CN218367973U - Hydraulic steering transmission system - Google Patents
Hydraulic steering transmission system Download PDFInfo
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- CN218367973U CN218367973U CN202222392460.6U CN202222392460U CN218367973U CN 218367973 U CN218367973 U CN 218367973U CN 202222392460 U CN202222392460 U CN 202222392460U CN 218367973 U CN218367973 U CN 218367973U
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Abstract
The application discloses hydraulic steering transmission system, including steering wheel, hydraulic steering mechanism and wheel, hydraulic steering transmission system is still including turning to motor and drive mechanism, drive mechanism includes pinion and the gear wheel of being connected with the pinion meshing, the pinion with the motor shaft coaxial fixation who turns to the motor, the gear wheel with the pivot coupling of steering wheel. The hydraulic steering transmission system is improved on the basis of the original vehicle, the steering motor is additionally arranged, and the steering motor can be used for driving the hydraulic steering mechanism to rotate so as to rotate the wheels, so that the automatic driving application can be met; furthermore, by arranging the transmission mechanism, the precision of the steering motor acting on the hydraulic steering mechanism can be improved, so that the corner precision of the wheels is improved, and the wheels can be promoted to achieve an ideal steering angle.
Description
Technical Field
The utility model relates to an automatic driving technical field, concretely relates to hydraulic steering transmission system.
Background
The fields of automatic driving and AGV (automatic guided vehicle) have higher precision requirements on a vehicle steering system, the precision of hydraulic steering of the traditional manned vehicle is difficult to meet the requirements, and the steering precision of automatic driving is ensured on the premise of optimizing the cost by transforming the traditional manned vehicle on the basis of the original vehicle, so that the automatic driving and AGV steering system becomes one of the directions of research in the field of automatic driving.
SUMMERY OF THE UTILITY MODEL
In order to solve one or more technical problems in the prior art, or to at least provide a useful alternative, the present invention provides a hydraulic steering transmission system to provide an autopilot retrofit strategy.
The utility model discloses a hydraulic steering transmission system, including steering wheel, hydraulic steering mechanism and wheel, hydraulic steering transmission system is still including turning to motor and drive mechanism, drive mechanism includes pinion and the gear wheel of being connected with the pinion meshing, the pinion with the motor shaft coaxial fixation who turns to the motor, the gear wheel with the pivot coupling of steering wheel.
The utility model discloses a hydraulic steering transmission system still has following additional technical characterstic:
the large gear is coaxially fixed with a rotating shaft of the steering wheel; or a rotating shaft of the steering wheel is provided with a driven gear, and the large gear is meshed with the driven gear.
The hydraulic steering transmission system further comprises a controller, and the steering motor is connected with the controller through a control line.
The hydraulic steering transmission system further comprises an encoder, the encoder is installed on a steering shaft of the wheel, and the encoder is connected with the controller through a first signal line.
The steering wheel is provided with a torque sensor, and the torque sensor is connected with the controller through a second signal line.
The pivot of steering wheel includes first pivot and second pivot, the one end of first pivot with the steering wheel is connected, the other end through turn to the connecting piece with the one end of second pivot is connected, the other end of second pivot with hydraulic steering mechanism connects, turn to motor and drive mechanism and locate the second pivot.
A preset included angle is formed between the first rotating shaft and the second rotating shaft.
The steering connecting piece is any one of a steering knuckle, a universal joint, a coupling assembly, a chain wheel transmission mechanism, a gear rack transmission mechanism or a worm and gear transmission mechanism.
Due to the adoption of the technical scheme, the utility model discloses following beneficial effect has:
1. the hydraulic steering transmission system is improved on the basis of the original vehicle, the steering motor is additionally arranged, and the steering motor can be used for driving the hydraulic steering mechanism to rotate so as to rotate the wheels, so that the automatic driving application can be met; furthermore, by arranging the transmission mechanism, the precision of the steering motor acting on the hydraulic steering mechanism can be improved, so that the corner precision of the wheels is improved, and the wheels can be promoted to reach an ideal steering angle.
2. As a preferred embodiment, the gearwheel is fixed coaxially with the rotation axis of the steering wheel; the mode is favorable for transmission in an automatic driving scene, and can improve the steering precision from the steering motor to the hydraulic steering mechanism so as to meet the requirement of automatic driving on the steering precision.
As a preferred embodiment, a rotating shaft of the steering wheel is provided with a driven gear, and the large gear is in meshed connection with the driven gear; this mode both can satisfy autopilot through multistage transmission, also can satisfy manual driving, can set up the transmission route according to actual demand to satisfy corresponding required precision or improve the travelling comfort of manual operation steering wheel.
3. In a preferred embodiment, the hydraulic steering transmission system further comprises a controller, and the steering motor is connected with the controller through a control line; through setting up the controller, can realize to steering motor control, can satisfy the autopilot demand, and control accuracy is high.
As a next preferred example of the present embodiment, the hydraulic steering transmission system further includes an encoder, the encoder is mounted on a steering shaft of the wheel, and the encoder is connected to the controller through a first signal line; therefore, the controller is used for monitoring the steering motor and the encoder, the closed-loop control of the wheel rotation angle can be realized, and the wheel can be ensured to reach an ideal steering angle.
As a next preferred example of the present embodiment, the steering wheel is provided with a torque sensor, and the torque sensor is connected to the controller through a second signal line; through setting up torque sensor, can measure the dynamics and the operation of manual operation steering wheel and feel, in the scheme that combines manual operation and steering motor control, through steering wheel and steering motor collaborative work, reasonable division of labor, help alleviateing the work load of manual operation steering wheel, provide laborsaving or improve security etc..
4. As a preferred embodiment, the rotating shaft of the steering wheel includes a first rotating shaft and a second rotating shaft, one end of the first rotating shaft is connected with the steering wheel, the other end of the first rotating shaft is connected with one end of the second rotating shaft through a steering connecting piece, the other end of the second rotating shaft is connected with the hydraulic steering mechanism, and the steering motor and the transmission mechanism are arranged on the second rotating shaft; through optimizing the setting position of the steering motor, the mechanical error caused by a steering connecting piece when the steering motor works can be avoided, the hydraulic steering precision and the response speed can be improved, the error between the steering wheel corner and the wheel corner can be greatly reduced, and the steering precision requirement of automatic driving is met.
As a next preferred example of this embodiment, a preset included angle is formed between the first rotating shaft and the second rotating shaft; by optimizing the arrangement mode of the first rotating shaft and the second rotating shaft, the arrangement of the second rotating shaft and the hydraulic steering mechanism can be smoother on the basis that the arrangement of a steering wheel is not influenced as much as possible, so that the transmission from the second rotating shaft to the hydraulic steering mechanism is optimized, and the transmission precision is improved.
As a next preferred example of the present embodiment, the steering link is any one of a knuckle, a universal joint, a coupling assembly, a sprocket drive mechanism, a gear drive mechanism, a rack and pinion drive mechanism, or a worm and gear drive mechanism; by arranging the steering connecting piece, the installation angle of the steering wheel can be conveniently adjusted, so that the installation angle of the steering wheel is more in line with manual operation habits, and the manual operation comfort is improved; moreover, the arrangement of the steering connecting piece does not influence the transformation, so that the modification of an original vehicle can be reduced, and the transformation flow is simplified; the form that turns to the connecting piece can be diversified, can suitably adjust according to transforming the demand to optimize and transform the effect.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a schematic view of a hydraulic steering transmission system according to an embodiment of the present application.
Fig. 2 is a block flow diagram of closed-loop control according to an embodiment of the present application.
Reference numerals are as follows:
10-a steering wheel, 11-a steering motor, 121-a pinion, 122-a bull gear, 13-a controller, 14-an encoder, 15-a main control unit, 16-a steering connecting piece, 101-a first rotating shaft, 102-a second rotating shaft; 20-a steering mechanism, 21-a steering valve, 22-a liquid storage tank and 23-a steering cylinder; 30-vehicle wheels.
Detailed Description
In order to more clearly explain the overall concept of the present invention, the following detailed description is given by way of example with reference to the accompanying drawings.
In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
It should be noted that in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
In addition, in the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. However, the direct connection means that the two bodies are not connected through a transition structure, but connected through a connection structure to form a whole. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
As shown in fig. 1, the present application provides a hydraulic steering transmission system, including steering wheel 10, hydraulic steering mechanism 20 and wheel 30, hydraulic steering transmission system still includes steering motor 11 and drive mechanism, drive mechanism includes pinion 121 and the gear wheel 122 of being connected with the pinion 121 meshing, pinion 121 with the motor shaft coaxial fixation who turns to motor 11, gear wheel 122 with the pivot coupling of steering wheel 10.
This application belongs to the transformation scheme to former car, installs steering motor 11 and drive mechanism additional on the basis of former car structure, can make the vehicle after the transformation be applied to the autopilot scene, of course, on the basis of keeping former car structure, still is applicable to the manual driving scene, consequently can compromise manual driving and autopilot, the range of application of expanded vehicle. In addition, the combination structure of the steering motor 11 and the transmission mechanism can improve the transmission precision and the hydraulic steering precision, for example, the precision can be controlled within 1 degree, and the requirement of automatic driving on the hydraulic precision is met.
The hydraulic steering mechanism 20 can refer to the related structure of the prior art, for example, it can include a steering valve 21, a reservoir 22, a hydraulic pump, a steering cylinder 23, a fluid pipeline, etc., the working principle of each component can refer to the content of the prior art, and the detailed description of the application is omitted here. The steering motor 11 of the present application can be used to drive the steering valve 21 to act on the hydraulic steering mechanism 20 to operate the hydraulic steering system, thereby turning the wheels 30. The steering motor 11 is a servo motor, for example. Further, the gear ratio of the small gear 121 and the large gear 122 can be set according to the precision requirement. When the steering accuracy does not meet the requirement, the gear ratio can be adjusted by replacing the small gear 121 and/or the large gear 122 with different numbers of teeth, so that the steering accuracy can be adjusted. And by adjusting the transmission ratio, the method can correspond to different precisions, is convenient to adapt to different working conditions, and can expand the application scene of automatic driving.
The coupling manner of the large gear 122 and the rotation axis of the steering wheel 10 is not limited in the present application, and may be implemented by any one of the following manners:
the first implementation mode comprises the following steps:
the bull gear 122 is fixed coaxially with the rotation axis of the steering wheel 10. This mode is favorable to the transmission under the autopilot scene, can improve by the steering motor 11 to the steering accuracy of hydraulic steering mechanism 20 to satisfy autopilot to the requirement of steering accuracy.
The second embodiment:
a driven gear is arranged on a rotating shaft of the steering wheel 10, and the large gear 122 is meshed with the driven gear. This mode both can satisfy autopilot through multistage transmission, also can satisfy manual driving, can set up the transmission route according to actual demand to satisfy corresponding required precision or improve the travelling comfort of manual operation steering wheel 10.
The driven gear may be fixed coaxially with the rotating shaft of the steering wheel 10, or may be coupled with the rotating shaft of the steering wheel 10 by other means. The number of teeth of the driven gear is set according to practical requirements, and for example, it may be larger than that of the pinion gear 121 and smaller than that of the bull gear 122.
Further, as a preferred embodiment of the present application, the hydraulic steering transmission system further includes a controller 13, and the steering motor 11 is connected to the controller 13 through a control line. Through setting up controller 13, can realize to steering motor 11 control, can satisfy the autopilot demand, and control accuracy is high.
Further, the hydraulic steering transmission system further comprises an encoder 14, wherein the encoder 14 is mounted on a steering shaft of the wheel 30, and the encoder 14 is connected with the controller 13 through a first signal line. The controller 13 can be used for monitoring the steering motor 11 and the encoder 14, closed-loop control of the rotation angle of the wheel 30 can be achieved, and the wheel 30 can be guaranteed to achieve an ideal steering angle.
As shown in fig. 2, the controller 13 is operable to acquire the measurement data collected by the encoder 14 and acquire actual rotation angle data of the wheel 30 based on the measurement data. Further, the controller 13 may receive the desired rotation angle data of the wheel 30 provided by the main control unit 15, compare the desired rotation angle data with the actual rotation angle data of the wheel 30, and perform corresponding calculation and other processing to obtain the desired rotation angle, the desired rotation speed and other operating parameters of the steering motor 11, so that the controller 13 may control the steering motor 11 to operate based on the desired rotation angle, the desired rotation speed and other operating parameters of the steering motor 11 to control the wheel 30 to rotate, and simultaneously, the encoder 14 may continue to measure the current rotation of the wheel 30 and feed the measurement result back to the controller 13, thereby implementing closed-loop control. The controller 13 is, for example, an ECU.
Further, the steering wheel 10 is provided with a torque sensor, and the torque sensor is connected with the controller 13 through a second signal line.
Specifically, the torque sensor is suitable for a scheme in which manual operation is controlled in cooperation with the steering motor 11. The controller 13 may perform internal operation according to the data provided by the torque sensor and the data provided by the encoder 14 to obtain the desired rotation angle and the desired rotation speed of the steering motor 11, so as to control the steering motor 11 and the transmission mechanism. In this embodiment, the steering valve 21 is acted upon by the steering wheel 10 and the steering motor 11. For example, when the vehicle is in an ignition or low-speed steering condition, the torque acting on the steering valve 21 is mainly output by the steering motor 11 and the transmission mechanism, so that the force acting on the steering wheel 10 manually can be reduced, and the operation hand feeling can be lightened. Or, when the vehicle is in a high-speed running condition, the torque acting on the steering valve 21 is mainly output by the steering wheel 10, and the operation hand feeling can be more stable at the moment, so that the driving safety is improved.
Further, as a preferred embodiment of the present application, the rotating shaft of the steering wheel 10 includes a first rotating shaft 101 and a second rotating shaft 102, one end of the first rotating shaft 101 is connected to the steering wheel 10, the other end is connected to one end of the second rotating shaft 102 through a steering connecting member 16, the other end of the second rotating shaft 102 is connected to the hydraulic steering mechanism 20, and the steering motor 11 and the transmission mechanism are disposed on the second rotating shaft 102.
Specifically, if the steering motor 11 is disposed on the first rotating shaft 101, a steering link 16 is required to pass through between the steering motor 11 and the hydraulic steering mechanism 20, and normally, a transmission gap is formed between the steering link 16, so that the resulting mechanical error will inevitably affect the effect of the steering motor 11 on the hydraulic steering mechanism 20, and thus the steering precision is not improved. In contrast, as shown in fig. 1, when the steering motor 11 is disposed on the second rotating shaft 102, an error caused by the steering connecting member 16 to the steering motor 11 can be avoided, which is beneficial to improving the steering accuracy.
Further, in a manual driving scenario, even though the steering linkage 16 is disposed between the first rotating shaft 101 and the second rotating shaft 102, the user can still use the steering motor 11 to provide additional assistance while operating the steering wheel 10, so that the error caused by the steering linkage 16 can be compensated through the dual functions of the steering wheel 10 and the steering motor 11.
Further, a preset included angle is formed between the first rotating shaft 101 and the second rotating shaft 102.
Specifically, as shown in fig. 1, the second rotating shaft 102 extends, for example, in a vertical direction, so as to promote compactness and optimize relative arrangement with the hydraulic steering mechanism 20, and minimize transmission error from the steering motor 11 to the hydraulic steering mechanism 20. First pivot 101 is connected with second pivot 102 bending type, and first pivot 101 for example forms the obtuse angle contained angle with second pivot 102, and first pivot 101 extends towards steering wheel 10, can make steering wheel 10's angle more accord with artifical user demand, improves manual operation's comfort level.
Further, the steering connecting member 16 is any one of a steering knuckle, a universal joint, a coupling assembly, a sprocket transmission mechanism, a gear transmission mechanism, a rack and pinion transmission mechanism or a worm and gear transmission mechanism.
The steering connecting piece 16 is arranged, so that the installation angle of the steering wheel 10 can be conveniently adjusted, the installation angle of the steering wheel is more in line with manual operation habits, and the manual operation comfort is improved; moreover, the arrangement of the steering connecting piece 16 does not influence the transformation, so that the modification of the original vehicle can be reduced, and the transformation flow is simplified; the form of the steering connecting piece 16 can be diversified, and can be properly adjusted according to the transformation requirement so as to optimize the transformation effect.
The technical solution protected by the present invention is not limited to the above-mentioned embodiments, and it should be pointed out that the combination of the technical solution of any one embodiment and the technical solutions of one or more other embodiments is within the protection scope of the present invention. Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. A hydraulic steering transmission system comprises a steering wheel, a hydraulic steering mechanism and wheels, and is characterized in that,
the hydraulic steering transmission system further comprises a steering motor and a transmission mechanism, wherein the transmission mechanism comprises a pinion and a gearwheel which is meshed with the pinion, the pinion is coaxially fixed with a motor shaft of the steering motor, and the gearwheel is coupled with a rotating shaft of a steering wheel.
2. The hydraulic steering transmission system of claim 1,
the large gear is coaxially fixed with a rotating shaft of the steering wheel; or alternatively
A rotating shaft of the steering wheel is provided with a driven gear, and the large gear is meshed with the driven gear.
3. The hydraulic steering transmission system of claim 1,
the hydraulic steering transmission system further comprises a controller, and the steering motor is connected with the controller through a control line.
4. A hydraulic steer drive according to claim 3,
the hydraulic steering transmission system further comprises an encoder, wherein the encoder is installed on a steering shaft of the wheel and is connected with the controller through a first signal line.
5. A hydraulic steer drive according to claim 3,
the steering wheel is provided with a torque sensor, and the torque sensor is connected with the controller through a second signal line.
6. A hydraulic steering transmission according to any one of claims 1 to 5,
the pivot of steering wheel includes first pivot and second pivot, the one end of first pivot with the steering wheel is connected, the other end through turn to the connecting piece with the one end of second pivot is connected, the other end of second pivot with hydraulic steering mechanism connects, turn to motor and drive mechanism and locate the second pivot.
7. A hydraulic steering transmission according to claim 6,
a preset included angle is formed between the first rotating shaft and the second rotating shaft.
8. The hydraulic steer drive of claim 6,
the steering connecting piece is any one of a steering knuckle, a universal joint, a coupling assembly, a chain wheel transmission mechanism, a gear rack transmission mechanism or a worm and gear transmission mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222392460.6U CN218367973U (en) | 2022-09-08 | 2022-09-08 | Hydraulic steering transmission system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222392460.6U CN218367973U (en) | 2022-09-08 | 2022-09-08 | Hydraulic steering transmission system |
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| Publication Number | Publication Date |
|---|---|
| CN218367973U true CN218367973U (en) | 2023-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222392460.6U Active CN218367973U (en) | 2022-09-08 | 2022-09-08 | Hydraulic steering transmission system |
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| CN (1) | CN218367973U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024051786A1 (en) * | 2022-09-08 | 2024-03-14 | 北京九曜智能科技有限公司 | Autonomous driving hydraulic steering transformation control system and control method |
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2022
- 2022-09-08 CN CN202222392460.6U patent/CN218367973U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024051786A1 (en) * | 2022-09-08 | 2024-03-14 | 北京九曜智能科技有限公司 | Autonomous driving hydraulic steering transformation control system and control method |
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