low steering ratio.
The utility model also provides a fire engine, including foretell drive-by-wire steering system.
Has the advantages that: the utility model provides a steer-by-wire system and fire engine, its characteristics are that contain the automatic device that returns of mechanical type steering wheel, changeable five kinds of modes of turning to, turn to the ratio adjustable, adopt spiral swing hydro-cylinder as the executive component. The steering wheel has the advantages that the mechanical aligning device is added, so that the steering wheel can be automatically aligned whenever the steering wheel is loosened, and the steering safety is improved; according to different road conditions of a field, five steering modes can be switched at will through the button, and the traffic capacity of a narrow space is improved; the steering ratio switch can select a high steering ratio mode or a low steering ratio mode, the low steering ratio is suitable for steering front wheels during middle-high speed driving, a control program for normal driving is called by a steering wheel corner and a wheel corner at the moment, the high steering ratio is suitable for any steering mode during low speed driving (0-5 km/h), the control program for low speed driving is called by the steering wheel corner and the wheel corner at the moment, the steering wheel can realize that the wheels deflect to the maximum angle by rotating a small angle, and the contradiction between driving stability and narrow space transfer efficiency is solved by adjusting the steering ratio; the large-axle-diameter spiral steering oil cylinder is adopted, the oil cylinder rotating angle is consistent with the wheel rotating angle, the steering accuracy is guaranteed, meanwhile, the large-axle-diameter oil cylinder provides large torque, reliable steering torque is provided for vehicle steering, the spiral swing oil cylinder has a telescopic function and can serve as a vehicle suspension, one oil cylinder integrates steering and suspension, the mounting space is saved, and vehicle arrangement is facilitated.
Has the following advantages:
(1) the steer-by-wire system of the utility model is provided with a set of mechanical automatic steering and aligning device, so that the wheels can be automatically aligned whenever the steering wheel is loosened, thereby improving the driving safety;
(2) the utility model provides five steering modes, which effectively solves the problem of inconvenient vehicle transfer in narrow space, can provide convenience for the free movement of the vehicle in narrow and complex terrain, and improves the passing performance of the vehicle;
(3) the variable steering ratio is adopted, and the low steering ratio or the high steering ratio can be selected according to different operation occasions, so that the contradiction between the high-speed driving stability and the low-speed transfer convenience is solved, and the operation efficiency of the vehicle is improved.
(4) The large-shaft-diameter spiral steering oil cylinder is adopted, stable torque can be provided for a vehicle, meanwhile, the suspension function can be realized in a telescopic mode, the overall structure is compact, and the whole vehicle arrangement is convenient.
Drawings
FIG. 1 is a schematic structural diagram of a steer-by-wire system of an embodiment;
FIG. 2 is a structural view of a mechanical aligning apparatus in an embodiment;
FIG. 3 is a diagram showing a front wheel steering mode in the embodiment;
FIG. 4 is a diagram showing a configuration of a rear wheel steering mode in the embodiment;
FIG. 5 is a diagram showing a four-wheel steering mode in the embodiment;
FIG. 6 is a diagram illustrating a crab steering mode in an embodiment;
FIG. 7 is a diagram illustrating an example of an in-place steering mode;
in the figure: a steering wheel 1, a steering column 2, a steering return device 3, a steering ratio switching device 5, and a steering mode switching device 7; a sensor 4, an ECU6, a right rear angle sensor 8, a left rear angle sensor 12, a left front angle sensor 23, a right front angle sensor 27; the steering execution mechanism comprises a right rear steering oil cylinder 9, a right rear angle transmission box 10, right rear wheels 11, a left rear steering oil cylinder 13, a left rear angle transmission box 14, left rear wheels 15, a hydraulic oil tank 16, a filter 17, a plunger pump 18, a proportional reversing valve group 19, left front wheels 20, a left front angle transmission box 21, a left front steering oil cylinder 22, right front wheels 24, a right front angle transmission box 25 and a right front steering oil cylinder 26;
the device comprises a first support 301, a driven gear 302, a rotating shaft 303, a driving gear 304, a mounting plate 305, a sliding rail 306, a sliding block 307, a second support 308, a belt 309, a gas spring 310, a rotating seat 311 and an angle encoder 312.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Unless specifically stated otherwise, 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 invention. 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 also include 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.
Example 1
In some embodiments, as shown in fig. 1, a steer-by-wire system for a fire engine includes a steering mechanism, an electronic control unit, and a steering actuator;
the steering control mechanism comprises a steering wheel 1, a steering column 2, a steering return device 3, a steering ratio switching device 5 and a steering mode switching device 7;
the electronic control unit comprises a speed sensor 4, an ECU6, a right rear angle sensor 8, a left rear angle sensor 12, a left front angle sensor 23 and a right front angle sensor 27;
the steering executing mechanism comprises a right rear steering oil cylinder 9, a right rear angle transmission box 10, right rear wheels 11, a left rear steering oil cylinder 13, a left rear angle transmission box 14, left rear wheels 15, a hydraulic oil tank 16, a filter 17, a plunger pump 18, a proportional reversing valve group 19, left front wheels 20, a left front angle transmission box 21, a left front steering oil cylinder 22, right front wheels 24, a right front angle transmission box 25 and a right front steering oil cylinder 26.
As shown in fig. 2, the steering and returning device 3 includes a first bracket 301, a rotating shaft 303, a mounting plate 305, a slide rail 306, a slide block 307, a second bracket 308, a belt 309, a gas spring 310, and a rotating base 311;
wherein the swivel shaft 303 is mounted on a mounting plate 305; the rotary seat 311 is coaxially connected with the rotary shaft 303;
one end of the gas spring 310 is fixed on the mounting plate 305 through the first bracket 301, and the other end is fixed on the second bracket 308; the second bracket 308 is fixedly connected with the sliding block 307;
the slide rail 306 is fixed on the mounting plate 305, and the slide block 307 is connected with the slide rail 306 in a sliding manner and can slide back and forth along the direction of the slide rail 306;
one end of the belt 309 is fixed on the rotary seat 311, and the other end is fixed on the second bracket 308;
when a rotating force acts on the rotating shaft 303, the rotating shaft 303 drives the rotating base 311 to rotate, one end of the belt 309 is wound around the rotating base 311, the other end of the belt drives the sliding block 307 to slide on the sliding rail 306, and the gas spring 310 is compressed to generate a torque; when the rotational force applied to the rotating shaft 303 is released, the gas spring 310 is restored to its original state, and the slider 307 is driven to slide, and the other end of the belt 309 moves along with the second bracket 308 to rotate the rotating shaft 303 reversely, so that the rotating shaft 303 is automatically returned to its original state.
Further, the steering and aligning device further comprises a driving gear 304, a driven gear 302 and a rotation angle encoder 312; the driving gear 304 is coaxially connected with the revolving shaft 303, the driving gear 304 is meshed with the driven gear 302, and the driven gear 302 is coaxially connected with the angle encoder 312 and used for detecting the angle of the revolving shaft 303 through the angle encoder 312.
Further, the sliding rail 306 and the gas spring 310 are disposed parallel to each other.
The rotating shaft 303 is coaxially connected with the steering column 2, the driving gear 304 and the rotating seat 311, the driven gear 302 is coaxially connected with the corner encoder 312, the driving gear 304 is meshed with the driven gear 302, and a corner signal of the steering wheel 1 can be transmitted to the ECU6 in real time through the corner encoder 312.
The sliding rail 306 is fixed on the mounting plate 305, the sliding block 307 can slide on the sliding rail 306, one end of the belt 309 is fixed on the rotary seat 311, the other end of the belt 309 is fixed on the second support 308, the second support 308 is fixed with the sliding block 307, one end of the gas spring 310 is fixed on the mounting plate 305 through the first support 301, the other end of the gas spring is fixed on the second support 308, when the steering wheel rotates, the belt 309 moves leftwards, the gas spring 310 is compressed to generate a moment, after the steering wheel is loosened, the gas spring 310 restores to the original state rightwards, and the belt 309 moves rightwards to drive.
The hydraulic oil tank 16, the filter 17, the plunger pump 18 and the proportional reversing valve group 19 are connected by oil pipes, the proportional reversing valve group 19 is connected with the left front steering oil cylinder 22, the right front steering oil cylinder 26, the left rear steering oil cylinder 13 and the right rear steering oil cylinder 9, and the left front steering oil cylinder 22 is connected with the left front wheel 20 through the left front angle transmission case 21; the right front steering oil cylinder 26 is connected with the right front wheel 24 through a right front corner transmission box 25; the left rear steering cylinder 13 is connected with a left rear wheel 15 through a left rear angle transmission case 14; the right rear steering cylinder 9 is connected with a right rear wheel 11 through a right rear angle transmission case 10.
The left front steering cylinder 22, the right front steering cylinder 26, the left rear steering cylinder 13 and the right rear steering cylinder 9 are respectively provided with a left rear angle sensor 12, a right rear angle sensor 8, a left front angle sensor 23 and a right front angle sensor 27 for detecting the wheel rotation angle.
The speed sensor 4 is used to detect the speed of the vehicle.
The rotation angle encoder 312, the left rear angle sensor 12, the right rear angle sensor 8, the left front angle sensor 23, the right front angle sensor 27, the speed sensor 4, the steering mode switching device 7, and the steering ratio switching device 5 are in signal connection with the ECU 6.
The steering mode switching device 7 is configured to select a steering mode, wherein the steering mode includes: front wheel steering, rear wheel steering, four-wheel steering, crab steering and pivot steering; when different steering modes are selected, signals are transmitted to the ECU6, different control programs are called, front wheel steering is suitable for any vehicle speed, and the other four steering modes are suitable for the low-speed mode.
The steering ratio switching device 5 is used for selecting a steering ratio, wherein the steering ratio comprises a high steering ratio and a low steering ratio. When a high steering ratio or a low steering ratio is selected, a signal is sent to the ECU6 to invoke a different control program, the low steering ratio being suitable for any vehicle speed and the high steering ratio being suitable for the low speed mode.
The speed sensor 4 is connected with the ECU6, the speed of the vehicle is transmitted to the ECU6 in real time, and whether the mode of the vehicle meets the standard requirements or not is confirmed through comparative analysis.
And the ECU6 is used for acquiring a steering wheel angle signal based on the selected steering mode and the steering ratio, outputting a control signal through program calculation, transmitting the control signal to the proportional reversing valve group 19, and controlling different oil passages of the proportional reversing valve group 19 to be opened respectively according to the corresponding signal.
As shown in fig. 1 and 2, a steering wheel 1 is connected with a steering centering device 3 through a steering column 2, a steering wheel corner is transmitted to a rotating shaft 303 through the steering column 2, the rotating shaft 303 drives a driving gear 304 to rotate, a driven gear 302 is meshed with the driving gear 304, a corner encoder 312 is coaxially arranged with the driven gear 302, a steering wheel corner signal is transmitted to an ECU6 through the corner encoder 312, the ECU6 controls a valve core corresponding to a proportional directional valve set 19 to open and close according to a preset program, at the moment, hydraulic oil flows into a left rear steering cylinder 13 and (or) a right rear steering cylinder 9 and (or) a left front steering cylinder 22 and (or) a right front steering cylinder 26 through a hydraulic oil tank 16, a filter 17, a plunger pump 18 and the proportional directional valve set 19, the steering cylinders are respectively coaxially connected with the left rear corner transmission tank 14, the right rear corner transmission tank 10, the left front corner transmission tank 21 and the right front corner transmission tank 25, at the moment, the hydraulic oil drives the steering cylinders to rotate so as to drive left rear ) The left front wheel 20 and/or the right front wheel 24 are turned to effect steering of the vehicle. The left rear angle sensor 12, the right rear angle sensor 8, the left front angle sensor 23, and the right front angle sensor 27 feed the wheel rotation angle back to the ECU6 in real time.
Meanwhile, when the steering wheel rotates, the revolving shaft 303 drives the revolving base 311 to rotate, the left end of the belt 309 is wound around the revolving base 311, the right end drives the sliding block 307 to slide on the sliding rail 306, the left end of the gas spring 310 is fixed on the mounting plate 305 through the first support 301, the right end of the gas spring is fixed with the sliding block 307 through the second support 308, when the sliding block 307 slides leftwards, the gas spring 310 is compressed, after the steering wheel is loosened, the gas spring 310 restores to the original state, the sliding block 307 is driven to slide rightwards, the belt 309 moves rightwards to drive the revolving shaft 303 to rotate backwards, and therefore the.
As shown in fig. 3 to 7, the schematic diagrams of five steering modes are shown, (1) the steering mode switching device 6 is located in the cab, the default is front wheel steering mode, at this time, an indicator lamp above a "front wheel" button in the cab is on, when the steering wheel 1 is turned to the left, the steering angle encoder 312 transmits a steering signal to the ECU, the ECU invokes a front wheel steering control program and controls the operation of the proportional reversing valve group, at this time, the oil path A, B is opened, oil flows into the left front steering cylinder 22 and the right front steering cylinder 26 from the proportional reversing valve group 19, the oil paths a 'and B' are opened, the oil flows out from the steering cylinders, flows into the hydraulic oil tank through the proportional reversing valve group, the steering cylinders rotate to the left, and the wheels rotate to the left at the same time, so that the vehicle; when the steering wheel is turned to the right, the principle is the same as that of turning to the left.
(2) Pressing a 'rear wheel' button to switch to a rear wheel steering mode, wherein an indicator lamp above the 'rear wheel' button is turned on, when the steering wheel 1 is turned leftwards, a steering signal is transmitted to the ECU by the corner encoder 312, the ECU calls a rear wheel steering control program and controls the proportional reversing valve group to act, an oil path C, D is opened, oil flows into the left rear steering oil cylinder 13 and the right rear steering oil cylinder 9 from the proportional reversing valve group respectively, oil paths C 'and D' are opened, the oil flows out of the steering oil cylinders and flows into a hydraulic oil tank through the proportional reversing valve group, the steering oil cylinders rotate leftwards, and the wheels turn leftwards at the same time, so that the left turning of the vehicle is realized, as shown in FIG. 4; when the steering wheel is turned to the right, the principle is the same as that of turning to the left.
(3) Pressing the four-wheel button to switch to a four-wheel steering mode, wherein an indicator lamp above the four-wheel button is turned on, when the steering wheel 1 is turned to the left, a steering angle encoder 312 transmits a steering signal to the ECU, the ECU calls a four-wheel steering control program and controls a proportional reversing valve group 19 to act, at this time, oil ways A, B, C 'and D' are opened, oil flows from the proportional reversing valve group to a left front steering oil cylinder 22, a right front steering oil cylinder 26, a left rear steering oil cylinder 13 and a right rear steering oil cylinder 9 respectively, oil ways A ', B' and C, D are opened, the oil flows from the steering oil cylinders and flows into a hydraulic oil tank through the proportional reversing valve group, the left front/right front steering oil cylinders rotate to the left, the left rear/right rear steering oil cylinders rotate to the right, and corresponding wheels rotate in the same direction to realize the left turning of the; when the steering wheel is turned to the right, the principle is the same as that of turning to the left.
(4) Pressing the crab-going button to switch to crab-going steering mode, wherein an indicator lamp above the crab-going button is on, when the steering wheel 1 is turned to the left, the steering angle encoder 312 transmits a steering signal to the ECU, the ECU calls a crab-going steering control program and controls the proportional reversing valve group to act, at this time, the oil path A, B, C, D is opened, oil flows into the front left steering oil cylinder 22, the front right steering oil cylinder 26, the rear left steering oil cylinder 13 and the rear right steering oil cylinder 9 from the proportional reversing valve group respectively, the oil paths A ', B', C 'and D' are opened, the oil flows out of the steering oil cylinders and flows into the hydraulic oil tank through the proportional reversing valve group, the front left/right/front/rear left/rear right steering oil cylinders rotate to the left, and corresponding wheels rotate in the same direction to realize left crab-going, as shown in fig. 6; when the steering wheel is turned to the right, the principle is the same as that of turning to the left.
(5) Pressing the 'in-situ' button to switch to the in-situ steering mode, wherein an indicator lamp above the 'in-situ' button is on without turning a steering wheel, the ECU automatically calls an in-situ steering control program and controls the action of a proportional reversing valve group, oil ways A 'and B, C, D' are opened at the moment, oil flows into a left front steering oil cylinder 22, a right front steering oil cylinder 26, a left rear steering oil cylinder 13 and a right rear steering oil cylinder 9 from the proportional reversing valve group respectively, oil ways A, B ', C' and D are opened, the oil flows out of the steering oil cylinders and flows into a hydraulic oil tank through the proportional reversing valve group, the left front/right rear steering oil cylinders rotate rightwards and the right front/left rear steering oil cylinders rotate leftwards respectively, corresponding wheels rotate in the same direction, an accelerator pedal is pressed, the right front wheel 24 and the right rear wheel 11 rotate forwards (rotate forwards to the vehicle), the left front wheel 20 and the left rear wheel 15 rotate reversely (backwards to, vehicle pivot steering is achieved as shown in fig. 7.
The left rear angle sensor 12, the right rear angle sensor 8, the left front angle sensor 23 and the right front angle sensor 27 feed the wheel turning angles back to the ECU in real time, and compare the wheel turning angles with the target turning angles to finely adjust the wheels which do not reach the target turning angles. The front wheel steering is applicable to any vehicle speed, and the other four steering modes are applicable to the low-speed mode, and the vehicle speed does not exceed 5 km/h.
The steering ratio switching device 5 shares two options: a high turn ratio button or a low turn ratio button. The steering ratio switching device 5 is connected to the ECU6, and when the high steering ratio button or the low steering ratio button is selected, transmits a signal to the ECU6 to call up a different control program. The low steering ratio is a normal state, and is suitable for steering the vehicle at any speed, and the maximum rotation stroke of the steering wheel and the maximum rotation angle of the wheels are in a linear proportion at the moment; the high steering ratio is suitable for low-speed transfer operation, and is only suitable for a low-speed mode, the vehicle speed is not more than 5km/h, the steering wheel rotates by a small angle (the vehicle adopts 90 degrees), and the wheels can realize the maximum steering angle. When a high steering ratio button is pressed, a signal is transmitted to the ECU, the ECU automatically calls a high steering ratio control program, a steering angle encoder 312 transmits a steering wheel steering angle signal to the ECU, and the ECU processes and controls the opening of the proportional reversing valve group to realize wheel steering.
The speed sensor 4 is connected with the ECU6, the speed sensor 4 can transmit the speed of the vehicle to the ECU in real time, the ECU can compare whether the selected steering mode and the steering ratio are proper or not according to the vehicle speed, and if the collision occurs, an error is reported, and a driver is prompted to correct the misoperation.
The ECU6 transmits a control signal to the proportional reversing valve group 19 by program calculation according to different steering modes, different steering ratios and different steering angle signals of the steering wheel, and different oil passages of the proportional reversing valve group 19 are respectively opened according to the corresponding signals.
The steering oil cylinder can rotate and stretch, and a large-section shaft diameter is adopted, so that a large steering torque can be provided, and necessary guarantee is provided for flexible steering of the vehicle in any terrain; the independent oil way is adopted for the telescopic function, and the damping effect of the vehicle under a complex road surface can be improved. The steering oil cylinder integrates steering and hanging functions, saves installation space, is convenient for overall arrangement of vehicles, and is suitable for vehicles with strict requirements on external dimensions.
On the other hand, the utility model also provides a fire engine, including foretell drive-by-wire steering system.
Steer-by-wire system can be applied to fields such as fire engine, military vehicle, engineering machine tool, agricultural machine.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered limiting with respect to the scope of the present invention.
The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (10)
1. A wire-controlled steering system is characterized by comprising a steering control mechanism, an ECU and a steering executing mechanism;
the steering control mechanism comprises a steering wheel, a steering column and a steering return device; the steering wheel is connected with the steering aligning device through the steering column; the steering aligning device is a mechanical automatic aligning device and is used for driving the steering wheel to automatically align when the rotating force of the steering wheel is relieved; the steering control mechanism is also provided with an angle measuring device which is used for measuring the rotating angle of the steering wheel;
the steering executing mechanism comprises a proportional reversing valve group, a right rear steering oil cylinder, a right rear angle transmission box, a right rear wheel, a left rear steering oil cylinder, a left rear angle transmission box, a left rear wheel, a left front angle transmission box, a left front steering oil cylinder, a right front wheel, a right front angle transmission box and a right front steering oil cylinder;
an oil inlet of the proportional reversing valve group is connected with the oil inlet loop, an oil outlet of the proportional reversing valve group is respectively connected with the left front steering oil cylinder, the right front steering oil cylinder, the left rear steering oil cylinder and the right rear steering oil cylinder, and the left front steering oil cylinder is connected with a left front wheel through a left front angle transmission case; the right front steering oil cylinder is connected with a right front wheel through a right front corner transmission box; the left rear steering oil cylinder is connected with a left rear wheel through a left rear angle transmission box; the right rear steering oil cylinder is connected with a right rear wheel through a right rear angle transmission box; the control system is used for realizing independent control of steering action of each wheel through the proportional reversing valve group;
the angle measuring device and the proportional reversing valve set are respectively in signal connection with the ECU.
2. The steer-by-wire system of claim 1, wherein: the steering and correcting device comprises a first support, a rotating shaft, a mounting plate, a sliding rail, a sliding block, a second support, a belt, an air spring and a rotating seat;
wherein, the revolving shaft is arranged on the mounting plate; the rotary seat is coaxially connected with the rotary shaft;
one end of the gas spring is fixed on the mounting plate through the first support, and the other end of the gas spring is fixed on the second support; the second bracket is fixedly connected with the sliding block;
the slide rail is fixed on the mounting plate, and the slide block is connected with the slide rail in a sliding manner and can slide back and forth along the direction of the slide rail;
one end of the belt is fixed on the rotary seat, and the other end of the belt is fixed on the second support;
when the rotating force acts on the rotating shaft, the rotating shaft drives the rotating seat to rotate, one end of the belt is wound around the rotating seat, the other end of the belt drives the sliding block to slide on the sliding rail, and the gas spring is compressed to generate torque; when the rotating force acting on the rotating shaft is relieved, the air spring is restored to the original state to drive the sliding block to slide, and the other end of the belt moves along with the second support to drive the rotating shaft to rotate reversely, so that the rotating shaft is automatically corrected.
3. The steer-by-wire system of claim 2, wherein: the steering return-to-positive device also comprises a driving gear, a driven gear and a corner encoder; the steering wheel is characterized in that the driving gear is coaxially connected with the rotating shaft, the driving gear is meshed with the driven gear, the driven gear is coaxially connected with the corner encoder and used for detecting the corner of the steering wheel through the corner encoder, and the corner encoder is in signal connection with the ECU.
4. The steer-by-wire system according to claim 2 or 3, wherein: the slide rail and the gas spring are arranged in parallel.
5. The steer-by-wire system of claim 1, wherein: and the left front steering oil cylinder, the right front steering oil cylinder, the left rear steering oil cylinder and the right rear steering oil cylinder are respectively provided with a left rear angle sensor, a right rear angle sensor, a left front angle sensor and a right front angle sensor which are used for detecting the wheel turning angle.
6. The steer-by-wire system of claim 5, wherein: and the left rear angle sensor, the right rear angle sensor, the left front angle sensor and the right front angle sensor are in signal connection with the ECU.
7. The steer-by-wire system of claim 1, wherein: the steer-by-wire system further comprises a speed sensor; the speed sensor is used for detecting the speed of the vehicle; the speed sensor is in signal connection with the ECU.
8. The steer-by-wire system of claim 1, wherein: the steering control mechanism further comprises a steering mode switching device, and the steering mode switching device is in signal connection with the ECU;
the steering mode switching device is used for selecting a steering mode, wherein the steering mode comprises the following steps: front wheel steering, rear wheel steering, four-wheel steering, crab steering and pivot steering.
9. The steer-by-wire system of claim 1, wherein: the steering operation mechanism further comprises a steering ratio switching device; the steering ratio switching device is in signal connection with the ECU;
the steering ratio switching device is used for selecting a steering ratio, wherein the steering ratio comprises a high steering ratio and a low steering ratio.
10. A fire engine, its characterized in that: comprising a steer-by-wire system according to any of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920576543.6U CN210162151U (en) | 2019-04-25 | 2019-04-25 | Drive-by-wire steering system and fire engine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920576543.6U CN210162151U (en) | 2019-04-25 | 2019-04-25 | Drive-by-wire steering system and fire engine |
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| CN210162151U true CN210162151U (en) | 2020-03-20 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155155A (en) * | 2019-04-25 | 2019-08-23 | 徐工集团工程机械有限公司 | A kind of wire-controlled steering system and fire fighting truck |
| CN114248830A (en) * | 2020-09-22 | 2022-03-29 | 河北雷萨重型工程机械有限责任公司 | Vehicle steering control method and device and vehicle |
| CN115075330A (en) * | 2022-06-27 | 2022-09-20 | 徐州徐工挖掘机械有限公司 | Bidirectional driving steering control system and method and excavator |
-
2019
- 2019-04-25 CN CN201920576543.6U patent/CN210162151U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155155A (en) * | 2019-04-25 | 2019-08-23 | 徐工集团工程机械有限公司 | A kind of wire-controlled steering system and fire fighting truck |
| CN114248830A (en) * | 2020-09-22 | 2022-03-29 | 河北雷萨重型工程机械有限责任公司 | Vehicle steering control method and device and vehicle |
| CN114248830B (en) * | 2020-09-22 | 2023-09-05 | 河北雷萨重型工程机械有限责任公司 | Steering control method and device for vehicle and vehicle |
| CN115075330A (en) * | 2022-06-27 | 2022-09-20 | 徐州徐工挖掘机械有限公司 | Bidirectional driving steering control system and method and excavator |
| CN115075330B (en) * | 2022-06-27 | 2024-02-27 | 徐州徐工挖掘机械有限公司 | Bidirectional driving steering control system and method and excavator |
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