CN217945313U - High-precision steering system for unmanned mining truck - Google Patents
High-precision steering system for unmanned mining truck Download PDFInfo
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- CN217945313U CN217945313U CN202221459337.5U CN202221459337U CN217945313U CN 217945313 U CN217945313 U CN 217945313U CN 202221459337 U CN202221459337 U CN 202221459337U CN 217945313 U CN217945313 U CN 217945313U
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Abstract
The invention provides a high-precision steering system for an unmanned mining truck, which comprises an axle housing, a hub unit, a hydraulic unit and a steering control unit, wherein the hub unit is connected to two ends of the axle housing; the steering control unit comprises a steering knuckle, a steering tie rod and a steering control mechanism which are connected with the hub unit, the steering control mechanism is connected with the hydraulic unit, the hydraulic unit is connected with the steering knuckle, and a steering angle sensor is arranged below the steering knuckle; the steering angle sensor reads the relative steering angle and feeds the relative steering angle back to the steering control unit, the steering control unit controls the retraction of a hydraulic oil cylinder of the hydraulic unit, and the hydraulic oil cylinder drives the hub unit to rotate; the invention simplifies the control device, compares and corrects the input and output data of the steering angle through the fed-back steering angle to form closed-loop control, and solves the problem of insufficient steering control precision of the traditional pure hydraulic system in the field of automatic driving, thereby solving the problem of steer-by-wire.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a high-precision steering system for an unmanned mining truck.
Background
With the development of unmanned vehicles, the automatic driving technology of vehicles becomes mature, and higher requirements are put forward for vehicle control systems, especially for the control and detection of vehicle steering angles.
The conventional steering angle control of the unmanned mine truck mostly adopts a steering mode of a traditional fuel vehicle, adopts a hydraulic power-assisted steering system or a pure hydraulic steering system, mainly controls the steering angle by detecting the stroke of an oil cylinder and controlling the pressure of the oil cylinder, and realizes the detection and control of the steering angle through detecting the change of the oil quantity in the oil cylinder and the change of the pressure of the oil cylinder through a series of angle conversion.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a high-precision steering system for an unmanned mining truck, which aims at overcoming the defects of the prior art, simplifies a control device, compares and corrects steering angle input and output data through a feedback steering angle to form closed-loop control, and solves the problem of insufficient steering control precision of a traditional pure hydraulic system in the field of automatic driving, thereby solving the problem of steer-by-wire.
The technical scheme is as follows: the invention discloses a high-precision steering system for an unmanned mining truck, which comprises an axle housing, a hub unit, a hydraulic unit and a steering control unit, wherein the hub unit is connected to two ends of the axle housing; the steering control unit comprises a steering knuckle connected with the hub unit, a steering tie rod and a steering control mechanism, the steering control mechanism is connected with the hydraulic unit, the hydraulic unit is connected with the steering knuckle, and a steering angle sensor is arranged below the steering knuckle;
the steering angle sensor comprises a sensor shell and a half-moon-shaped rotating shaft, wherein the sensor shell and the rotating shaft are connected with a main pin penetrating through the axle housing in the direction of a transverse shaft;
the steering angle sensor reads a relative steering angle and feeds the relative steering angle back to the steering control unit, the steering control unit controls a hydraulic oil cylinder of the hydraulic unit to retract and release, and the hydraulic oil cylinder drives the hub unit to rotate.
Further, the half-moon-shaped rotating shaft is a sensor half-moon-shaped rotating shaft.
Further, the steering knuckle is provided with a shaft neck and a steering knuckle arm, the shaft neck is fixedly connected with the hub unit, the steering knuckle arm comprises a first steering knuckle arm and a second steering knuckle arm, and the first steering knuckle arm and the second steering knuckle arm are connected through a steering tie rod.
Furthermore, the hydraulic unit comprises a first oil cylinder and a second oil cylinder which are respectively connected with the first knuckle arm and the second knuckle arm, the first oil cylinder is provided with a first oil outlet pipe and a first oil inlet pipe, and the second oil cylinder is provided with a second oil outlet pipe and a second oil inlet pipe.
Further, steering control mechanism includes steering controller, and steering controller is connected with the steering motor, and the steering motor is connected with the steering gear through worm gear, controls the oil pressure of steering gear, is provided with angle sensor on the steering gear.
Furthermore, the steering gear is provided with a first oil inlet, a first oil outlet, a second oil inlet, a second oil outlet and a steering gear oil inlet; the first oil inlet, the first oil outlet, the second oil inlet and the second oil outlet are respectively connected with the corresponding first oil inlet pipe, the corresponding first oil outlet pipe, the corresponding second oil inlet pipe and the corresponding second oil outlet pipe.
Furthermore, the shaft neck is fixedly connected with the hub center of the hub unit through a tapered roller bearing.
The working principle is as follows: according to the invention, the steering mechanism controls the retraction and release of the left hydraulic oil cylinder and the right hydraulic oil cylinder according to the steering angle sent by the whole vehicle control system, and meanwhile, when the hydraulic unit works, the transverse pull rod drives the left hub unit and the right hub unit to rotate. A steering angle sensor is arranged below the steering knuckle, a rotating shaft of the steering angle sensor is connected with a main pin, a shell is connected with the steering knuckle, the steering knuckle is driven to rotate when a hub unit rotates, the main pin keeps static and rotates relative to the steering knuckle, the angle sensor reads a relative steering angle and feeds the relative steering angle back to a steering mechanism, and closed-loop control is formed by comparing the relative steering angle with a required steering angle and correcting the relative steering angle. The device realizes real-time calibration and linear control of the steering angle and solves the problem of insufficient precision of vehicle steering control in the unmanned driving process.
Has the beneficial effects that: compared with the prior art, the invention has the advantages that: (1) On the basis of the traditional vehicle steering control, whether the hydraulic device works or not is controlled by comparing the difference value between the steering angle and the actually required steering angle, so that the vehicle steering angle is controlled, the control precision is improved, and the control flow is simplified;
(2) The invention simplifies the control device, the device can realize the real-time control of the vehicle steering by installing the angle sensor on the traditional hydraulic control device, the device has small occupied space, simple control, sensitive response, accurate measurement and no need of adding other steering configurations, and the cost is saved;
(3) The steering control mechanism of the invention compares and corrects the input and output data of the steering angle according to the steering angle which can be fed back, forms closed-loop control, and solves the problem of insufficient steering control precision of the traditional pure hydraulic system in the field of automatic driving, thereby solving the problem of steer-by-wire.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an isometric view of the present invention;
FIG. 3 is a view of a steering angle sensor mounting;
FIG. 4 is a schematic view of a hydraulic unit turning;
FIG. 5 is a schematic view of a steering control mechanism;
fig. 6 is a cross-sectional view of a knuckle.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
The high-precision steering system for the unmanned mining truck comprises an axle housing, a hub unit, a hydraulic unit and a steering control unit, wherein the hub unit is connected to two ends of the axle housing, the hydraulic unit is further arranged on the axle housing, and the hydraulic unit is controlled by the steering control unit.
A main pin 17 penetrates through the axle housing 13 in the circumferential direction, and both ends of the main pin are provided with a hub unit and a steering control unit; the hub unit comprises a first hub assembly 9 and a second hub assembly 30,
the steering control unit comprises a first steering knuckle 7 and a second steering knuckle 6 which are respectively connected with a first hub assembly 9 and a second hub assembly 30, the steering knuckles are provided with shaft necks and steering knuckle arms, and the shaft necks are fixedly connected with the centers of hubs of the hub units through tapered roller bearings. The first knuckle 7 and the second knuckle 6 are respectively provided with a first knuckle arm 2 and a second knuckle arm 1, and the first knuckle arm 2 and the second knuckle arm 1 are connected through a tie rod 10. A first steering angle sensor 5 and a second steering angle sensor 8 are provided below the first knuckle 7 and the second knuckle 6, respectively. The sensor was purchased from Harbin Delia, model 14A3375-4 Current Angle sensor.
The steering control mechanism is connected with the hydraulic unit, the hydraulic unit is connected with the steering knuckle, and a steering angle sensor is arranged below the steering knuckle. The steering angle sensor comprises a sensor shell 15 and a rotating shaft 16, wherein the sensor shell 15 and the half-moon-shaped rotating shaft 16 are connected with a main pin 17; the semilunar rotating shaft is a sensor semilunar rotating shaft. The steering angle sensor reads a relative steering angle and feeds the relative steering angle back to the steering control unit, the steering control unit controls a hydraulic oil cylinder of the hydraulic unit to retract and release, and the hydraulic oil cylinder drives the hub unit to rotate.
The hydraulic unit includes a first cylinder 3 and a second cylinder 4 connected to the first knuckle arm 2 and the second knuckle arm 1, respectively, the first cylinder 3 having a first oil outlet pipe 27 and a first oil inlet pipe 28, and the second cylinder 4 having a second oil outlet pipe 12 and a second oil inlet pipe 11. The steering control mechanism comprises a steering controller 19, the steering controller 19 is connected with a steering motor 21, the steering motor 21 is connected with a steering gear 29 through a worm gear, the oil pressure of the steering gear is controlled, and an angle sensor 20 is arranged on the steering gear 29. The diverter 29 is provided with a first oil inlet 22, a first oil outlet 23, a second oil inlet 24, a second oil outlet 25 and a diverter oil inlet 26; the first oil inlet 22, the first oil outlet 23, the second oil inlet 24 and the second oil outlet 25 are respectively connected with the corresponding first oil inlet pipe 28, the corresponding first oil outlet pipe 27, the corresponding second oil inlet pipe 11 and the corresponding second oil outlet pipe 12.
The steering control mechanism is a steer-by-wire mechanism, the vehicle control unit is connected with the steering controller 19 through an electric signal, the steering controller 19 controls the angle of the steering motor 21, the steering motor 21 controls the oil pressure of the steering gear through a worm gear, an oil inlet 26 of the steering gear is connected with the oil storage tank, high-pressure oil is obtained through the oil inlet 26 of the steering gear, then the hydraulic oil is connected with a three-way oil port of the first oil cylinder 3 and a three-way oil port of the second oil cylinder 4 through oil pipes, the hydraulic oil circulates in the first oil cylinder 3 and the second oil cylinder 4, and the hydraulic cylinders are extended and shortened.
The working principle and the using flow of the embodiment are as follows: when the vehicle turns, the vehicle control system sends a turning angle signal to the turning control mechanism 14, and the turning control mechanism controls the first oil cylinder 3 and the second oil cylinder 4 to stretch and retract according to the turning angle signal, so that the wheels are controlled to turn.
As shown in fig. 4, when the vehicle rotates for the second time, the first oil cylinder 3 extends, the second oil cylinder 4 shortens, the first oil cylinder 3 pushes the first knuckle arm 2 to rotate, the second oil cylinder 4 pulls the second knuckle arm to rotate, the first and second knuckle arms 1, 2 are connected through the transverse pull rod 10, the second knuckle arm 1 drives the second knuckle 6 to rotate when rotating, the first angle sensor 8 below the knuckle rotates along with the second knuckle 6 when the second knuckle 6 rotates, the kingpin keeps a static state at the moment, the second angle sensor 8 feeds back relative steering angle data between the second knuckle 6 and the kingpin to the vehicle control system, and the vehicle control system of the whole vehicle receives an angle signal and then feeds back steering angle comparison correction according to the second angle sensor 8. The method comprises the steps that a first angle sensor 5 and a second angle sensor 8 detect the angle relation between a steering knuckle and a hub assembly and a main pin in real time and send the angle relation to a vehicle control system in the vehicle running process, the vehicle control system senses the vehicle deflection angle in real time and sends steering signals to a steering control mechanism 14 according to the vehicle steering requirement, the steering control mechanism 14 receives the angle signals of the vehicle control system and stretches an oil cylinder to drive a steering knuckle arm to rotate, the first angle sensor 5 and the second angle sensor 8 sense the relative steering angles between a first steering knuckle 6 and a second steering knuckle 7 and the main pin and send the relative steering angles to the vehicle control system in real time, the vehicle control system corrects the steering angles and the required steering angles through comparison, the actual steering angles are enabled to be close to the required steering angles continuously to achieve steering, when the steering is finished, a steering termination signal is sent to the steering control mechanism 14, the steering oil cylinder stops working, and the steering is finished.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited to the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides an unmanned mining truck is high accuracy a steering system for, includes the axle housing, the wheel hub unit, hydraulic unit and steering control unit, the both ends of axle housing are connected with the wheel hub unit, still be provided with the hydraulic unit on the axle housing, the hydraulic unit passes through steering control unit control, its characterized in that: both ends of the axle housing (13) are provided with a hub unit and a steering control unit; the steering control unit comprises a steering knuckle connected with the hub unit, a steering tie rod (10) and a steering control mechanism, the steering control mechanism is connected with a hydraulic unit, the hydraulic unit is connected with the steering knuckle, and a steering angle sensor is arranged below the steering knuckle;
the steering angle sensor comprises a sensor shell (15) and a rotating shaft (16), wherein the sensor shell (15) and the half-moon-shaped rotating shaft (16) are connected with a main pin (17) penetrating in the axle housing in the transverse axis direction;
the steering angle sensor reads a relative steering angle and feeds the relative steering angle back to the steering control unit, the steering control unit controls a hydraulic oil cylinder of the hydraulic unit to retract and release, and the hydraulic oil cylinder drives the wheel hub unit to rotate.
2. The high-precision steering system for the unmanned mining truck according to claim 1, characterized in that: the semilunar rotating shaft is a sensor semilunar rotating shaft (16).
3. The high-precision steering system for the unmanned mining truck according to claim 1, characterized in that: the steering knuckle is provided with a shaft neck and a steering knuckle arm, the shaft neck is fixedly connected with a hub unit, the steering knuckle arm comprises a first steering knuckle arm (2) and a second steering knuckle arm (1), and the first steering knuckle arm (2) is connected with the second steering knuckle arm (1) through a tie rod (10).
4. The high-precision steering system for the unmanned mining truck according to claim 3, characterized in that: the hydraulic unit includes respectively with first hydro-cylinder (3) and second hydro-cylinder (4) that first knuckle arm (2) and second knuckle arm (1) are connected, first hydro-cylinder (3) have first play oil pipe (27) and first advance oil pipe (28), second hydro-cylinder (4) have second play oil pipe (12) and second advance oil pipe (11).
5. The high-precision steering system for the unmanned mining truck according to claim 1, characterized in that: the steering control mechanism comprises a steering controller (19), the steering controller (19) is connected with a steering motor (21), the steering motor (21) is connected with a steering gear (29) through a worm gear, the oil pressure of the steering gear is controlled, and an angle sensor (20) is arranged on the steering gear (29).
6. The high-precision steering system for the unmanned mining truck according to claim 5, characterized in that: the steering gear (29) is provided with a first oil inlet (22), a first oil outlet (23), a second oil inlet (24), a second oil outlet (25) and a steering gear oil inlet (26); the first oil inlet (22), the first oil outlet (23), the second oil inlet (24) and the second oil outlet (25) are respectively connected with the corresponding first oil inlet pipe (28), the corresponding first oil outlet pipe (27), the corresponding second oil inlet pipe (11) and the corresponding second oil outlet pipe (12).
7. The high-precision steering system for the unmanned mining truck according to claim 3, characterized in that: and the shaft neck is fixedly connected with the hub center of the hub unit through a tapered roller bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221459337.5U CN217945313U (en) | 2022-06-13 | 2022-06-13 | High-precision steering system for unmanned mining truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221459337.5U CN217945313U (en) | 2022-06-13 | 2022-06-13 | High-precision steering system for unmanned mining truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217945313U true CN217945313U (en) | 2022-12-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221459337.5U Active CN217945313U (en) | 2022-06-13 | 2022-06-13 | High-precision steering system for unmanned mining truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217945313U (en) |
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2022
- 2022-06-13 CN CN202221459337.5U patent/CN217945313U/en active Active
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