CN215154998U - Hydraulic steering system device for automatic driving - Google Patents
Hydraulic steering system device for automatic driving Download PDFInfo
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- CN215154998U CN215154998U CN202022798781.7U CN202022798781U CN215154998U CN 215154998 U CN215154998 U CN 215154998U CN 202022798781 U CN202022798781 U CN 202022798781U CN 215154998 U CN215154998 U CN 215154998U
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Abstract
The utility model provides a hydraulic steering system device for automatic driving, which comprises a parameter setting and measuring analysis unit, a control unit and an execution unit, wherein the parameter setting and measuring analysis unit comprises an electro-hydraulic proportional amplifier, a direction angle controller and a corner sensor; the control unit comprises a coil a, an oil tank, a pump, a coil b and an electro-hydraulic proportional valve; the execution unit comprises a swing arm, a connecting rod (an oil cylinder servo rod) and a steering oil cylinder. The device is an automatic driving steering system for heavy-duty vehicles, and the main control mode is that an electro-hydraulic proportional valve controls high-pressure oil to enter a left or right inlet of a steering oil cylinder to push an oil cylinder servo rod to move leftwards or rightwards, so that wheels are driven to turn leftwards or rightwards. The turning angle size control compares a given turning angle with a turning angle feedback value measured by a turning angle sensor through a direction angle controller, and an electro-hydraulic proportional amplifier adjusts a coil to control the opening size of an electro-hydraulic proportional valve, so that the oil quantity of high-pressure oil entering is controlled, and the turning angle size is adjusted.
Description
Technical Field
The utility model relates to an automatic steering system device of driving vehicle especially relates to a hydraulic steering system device suitable for heavy-duty vehicle autopilot.
Background
The conventional electric automobile steering process: firstly, the angle output of the steering wheel is converted into an analog signal which can be accepted by a control system, before steering is executed, the relation between the angle output of the steering wheel and an analog quantity is defined, then the variation range of the analog signal is analyzed, different steering wheel positions and the distribution of the rotating speed of each wheel during steering can be obtained through calculation, the inner and outer wheels generate speed difference, and steering is realized, but the electric steering system is only feasible for light-load vehicles.
Aiming at the actual steering requirement of automatic driving of heavy-duty vehicles, a hydraulic steering system device which controls high-pressure oil to enter a left inlet or a right inlet of a steering oil cylinder based on an electro-hydraulic proportional valve and pushes an oil cylinder servo rod to move leftwards or rightwards so as to drive wheels to realize left turning or right turning is designed.
Disclosure of Invention
An object of the utility model is to provide a hydraulic steering system device for heavy vehicle autopilot to prior art's not enough.
The purpose of the utility model is realized through the following technical scheme: a hydraulic steering system device for automatic driving of a heavy-duty vehicle comprises a parameter setting and measuring analysis unit, a control unit and an execution unit; the parameter setting, measuring and analyzing unit comprises an electro-hydraulic proportional amplifier, a direction angle controller and a corner sensor, wherein the direction angle controller is responsible for comparing a corner given value Ag with a corner feedback value Af fed back by the corner sensor, the comparison result is used as control information and is transmitted to the electro-hydraulic proportional amplifier, and the electro-hydraulic proportional amplifier sends a control command to the control unit according to the comparison result. The control unit comprises a coil a, an oil tank, a pump, a coil b and an electro-hydraulic proportional valve, wherein the electro-hydraulic proportional valve controls high-pressure oil to enter a left inlet or a right inlet of the steering oil cylinder of the execution unit, and the coil can control the entering amount of the high-pressure oil. The execution unit comprises a swing arm, a connecting rod (an oil cylinder servo rod) and a steering oil cylinder, and the oil cylinder servo rod is pushed to move leftwards or rightwards due to different left or right inlets of high-pressure oil entering the steering oil cylinder, so that wheels are driven to rotate leftwards or rightwards, and the quantity of oil entering the steering oil cylinder is controlled to adjust the rotation angle of the wheels.
The utility model has the advantages that: the utility model discloses a hydraulic steering system device has guaranteed heavy vehicle autopilot's steering control and has realized.
Drawings
FIG. 1 is a structural diagram of a hydraulic steering system for automatic driving of a heavy-duty vehicle, which comprises wheels 1, swing arms 2, a connecting rod 3 (an oil cylinder servo rod), a steering oil cylinder 4, a coil 5 a, an oil tank 6, a pump 7, a coil 8 b, an electro-hydraulic proportional valve 9, an electro-hydraulic proportional amplifier 10, a direction angle controller 11 and a rotation angle sensor 12.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The utility model discloses an automatic hydraulic steering system device of driving has realized heavy vehicle autopilot's steering control.
As shown in fig. 1, the hydraulic steering system device for automatic driving of heavy-duty vehicles comprises a parameter setting and measuring analysis unit, a control unit and an execution unit, wherein the parameter setting and measuring analysis unit comprises a 10 electro-hydraulic proportional amplifier, a 11 direction angle controller and a 12 rotation angle sensor; the control unit comprises a coil 5 a, an oil tank 6, a pump 7, a coil 8 b and an electro-hydraulic proportional valve 9; the execution unit comprises 2 swing arms, 3 connecting rods (oil cylinder servo rods) and 4 steering oil cylinders, wherein the 2 swing arms are fixedly connected with the 1 wheel.
The working process is as follows: the 11-direction angle controller of the parameter setting and measuring analysis unit is responsible for comparing a given angle value Ag with a feedback angle value Af fed back by a 12-direction angle sensor, and transmitting a comparison result as control information to the 10-electric-hydraulic proportional amplifier, and the electric-hydraulic proportional amplifier sends a control command to the control unit according to the comparison result. The 9 electro-hydraulic proportional valve of the control unit controls high-pressure oil to enter the left or right inlet of the steering oil cylinder of the execution unit 4 according to the received control command, the entering amount of the high-pressure oil can be controlled by the 5 a coil or the 8 b coil, and the 3 connecting rods (oil cylinder servo rods) are pushed to move leftwards or rightwards due to the fact that the high-pressure oil enters the left or right inlet of the steering oil cylinder of the execution unit 4, so that the wheels 1 are driven to rotate leftwards or rightwards, and the amount of the oil entering the steering oil cylinder of the execution unit 4 is controlled to adjust the rotation angle of the wheels.
Further, the operation of the hydraulic steering system apparatus for automatic driving of a vehicle will be described in detail with a left turn as an example. When the wheels need to be controlled to rotate left, the parameter setting and measuring and analyzing unit sets an angle value Ag, the 11-direction angle controller is responsible for comparing the given angle value Ag with a feedback angle value Af fed back by a 12-direction angle sensor, the comparison result is used as control information and is transmitted to the 10 electro-hydraulic proportional amplifier, the 10 electro-hydraulic proportional amplifier adjusts a coil 5 a and a coil 8 b according to the control information, the A and P, B of the 9 electro-hydraulic proportional valve are communicated with the T, at the moment, the 7 pump pumps oil in the 6 oil tank from the port A into the right cavity of the 4-direction oil cylinder, so that the 3 connecting rod (an oil cylinder servo rod) is pushed to move left, and the 2 rocker arm is further pushed to drive the 1 wheel to rotate left.
Further, the right turning of the wheels is similar to the left turning control method.
Furthermore, the rotation angle of the wheels can be controlled by adjusting the coil 5 a and the coil 8 b through the electro-hydraulic proportional amplifier 10 according to control information, and the size of the communication opening between the A and P, B and the T of the electro-hydraulic proportional valve 9 is controlled, so that the oil quantity of the oil pump 7 which pumps oil in the oil tank 6 into the steering oil cylinder 4 is controlled, and the control of the rotation angle of the wheels is realized.
It should be noted that while particular embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that various obvious changes can be made therein without departing from the spirit and scope of the invention.
Claims (2)
1. A hydraulic steering system apparatus for automatic driving, characterized in that: the device comprises a parameter setting, measuring and analyzing unit, a control unit and an execution unit, wherein the parameter setting, measuring and analyzing unit comprises an electro-hydraulic proportional amplifier, a direction angle controller and a rotation angle sensor, the connection relationship among the parameter setting, measuring and analyzing unit and the rotation angle controller is that the output of the rotation angle sensor is connected to the direction angle controller, the output of the direction angle controller is connected to the electro-hydraulic proportional amplifier, and the outputs of the electro-hydraulic proportional amplifier are respectively connected to an a coil and a b coil of an electro-hydraulic proportional valve in the control unit; the control unit comprises a coil a, an oil tank, a pump, a coil B and an electro-hydraulic proportional valve, wherein the ports A and B of the electro-hydraulic proportional valve are communicated with the ports A and B of a steering oil cylinder in the execution unit through oil pipes, the port P is communicated with the pump through the oil pipe, and the port T is communicated with the oil tank through the oil pipe; the execution unit comprises a swing arm, an oil cylinder servo rod and a steering oil cylinder, wherein one end of the swing arm is rotatably connected with the oil cylinder servo rod, the other end of the swing arm is connected with a steering knuckle of a wheel, and an electro-hydraulic proportional valve controls high-pressure oil to enter a left or right inlet of the steering oil cylinder according to information transmitted by an electro-hydraulic proportional amplifier to push the oil cylinder servo rod to move leftwards or rightwards so as to drive the wheel to realize left rotation or right rotation at a certain angle.
2. The autonomous hydraulic steering system apparatus of claim 1, primarily for use in an autonomous steering system of a heavy-duty vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022798781.7U CN215154998U (en) | 2020-11-27 | 2020-11-27 | Hydraulic steering system device for automatic driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022798781.7U CN215154998U (en) | 2020-11-27 | 2020-11-27 | Hydraulic steering system device for automatic driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215154998U true CN215154998U (en) | 2021-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022798781.7U Active CN215154998U (en) | 2020-11-27 | 2020-11-27 | Hydraulic steering system device for automatic driving |
Country Status (1)
| Country | Link |
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| CN (1) | CN215154998U (en) |
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2020
- 2020-11-27 CN CN202022798781.7U patent/CN215154998U/en active Active
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