CN221251426U - High-speed switch valve pilot control-based high-flow line-control hydraulic steering system - Google Patents
High-speed switch valve pilot control-based high-flow line-control hydraulic steering systemInfo
- Publication number
- CN221251426U CN221251426U CN202323543202.4U CN202323543202U CN221251426U CN 221251426 U CN221251426 U CN 221251426U CN 202323543202 U CN202323543202 U CN 202323543202U CN 221251426 U CN221251426 U CN 221251426U
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- 230000001502 supplementing effect Effects 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000005065 mining Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 62
- 230000007246 mechanism Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Abstract
A high-flow line-control hydraulic steering system based on pilot control of a high-speed switch valve comprises an oil tank, a steering main pump, a flow amplifier and a steering cylinder; the flow amplifier is integrated with a priority valve, a steering main valve and a pressure-limiting oil supplementing valve; the hydraulic control system further comprises a high-speed switch Guan Fazu, wherein the high-speed switch Guan Fazu outputs pilot control oil to enable a steering main valve of the flow amplifier to be reversed, and pressure oil is supplied to the steering cylinder. The principle of the utility model is as follows: the steering system composed of the traditional mature flow amplifier and the high-speed switch valve is adopted, so that the high-flow wire control steering requirement of the large-tonnage mining dump truck is met, the manufacturing cost is reduced, and energy is saved during steering operation.
Description
Technical Field
The utility model relates to the technical field of mining dump trucks, in particular to a high-flow line-control hydraulic steering system based on pilot control of a high-speed switch valve.
Background
According to the application requirements of intelligent and unmanned scenes of mining machines such as mining dumpers and loaders, a wire control chassis with a wire control function is a necessary execution terminal for realizing the intelligent and unmanned mining machines. A steer-by-wire system, which is one of the key systems of the chassis-by-wire, assumes the function of steering the vehicle.
The traditional steering system realizes vehicle steering by manually operating a steering wheel and directly driving a steering mechanism, and the vehicle steering is completely controlled by a person and cannot realize intelligent control and unmanned functions of the vehicle steering.
The steering-by-wire system realizes the steering of the vehicle by automatically controlling a steering mechanism through an electric signal, and the vehicle VCU analyzes the calculation result according to the data of the vehicle environment sensing sensor and the vehicle state sensing sensor, combines the steering instructions of the 5G industrial Internet and the GPS positioning system or the electronic steering wheel and the electronic steering handle, and completes the steering of the vehicle through the steering-by-wire system SCU; the electronic steering wheel or the electronic steering handle can be used for realizing the driving of a person, and the perception sensor can be used for realizing the unmanned driving. The automatic driving is to input information according to road condition sensing sensors (millimeter wave radar, laser radar, cameras, infrared night vision devices and the like) and vehicle state sensing sensors (vehicle speed sensors, yaw acceleration sensors and the like), and transmit the calculation result of a calculation platform of a control algorithm to a vehicle VCU through a CAN bus to realize automatic turning and automatic cruising of the vehicle.
At present, unmanned mine cars in China realize operation in mines, a steering system of the unmanned mine cars adopts a specially developed wire-control hydraulic steering unit, and the specially developed wire-control hydraulic steering unit is high in price and limited in steering flow and can only be applied to wide dump trucks with the load of less than 100 tons.
Disclosure of Invention
The utility model aims to solve the technical problem of providing a high-flow wire-control hydraulic steering system based on pilot control of a high-speed switching valve, which solves the high-flow wire-control steering requirement of a large-tonnage mining dump truck and reduces manufacturing cost.
In order to solve the technical problems, the technical scheme of the utility model is as follows: a high-flow line-control hydraulic steering system based on pilot control of a high-speed switch valve comprises an oil tank, a steering main pump, a flow amplifier and a steering cylinder; the flow amplifier is integrated with a priority valve, a steering main valve and a pressure-limiting oil supplementing valve; the hydraulic control system further comprises a high-speed switch Guan Fazu, wherein the high-speed switch Guan Fazu outputs pilot control oil to enable a steering main valve of the flow amplifier to be reversed, and pressure oil is supplied to the steering cylinder according to a specified amplification factor. The principle of the utility model is as follows: the steering system composed of the traditional mature flow amplifier and the high-speed switch valve is adopted, so that the high-flow wire control steering requirement of the large-tonnage mining dump truck is met, the manufacturing cost is reduced, and energy is saved during steering operation.
As an improvement, the hydraulic control system further comprises a first one-way valve, an emergency steering pump, a second one-way valve, an overflow valve, a third one-way valve, a fourth one-way valve and a shuttle valve, wherein the high-speed switch valve Guan Fazu comprises a first high-speed switch valve, a second high-speed switch valve, a third high-speed switch valve and a fourth high-speed switch valve; the oil suction ports of the steering main pump and the emergency steering pump are respectively connected with an oil tank, the oil outlet of the main steering pump is connected with the oil inlet of a first one-way valve, the oil outlet of the first one-way valve is connected with the HP port of a flow amplifier, the oil outlet of the emergency steering pump is connected with the oil inlet of a second one-way valve, the oil outlet of the second one-way valve is connected with the oil outlet of the first one-way valve, the oil inlet of the overflow valve is connected with the oil outlet of the first one-way valve, the oil return port of the overflow valve is connected with the HT port of the flow amplifier, the EF port of the flow amplifier is connected with the HT port of the flow amplifier, the load sensing Ls port of the flow amplifier is connected with the control outlet of the shuttle valve, the PP port of the flow amplifier is connected with the P port of the flow amplifier, the T port of the flow amplifier is connected with the oil return confluence ports of a third high-speed switch valve and a fourth high-speed switch valve, the P port of the flow amplifier is connected with the oil inlet converging port of the first high-speed switch valve and the second high-speed switch valve, the L port of the flow amplifier is connected with the converging port of the second high-speed switch valve and the fourth high-speed switch valve, the R port of the flow amplifier is connected with the converging port of the first high-speed switch valve and the third high-speed switch valve, the CL port of the flow amplifier is connected with the rod cavity of the left steering cylinder and the rodless cavity of the right steering cylinder, the CR port of the flow amplifier is connected with the rodless cavity of the left steering cylinder and the rod cavity of the right steering cylinder, the oil inlets at two ends of the shuttle valve are respectively connected with the L port and the R port of the flow amplifier, the oil inlets of the third one-way valve and the fourth one-way valve are connected with the oil return converging ports of the third high-speed switch valve and the fourth high-speed switch valve, and oil outlets of the third check valve and the fourth check valve are respectively connected with the converging ports of the first high-speed switch valve and the third high-speed switch valve, and the converging ports of the second high-speed switch valve and the fourth high-speed switch valve.
As an improvement, the electronic steering wheel or the electronic steering handle sends a signal to the whole vehicle controller through the position sensor, and the whole vehicle controller sends a signal to the high-speed switch valve.
Compared with the prior art, the utility model has the beneficial effects that:
1. The high-flow steering-by-wire system can meet the requirements of the steering-by-wire system of engineering machinery such as a large-tonnage mining dump truck, a loader and the like with the high-flow steering requirement of more than 100L/min, and the maximum steering flow can reach more than 400L/min;
2. The requirements of a large-flow steering-by-wire system are met by utilizing a traditional mature non-steering-by-wire flow amplifier and a high-speed switch valve, a steering-by-wire valve control unit special for large flow is not required to be developed, and the manufacturing cost is low;
3. The conventional main steering constant displacement pump and the emergency steering constant displacement pump are adopted, an expensive variable displacement pump and a high-capacity energy accumulator are not needed, the occupied installation space of the steering system is reduced, the cost of the steering system is further reduced, the temporary emergency steering function of the steering energy accumulator during vehicle faults can be met, and the requirement of long-time self-steering in the rescue process of the faulty vehicle can be met.
Drawings
Fig. 1 is a schematic diagram of a high flow steer-by-wire hydraulic steering system.
Fig. 2 is a vehicle steer-by-wire control block diagram.
Description of the embodiments
The utility model is further described below with reference to the drawings.
As shown in fig. 1, the high-speed switch valve pilot control-based high-flow hydraulic steering system comprises an oil tank 1, a steering main pump 2, a first one-way valve 3, an emergency steering pump 4, a second one-way valve 5, an overflow valve 6, a flow amplifier 7, a high-speed switch valve group 8, a third one-way valve 11, a fourth one-way valve 12, a shuttle valve 13 and a steering cylinder. The high-speed switching valve group 8 includes a first high-speed switching valve 81, a second high-speed switching valve 82, a third high-speed switching valve 83, and a fourth high-speed switching valve 84.
As shown in fig. 1, the oil suction ports of the steering main pump 2 and the emergency steering pump 4 are respectively connected with the oil tank 1, the oil outlet of the main steering pump 2 is connected with the oil inlet of the first check valve 3, the oil outlet of the first check valve 3 is connected with the HP port of the flow amplifier 7, the oil outlet of the emergency steering pump 4 is connected with the oil inlet of the second check valve 5, the oil outlet of the second check valve 5 is connected with the oil outlet of the first check valve 3, the oil inlet of the overflow valve 6 is connected with the oil outlet of the first check valve 3, the oil return port of the overflow valve 6 is connected with the HT port of the flow amplifier 7, the EF port of the flow amplifier 7 is connected with the HT port thereof, the load sensing Ls port of the flow amplifier 7 is connected with the control outlet of the shuttle valve 13, the PP port of the flow amplifier 7 is connected with the P port thereof, the T port of the flow amplifier 7 is connected with the confluence ports of the third high-speed switch valve 83 and the fourth high-speed switch valve 84, the P port of the flow amplifier 7 is connected with the oil inlet converging port of the first high-speed switch valve 81 and the second high-speed switch valve 82, the L port of the flow amplifier 7 is connected with the converging port of the second high-speed switch valve 82 and the fourth high-speed switch valve 84, the R port of the flow amplifier 7 is connected with the converging port of the first high-speed switch valve 81 and the third high-speed switch valve 83, the CL port of the flow amplifier 7 is connected with the rod cavity of the left steering cylinder 9 and the rodless cavity of the right steering cylinder 10, the CR port of the flow amplifier 7 is connected with the rodless cavity of the left steering cylinder 9 and the rod cavity of the right steering cylinder 10, the oil inlets at two ends of the shuttle valve 13 are respectively connected with the L port and the R port of the flow amplifier 7, the oil inlets of the third one-way valve 11 and the fourth one-way valve 12 are connected with the oil return converging ports of the third high-speed switch valve 83 and the fourth high-speed switch valve 84, the oil outlets of the third check valve 11 and the fourth check valve 12 are connected to the merging openings of the first high-speed switching valve 81 and the third high-speed switching valve 83, and the merging openings of the second high-speed switching valve 82 and the fourth high-speed switching valve 84, respectively.
As shown in fig. 1, when the steering system works, the steering main pump 2 absorbs hydraulic oil from the oil tank 1, and converts the hydraulic oil into pressure oil which enters an HP port of the flow amplifier 7 through the first one-way valve 3; when the steering main pump 2 cannot work due to the failure of the vehicle or the steering main pump 2 cannot work due to the failure of the vehicle, the emergency steering pump 4 can be started, and the pumped pressure oil enters the HP port of the flow amplifier 7 through the second one-way valve 5 to serve as an emergency power oil source; the power supply of the driving motor of the emergency steering pump 4 comes from a vehicle-mounted 24VDC storage battery; the relief valve 6 serves as a relief valve, the maximum operating pressure of the oil pump is set, and when the operating pressure of the oil pump is greater than the set pressure of the relief valve 6, the pressurized oil overflows back to the oil tank 1 through the relief valve 6; the flow amplifier 7 integrates control functions of a priority valve, a steering main valve, a pressure-limiting oil-compensating valve and the like, and directly drives the steering of the left and right steering 9 and 10 cylinders through the output ports CL and CR thereof, and the steering main valve of the flow amplifier 7 is controlled by a pilot-stage high-speed switch valve 8.
As shown in fig. 1, when the electromagnets DT1 and DT2 of the first high-speed switching valve 81 and the third high-speed switching valve 83 obtain PWM duty ratio voltages given by the vehicle VCU, the spools of the first high-speed switching valve 81 and the third high-speed switching valve 83 move leftward, so that the normally closed channel of the first high-speed switching valve 81 is turned on, the normally open channel of the third high-speed switching valve 83 is turned off, pressure oil from the steering main pump 2 passes through the priority valve and P oil outlet of the flow amplifier 7, and then the pilot control oil outputted in proportion is inputted to the left control cavity of the steering main valve of the flow amplifier 7 through the R port of the flow amplifier 7 through the opened channel of the first high-speed switching valve 81, and meanwhile, hydraulic oil in the right control cavity of the steering main valve of the flow amplifier 7 passes through the L port of the flow amplifier 7, and then passes through the normally open channel of the fourth high-speed switching valve 84, and then passes through the T port of the flow amplifier 7 and the HT port tank 1, and the steering main valve of the flow amplifier 7 moves rightward under the pressure difference of the control cavities at both ends thereof; the pressure oil from the steering main pump 2 enters the rodless cavity of the right steering cylinder 10 and the rod cavity of the left steering cylinder 9 through the HP port, the priority valve and the steering main valve of the flow amplifier 7 and the CL port, and pushes the steering mechanism to steer the vehicle to the right.
As shown in fig. 1, when the electromagnets DT3 and DT4 of the second high-speed switching valve 82 and the fourth high-speed switching valve 84 obtain the PWM duty ratio voltage given by the vehicle VCU, the spools of the second high-speed switching valve 82 and the fourth high-speed switching valve 84 move rightward, so that the normally closed channel of the second high-speed switching valve 82 is turned on, the normally open channel of the fourth high-speed switching valve 84 is turned off, the pressure oil from the steering main pump 2 passes through the priority valve and the P oil outlet of the flow amplifier 7, and then the pilot control oil outputted in proportion is inputted to the left end control chamber of the steering main valve of the flow amplifier 7 through the L port of the flow amplifier 7 through the opened channel of the second high-speed switching valve 82, while the hydraulic oil in the left end control chamber of the steering main valve of the flow amplifier 7 passes through the R port of the flow amplifier 7 and then passes through the normally open channel of the third high-speed switching valve 83 and then returns to the tank through the T port and the HT port of the flow amplifier 7, and the steering main valve of the flow amplifier 7 moves leftward under the pressure difference of the two end control chambers thereof; the pressure oil from the steering main pump 2 enters the rodless cavity of the left steering cylinder 9 and the rod cavity of the right steering cylinder 10 through the HP port, the priority valve and the steering main valve of the flow amplifier 7 and the CR port, and pushes the steering mechanism to steer the vehicle leftwards.
As shown in fig. 1, the shuttle valve 13 is configured to transmit pressure signals output from the high-speed switching valve to the L-port and the R-port to the priority valve load sensing Ls-port of the flow amplifier 7, so that the opening and closing of the priority valve of the flow amplifier 7 can follow the pressure control signal of the high-speed switching valve; when the high-speed switch Guan Fazu is started, the priority valve of the flow amplifier 7 is started, and the pressure difference before and after the opening of the high-speed switch valve is kept at a constant value, so that the flow passing through the opening of the high-speed switch valve group 8 is not changed along with the change of the load; when the high-speed switch valve group 8 stops working, the pressure oil from the steering main pump 2 returns to the oil tank through the EF port of the priority valve of the flow amplifier 7, so that the energy consumption of the steering system can be effectively reduced.
As shown in fig. 2, the steering hydraulic system steering control process:
a. Left turning: when the electronic steering wheel or the electronic steering handle is driven leftwards (0-maximum angle), signals of the electronic steering wheel or the electronic steering handle position sensor are input into the vehicle-mounted controller through CAN communication, the vehicle-mounted controller analyzes and calculates according to the input signals of the electronic steering wheel or the electronic steering handle position sensor, PWM duty ratio current (1% -100%/PWM/0-maximum current) is output to the high-speed switch valve electromagnet DT1, pilot control oil is output to enable the main valve of the flow amplifier to be reversed, left-turning pressure oil is provided for the steering cylinder, and the steering cylinder pushes the steering mechanism to enable the vehicle to turn leftwards.
B. Turning to the right: when the electronic steering wheel or the electronic steering handle is driven to the right (0-maximum angle), signals of the electronic steering wheel or the electronic steering handle position sensor are input into the vehicle-mounted controller through CAN communication, the vehicle-mounted controller analyzes and calculates according to the input signals of the electronic steering wheel or the electronic steering handle position sensor, PWM duty ratio current (1% -100%/PWM/0-maximum current) is output to the high-speed switch valve electromagnet DT2, pilot control oil is output to enable the main valve of the flow amplifier to be reversed, right-turning pressure oil is provided for the steering cylinder, and the steering cylinder pushes the steering mechanism to enable the vehicle to turn to the right.
C. Stopping turning: when the electronic steering wheel is stopped, or the electronic steering handle is loosened to automatically return to the neutral position (0 DEG), signals of the electronic steering wheel or the electronic steering handle position sensor are input into the vehicle-mounted controller through CAN communication, the vehicle-mounted controller performs analysis and calculation according to the signals input by the electronic steering wheel or the electronic steering handle position sensor, then, current output to the pilot proportional valve electromagnets DT1 and DT2 is stopped, and the steering cylinder stops steering.
Claims (3)
1. A high-flow line-control hydraulic steering system based on pilot control of a high-speed switch valve comprises an oil tank, a steering main pump, a flow amplifier and a steering cylinder; the flow amplifier is integrated with a priority valve, a steering main valve and a pressure-limiting oil supplementing valve; the method is characterized in that: the hydraulic control system further comprises a high-speed switch Guan Fazu, wherein the high-speed switch Guan Fazu outputs pilot control oil to enable a steering main valve of the flow amplifier to be reversed, and pressure oil is supplied to the steering cylinder according to a specified amplification factor.
2. The high-speed switch valve pilot control-based high-flow hydraulic steering system of claim 1, wherein: the high-speed switch valve further comprises a first one-way valve, an emergency steering pump, a second one-way valve, an overflow valve, a third one-way valve, a fourth one-way valve and a shuttle valve, wherein the high-speed switch valve Guan Fazu comprises a first high-speed switch valve, a second high-speed switch valve, a third high-speed switch valve and a fourth high-speed switch valve; the oil suction ports of the steering main pump and the emergency steering pump are respectively connected with an oil tank, the oil outlet of the main steering pump is connected with the oil inlet of a first one-way valve, the oil outlet of the first one-way valve is connected with the HP port of a flow amplifier, the oil outlet of the emergency steering pump is connected with the oil inlet of a second one-way valve, the oil outlet of the second one-way valve is connected with the oil outlet of the first one-way valve, the oil inlet of the overflow valve is connected with the oil outlet of the first one-way valve, the oil return port of the overflow valve is connected with the HT port of the flow amplifier, the EF port of the flow amplifier is connected with the HT port of the flow amplifier, the load sensing Ls port of the flow amplifier is connected with the control outlet of the shuttle valve, the PP port of the flow amplifier is connected with the P port of the flow amplifier, the T port of the flow amplifier is connected with the oil return confluence ports of a third high-speed switch valve and a fourth high-speed switch valve, the P port of the flow amplifier is connected with the oil inlet converging port of the first high-speed switch valve and the second high-speed switch valve, the L port of the flow amplifier is connected with the converging port of the second high-speed switch valve and the fourth high-speed switch valve, the R port of the flow amplifier is connected with the converging port of the first high-speed switch valve and the third high-speed switch valve, the CL port of the flow amplifier is connected with the rod cavity of the left steering cylinder and the rodless cavity of the right steering cylinder, the CR port of the flow amplifier is connected with the rodless cavity of the left steering cylinder and the rod cavity of the right steering cylinder, the oil inlets at two ends of the shuttle valve are respectively connected with the L port and the R port of the flow amplifier, the oil inlets of the third one-way valve and the fourth one-way valve are connected with the oil return converging ports of the third high-speed switch valve and the fourth high-speed switch valve, and oil outlets of the third check valve and the fourth check valve are respectively connected with the converging ports of the first high-speed switch valve and the third high-speed switch valve, and the converging ports of the second high-speed switch valve and the fourth high-speed switch valve.
3. The high-speed switch valve pilot control-based high-flow hydraulic steering system of claim 1, wherein: the electronic steering wheel or electronic steering handle sends signals to the whole vehicle controller through the position sensor, and the whole vehicle controller sends signals to the high speed switch Guan Fazu.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2023234525534 | 2023-12-18 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221251426U true CN221251426U (en) | 2024-07-02 |
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