WO2020215598A1 - Steering and braking hydraulic pump assembly and application thereof - Google Patents

Abstract

A steering and braking hydraulic pump assembly (60), applied to an unmanned vehicle (1). The steering and braking hydraulic pump assembly (60) comprises: a hydraulic pump (61), a motor (621), a brake valve group (632), a steering valve group (631), and a pump assembly controller (65). The hydraulic pump (61), the brake valve group (632), and the steering valve group (631) are controllably connected to the pump assembly controller (65) separately. The pump assembly controller (65) is configured to receive control instructions and convert same into electrical signals. The pump assembly controller (65) controls the motor (621), the hydraulic pump (61), the brake valve group (632), and the steering valve group (631) on the basis of the electrical signals. The hydraulic pump (61) pumps pressure oil toward the brake valve group (632) and the steering valve group (631) under the control of the pump assembly controller (65). Also provided are an unmanned vehicle (1) having the steering and braking hydraulic pump assembly (60) and a working method of the steering and braking hydraulic pump assembly (60). By means of the steering and braking hydraulic pump assembly (60), the steering and braking of the unmanned vehicle (1) can be implemented.

Description

Steering brake hydraulic pump station and its application Technical field

The invention relates to the field of wheeled engineering, in particular to a steering brake hydraulic pump station and its application.

Background technique

Traditional vehicles, especially engineering vehicles, have put forward higher requirements on the steering system of the vehicle in order to meet the requirements of complex site use.

The current steering system is mainly based on the signal sent by the driver while driving the vehicle, and then the relevant hydraulic steering control system controls the front wheel cooperation of the vehicle based on the signal sent by the driver to the rear wheel, so that the front or rear of the vehicle The steering of the wheel satisfies the driver's operational expectations. Generally, the driver needs to control the steering wheel of the vehicle to control the steering of the vehicle. For example, in a vehicle steering control system based on a multi-mode steering valve, when the driver operates the steering wheel, the full hydraulic steering gear is based on the left and right rotation of the steering wheel. Determine the output direction of the hydraulic oil provided by the steering pump, so as to realize the steering control of the front or rear wheels of the vehicle.

At present, automakers are focusing on the research and development of unmanned vehicles, and the objects of research and development are not only common household cars, but also the unmanned technology of large-scale construction vehicles. The emergence of large-scale engineering vehicles based on unmanned driving will greatly improve production efficiency.

Obviously, the existing steering system based on driver operation cannot be applied to unmanned vehicles. Further, the braking of a traditional vehicle also relies on the direct operation of the driver on the vehicle. For example, the driver can brake the vehicle by stepping on the brake. Once the vehicle adopts the driverless technology, how to achieve the braking of the vehicle under the premise of the original braking mechanism will become an important issue.

Summary of the invention

An object of the present invention is to provide a steering brake hydraulic pump station and its application, wherein the hydraulic pump station for an unmanned vehicle can be applied to an unmanned vehicle to realize vehicle steering and braking.

Another object of the present invention is to provide a steering brake hydraulic pump station and its application, wherein the hydraulic pump station for an unmanned vehicle adopts a modular design and can be easily matched to various vehicles.

Another object of the present invention is to provide a steering brake hydraulic pumping station and its application, wherein the hydraulic pumping station for driverless vehicles adopts a modular design, and each module of the hydraulic pumping station can be designed for practical applications. And assembly.

Another object of the present invention is to provide a steering brake hydraulic pump station and its application, wherein the hydraulic pump station for an unmanned vehicle can be loaded when the vehicle is started.

Another object of the present invention is to provide a steering brake hydraulic pump station and its application, wherein the hydraulic pump station for an unmanned vehicle can achieve braking at different braking deceleration speeds.

Another object of the present invention is to provide a steering brake hydraulic pump station and its application, wherein the working state of the hydraulic pump station for driverless vehicles can be monitored in real time.

Another object of the present invention is to provide a steering brake hydraulic pump station and its application, wherein the hydraulic pump station for an unmanned vehicle is linearly adjustable and has high accuracy when steering.

Another object of the present invention is to provide a steering brake hydraulic pump station and its application, wherein the hydraulic pump station for an unmanned vehicle is linearly adjustable when braking.

According to one aspect of the present invention, the present invention provides a steering brake hydraulic pump station applied to an unmanned vehicle, wherein the steering brake hydraulic pump station includes:

A hydraulic pump;

A motor, wherein the hydraulic pump is drivably connected to the motor;

A brake valve group, wherein the brake valve group is communicably connected to the hydraulic pump;

A steering valve group, wherein the steering valve group is communicably connected to the hydraulic pump; and

A pump station controller, wherein the hydraulic pump, the brake valve group, and the steering valve group are respectively controllably connected to the pump station controller, and the pump station controller is configured to receive control commands and connect It is converted into an electric signal, and the pump station controller controls the motor, the hydraulic pump, the brake valve group, and the steering valve group based on the electric signal, and the hydraulic pump is controlled by the pump station The pressure oil is pumped toward the brake valve group and the steering valve group under the control of the device.

According to some embodiments of the present invention, the steering brake hydraulic pump station further includes a brake accumulator, wherein the brake accumulator is communicably connected to the hydraulic pump and is communicable to the hydraulic pump. Brake valve group.

According to some embodiments of the present invention, the steering brake hydraulic pump station further includes a charging valve, wherein the charging valve is respectively communicably connected to the hydraulic pump, the brake valve group and the In the brake accumulator, the pressure oil is delivered to the hydraulic pump and the brake valve group after passing through the charging valve.

According to some embodiments of the present invention, when the pressure in the brake accumulator is lower than the charging value of the charging valve, the hydraulic pump outputs the pressure oil toward the brake accumulator to the The upper limit value of the charging pressure of the brake accumulator is such that the hydraulic pump is in a low pressure standby state.

According to some embodiments of the present invention, the steering brake hydraulic pump station further includes a high-pressure oil filter, wherein the high-pressure oil filter is respectively communicably connected to the hydraulic pump, the steering valve group and the In the brake valve group, the pressure oil is filtered by the high-pressure oil filter and then transported toward the steering valve group and the filling valve respectively.

According to some embodiments of the present invention, the steering brake hydraulic pump station further includes a start unloading valve, wherein the start unloading valve is controllably connected to the pump station controller, and when the vehicle is started , The start unloading valve is energized so that the X port of the hydraulic pump is depressurized, and the hydraulic pump works at low pressure. When the motor speed is normal, the start unloading valve is de-energized, and the hydraulic The pump supplies oil according to actual demand.

According to some embodiments of the present invention, the brake valve group includes a service brake solenoid valve and a parking brake solenoid valve, wherein the service brake solenoid valve and the parking brake solenoid valve are separately adjustable The hydraulic pump is communicatively connected, and the traveling brake solenoid valve and the parking brake solenoid valve are respectively controllably connected to the pump station controller.

According to some embodiments of the present invention, the brake valve group includes a pressure reducing valve, wherein the pressure reducing valve is respectively connected to the hydraulic pump and the parking brake solenoid valve, and the pressure oil passes through the The pressure-reducing valve is conveyed toward the parking brake solenoid valve after being decompressed.

According to some embodiments of the present invention, the service brake solenoid valve of the brake valve group is an electromagnetic proportional pressure reducing valve.

According to some embodiments of the present invention, the steering brake hydraulic pump station further includes a frame, wherein the hydraulic pump, the motor, the steering valve group, and the brake valve group are arranged on the frame.

According to some embodiments of the present invention, the motor is a variable frequency motor, the hydraulic pump is a variable displacement piston pump, and the variable displacement piston pump is connected to the variable frequency motor in a rotationally controllable manner.

According to another aspect of the present invention, the present invention provides a port unmanned AGV vehicle, which includes:

A vehicle body;

A walking unit, wherein the vehicle body is supported on the walking unit, and the walking unit is used to drive the vehicle body to move;

A driving unit, wherein the driving unit is arranged on the vehicle body, and the walking unit is drivably connected to the driving unit;

An external detection unit, wherein the external detection unit is arranged outside the vehicle body, and the external detection unit is used to detect the surrounding environment of the vehicle body;

A brake unit, wherein the brake unit is provided on the vehicle body, and the walking unit is brakeably connected to the brake unit;

A steering unit, wherein the steering unit is provided on the vehicle body, and the walking unit is steerably connected to the steering unit;

According to a hydraulic pump station described above, wherein the brake unit is controllably connected to the brake valve group, and the steering unit is controllably connected to the steering valve group; and

A control unit, wherein the walking unit, the driving unit, the braking unit and the steering unit are respectively controllably connected to the control unit, and the external detection unit is communicably connected to the A control unit, wherein the control unit and the hydraulic pump station are communicably connected to each other, and the pump station controller controls the motor, the hydraulic pump, and the steering valve group based on instructions from the control unit And the brake valve group.

According to some embodiments of the present invention, the control unit and the hydraulic pump station are communicably connected to each other through a CAN bus.

According to some embodiments of the present invention, the vehicle includes a pump station detection unit, wherein the pump station detection unit is provided in the hydraulic pump station, and the pump station detection unit is communicably connected to the control unit.

According to some embodiments of the present invention, the hydraulic pump station is detachably installed on the vehicle body.

According to another aspect of the present invention, the present invention provides a working method of a steering brake hydraulic pump station, which includes the following steps:

A steering brake hydraulic pump station receives a control command from a control unit of an unmanned vehicle;

Convert the control command into an electrical signal through a pump station controller; and

Based on the electrical signal, a hydraulic pump of the steering brake hydraulic pump station delivers pressure oil to a brake valve group and a steering valve group.

According to some embodiments of the present invention, in the above method, the pressure oil from the hydraulic pump passes through a charging valve and is respectively delivered to the brake valve group and a brake accumulator, wherein the brake The dynamic accumulator is communicably connected to the brake valve group.

According to some embodiments of the present invention, in the above method, when the unmanned vehicle is started, an unloading valve of the steering brake hydraulic pump station is activated so that the X port of the hydraulic pump is depressurized.

According to some embodiments of the present invention, in the above method, when the motor speed of the unmanned vehicle is normal, the unloading valve is controlled to stop working so that the hydraulic pump supplies oil based on actual demand.

According to some embodiments of the present invention, in the above method, the hydraulic pump is a variable displacement piston pump and the hydraulic pump is driven by a variable frequency motor of the steering brake pump station.

According to some embodiments of the present invention, in the above method, when the unmanned vehicle is in a standby state, the rotation speed of the variable frequency motor is reduced.

Description of the drawings

Fig. 1 is a schematic diagram of an unmanned vehicle according to a preferred embodiment of the present invention.

Fig. 2 is a schematic diagram of the unmanned vehicle according to the above-mentioned preferred embodiment of the present invention.

Fig. 3A is a schematic diagram of a steering brake hydraulic pump station according to a preferred embodiment of the present invention.

Fig. 3B is a schematic diagram of the steering brake hydraulic pump station according to the above preferred embodiment of the present invention.

Fig. 4 is a schematic diagram of a brake valve group according to a preferred embodiment of the present invention.

Fig. 5 is a schematic diagram of a high pressure filter assembly according to a preferred embodiment of the present invention.

Detailed ways

The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention And to simplify the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so the above terms should not be understood as limiting the present invention.

It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in other embodiments, The number can be multiple, and the term "one" cannot be understood as a restriction on the number.

With reference to Figures 1 and 2, as well as to Figures 3A and 3B, a specific embodiment of a port unmanned AGV vehicle 1 according to the present invention is illustrated.

AGV refers to Automated Guided Vehicle, and the port unmanned AGV vehicle 1 refers to a vehicle 1 that is used for port operations and does not require a driver and can automatically guide transportation. For the convenience of description, the port unmanned AGV vehicle 1 is referred to as "vehicle 1" in the following description.

The vehicle 1 includes a vehicle body 10, a walking unit 20, a driving unit 30, an energy supply unit 40, a control unit 50, and a steering brake hydraulic pump station 60, wherein the walking unit 20, the driving unit The unit 30, the energy supply unit 40, the control unit 50, and the steering brake hydraulic pump station 60 are respectively disposed on the vehicle body 10, and the walking unit 20 can drive the vehicle body 10 to move, so The walking unit 20 is drivably connected to the drive unit 30 so that the walking unit 20 can be driven by the drive unit 30, thereby driving the vehicle body 10 to move, wherein the drive unit 30 is provided with energy Ground is connected to the energy supply unit 40, and the steering brake hydraulic pump station 60 is used to control the steering and braking of the vehicle 1. The walking unit 20, the driving unit 30, the energy supply unit 40, and the steering brake hydraulic pump station 60 are controllably connected to the control unit 50, respectively.

Further, the vehicle 1 includes a steering unit 70 and a braking unit 80, wherein the steering unit 70 is used for steering the vehicle 1, and the braking unit 80 is used for braking the vehicle 1, The steering unit 70 and the brake unit 80 are controllably connected to the control unit 50 and the steering brake hydraulic pump station 60 respectively. The control unit 50 is used to receive external signals. When the control unit 50 receives the external signals, the steering brake hydraulic pump station 60 that is communicatively connected to the control unit 50 responds to the vehicle based on external commands. 1. The steering and braking are controlled.

It is worth noting that the vehicle 1 is an unmanned vehicle 1, so the vehicle body 10 does not need to be equipped with a hand brake or a foot brake. With the help of the steering brake hydraulic pump station 60, the vehicle can be 1 Steering and braking control.

Specifically, the steering brake hydraulic pump station 60 includes a hydraulic pump 61, a motor assembly 62, a steering brake valve assembly 63, an oil tank 64, and a pump station controller 65, wherein the motor assembly 62 includes A motor 621 and a motor controller 622, wherein the motor 621 is controllably connected to the motor 621, wherein the hydraulic pump 61 is drivably connected to the motor 621, wherein the steering brake valve The assembly 63 is communicably connected to the oil tank 64 and the hydraulic pump 61, wherein the steering brake valve assembly 63 includes a steering valve group 631 and a brake valve group 632, wherein the steering unit 70 is It is controllably connected to the steering valve group 631, and the brake unit 80 is controllably connected to the brake valve group 632. The steering valve group 631 and the brake valve group 632 are respectively connected to the hydraulic pump 61 in a communicable manner.

The oil tank 64 is used to store oil, and the hydraulic pump 61 is communicably connected to the oil tank 64. The hydraulic pump 61, the motor assembly 62, and the steering brake valve group 632 are respectively controllably connected to the pump station controller 65.

The pump station controller 65 can receive external instructions, and then convert the external instructions into electrical signals, and then control the various components of the steering brake hydraulic pump station 60 to work according to the electrical signals. For example, the motor controller 622 controls the motor 621 based on the electrical signal to start working at a certain working efficiency within a certain period of time, the hydraulic pump 61 is driven by the motor 621, and then the oil tank 64 The pressure oil inside is respectively pumped out toward the steering valve group 631 and the brake valve group 632 of the steering brake valve group 632 and 63, so that the steering valve group 631 and the brake valve group 632 The operation of the steering unit 70 and/or the braking unit 80 can be respectively controlled according to the electrical signal, so as to realize the steering and/or braking of the vehicle 1.

More specifically, the pump station controller 65 is communicably connected to the control unit 50. In this example, the steering brake hydraulic pump station 60 is communicably connected with the control unit 50 through a CAN bus, and the pump station controller 65 of the steering brake hydraulic pump station 60 is connected through a CAN bus. And the control unit 50 are communicably connected to each other. The control unit 50 of the vehicle 1 may send a signal to the pump station controller 65, and the pump station controller 65 performs steering and/or braking at a corresponding speed based on the signal of the control unit 50.

The pump station detection unit of the steering brake hydraulic pump station 60 is communicably connected to the control unit 50. In this example, the pump station detection unit and the control unit 50 are communicably connected to each other via a CAN bus. The control unit 50 performs real-time monitoring of the operating state of the steering brake hydraulic pump station 60 based on the detection data of the pump station detection unit.

The control unit 50 can receive control instructions. The pump station controller 65 converts the control instructions received by the control unit 50 into electrical signals and controls the hydraulic pump 61, the motor 621, and the steering brake valve group 632 and 63 respectively.

For example, based on a control command from the outside, the motor 621 can drive the hydraulic pump 61 to work, the hydraulic pump 61 can pump out the pressure oil in the oil tank 64, and the pressure oil can pass through a pipeline It is delivered to the steering valve group 631 to enable the steering valve group 631 to work, so that the steering unit 70 realizes the steering of the vehicle 1 under the control of the steering valve group 631.

For example, based on a control command from the outside, the motor 621 can drive the hydraulic pump 61 to work, the hydraulic pump 61 can pump out the pressure oil in the oil tank 64, and the pressure oil can pass through a pipeline It is delivered to the brake valve group 632 to enable the brake valve group 632 to work, so that the brake unit 80 realizes the braking of the vehicle 1 under the control of the brake valve group 632 .

Further, the walking unit 20 includes a plurality of wheels, and the number of wheels may be two, three or more. The number of the wheels is four, two of the wheels are at the front of the vehicle 1 and two of the wheels are at the rear of the vehicle 1. At least one wheel of the walking unit 20 can be steered under the action of the steering unit 70 or braked under the action of the braking unit 80.

Furthermore, the steering brake hydraulic pump station 60 includes a frame 66, wherein the hydraulic pump 61, the motor assembly 62, the steering brake valve assembly 63, the oil tank 64 and the pump station control The device 65 is arranged on the frame 66. The entire steering brake hydraulic pump station 60 adopts a modular design, so that the entire steering brake hydraulic pump station 60 can be installed on the vehicle body 10, which also facilitates the installation of the steering brake hydraulic pump station 60 Repair and replacement.

In this example, the steering brake hydraulic pump station 60 is modularly arranged at the rear of the vehicle body 10. The steering brake hydraulic pump station 60 reserves a plurality of interfaces to connect to the external oil cylinder of the vehicle 1, the brake unit 80, the steering unit 70 and so on.

It is understandable that the steering brake hydraulic pump station 60 of modular design can be conveniently installed on the vehicle body 10. The multiple components of the steering brake hydraulic pump station 60 do not need to be installed on the vehicle body 10 one by one, but may be installed on the vehicle body 10 at a time. During disassembly, multiple components of the steering brake hydraulic pump station 60 can also be disassembled as a whole from the vehicle body 10.

The steering brake hydraulic pump station 60 may be applied to a conventional vehicle 1 that requires a driver to drive, and the steering brake hydraulic pump station 60 may also be applied to an unmanned vehicle 1. In this example, the steering brake hydraulic pump station 60 is applied to the unmanned vehicle 1.

The pump station controller 65 of the steering brake hydraulic pump station 60 may receive the signal from the control unit 50 and convert it into an electric signal.

For example, the user can remotely control the vehicle 1 through a remote control device, such as controlling the steering of the vehicle 1, and the control unit 50 of the vehicle 1 receives a wireless signal from the remote control device , And then the control unit 50 generates a control instruction based on the wireless signal of the remote control device and sends the control instruction to the pump station controller 65, which controls the pump station based on the control instruction The hydraulic pump 61 works. The hydraulic pump 61 works under the command of the control instruction to pump out the pressure oil in the oil tank 64 to the steering valve group 631, so that the steering valve group 631 controls the steering of the traveling unit 20.

The wireless signal from the remote control device can be transmitted by the control unit 50, and then the pump station controller 65 can convert it into an electrical signal. Both the steering valve group 631 and the brake valve group 632 can adopt electric proportional control, so that the steering speed of the vehicle 1 is linearly adjustable with high accuracy, and the braking intensity of the vehicle 1 is also linearly adjustable.

In a conventional vehicle 1 that requires a driver to drive, the work of the steering brake hydraulic pump station 60 requires the driver's operation to complete the steering or braking of the vehicle 1, for example, when the vehicle 1 needs to turn, The driver needs to operate the steering wheel to control the steering brake hydraulic pump station 60 to achieve steering. For example, when the vehicle 1 needs to be braked, the driver needs to operate a hand brake or a foot brake to control the steering brake hydraulic pressure Pump station 60 to achieve braking.

In this example, the steering and braking of the vehicle 1 can be realized under unmanned driving, and the user can realize remote control of the vehicle 1, and even the vehicle 1 can be controlled according to a preset The route advances automatically. Once the vehicle 1 moves to a section of the pre-set route that needs to be turned, the control unit 50 will send instructions to the pump station controller 65, and then the pump station controller 65 will control the The hydraulic pump 61 works. The hydraulic pump 61 pumps the pressure oil in the oil tank 64 to the steering valve group 631, so as to realize the steering of the traveling unit 20 of the vehicle 1 by means of the steering valve group 631.

Further, in this example, the vehicle 1 includes a detection unit 90, wherein the detection unit 90 is provided in the vehicle body 10 or the steering brake hydraulic pump station 60. The detection unit 90 includes an external detection unit 91 for detecting the external state of the vehicle body 10, wherein the external detection unit 91 is provided in the vehicle body 10. The external detection unit 91 may be provided at the front of the vehicle body 10, the rear of the vehicle body 10, and the side of the vehicle body 10.

When the external detection unit 91 is arranged at the front of the vehicle body 10, the external detection unit 91 can be used to detect the surrounding environment in front of the vehicle body 10, such as obstacles. When the external detection unit 91 is arranged at the rear of the vehicle body 10, the external detection unit 91 can be used to detect the surrounding environment behind the vehicle body 10, such as other vehicles behind the vehicle body 10. . When the external detection unit 91 is installed on the side of the vehicle body 10, the external detection unit 91 can be used to detect the surrounding environment on the side of the vehicle body 10, for example, Other vehicles, etc.

The external detection unit 91 may include multiple detectors, and the types of the detectors may be the same or different, such as an optical detector, an infrared detector, and so on.

The external detection unit 91 is communicably connected to the control unit 50. The control unit 50 generates control instructions based on the real-time state near the vehicle 1 detected by the external detection unit 91 to control the steering and braking of the vehicle 1.

For example, when the vehicle 1 is moving forward along a preset route, the external detection unit 91 detects that there is an obstacle in front of the vehicle 1. If the vehicle 1 continues to move forward, it will collide with the obstacle. collision. Based on the state of the obstacle detected by the external detection unit 91 and the environmental information in front of the vehicle body 10, the control unit 50 generates a control command and sends the control command to the steering brake hydraulic pressure Pumping station 60. The hydraulic pump 61 pumps out the pressure oil to the steering valve group 631 to steer the traveling unit 20.

It is worth noting that after the walking unit 20 turns, the vehicle body 10 bypasses the obstacle and continues to advance along a preset route.

For example, when the vehicle 1 is moving along a preset route, the external detection unit 91 detects that an obstacle suddenly appears in front of the vehicle 1. If the vehicle 1 continues to move forward, it will be against the obstacle. Collision. Based on the state of the obstacle detected by the external detection unit 91 and the environmental information in front of the vehicle body 10, the control unit 50 generates a control command and sends the control command to the steering brake hydraulic pressure Pumping station 60. The hydraulic pump 61 pumps out the pressure oil to the brake valve group 632, so that the traveling unit 20 is braked, so that the vehicle 1 can be braked to avoid transmission with the obstacle. collision.

It is worth noting that after the vehicle 1 is braked, the vehicle body 10 may choose to bypass the obstacle and continue to advance along a preset route.

Referring to FIGS. 3A to 5, a specific implementation of the steering brake hydraulic pump station 60 according to the present invention is illustrated.

The steering brake hydraulic pump station 60 includes a hydraulic pump 61, an electric motor assembly 62, a steering brake valve assembly 63, an oil tank 64 and a pump station controller 65. The motor assembly 62 includes a motor 621 and a motor controller 622, and the motor 621 is controllably connected to the motor controller 622. The steering brake valve assembly 63 includes a steering valve group 631 and a brake valve group 632, wherein the steering valve group 631 and the brake valve group 632 are respectively communicably connected to the hydraulic pump 61. The hydraulic pump 61, the electric motor 621, the steering valve group 631, and the brake valve group 632 are controllably connected to the pump station controller 65, respectively. The hydraulic pump 61 is communicably connected to the oil tank 64. The oil tank 64 stores the pressure oil. The hydraulic pump 61 can pump out the pressure oil in the oil tank 64 so that the pressure oil is delivered to the steering valve group 631 and the brake valve group 632.

Further, the steering brake hydraulic pump station 60 includes an oil filter assembly 67, wherein the pressure oil is pumped from the oil tank 64 by the hydraulic pump 61 toward the steering valve group 631 and the brake Valve group 632 is delivered.

The oil filtering assembly 67 is located between the hydraulic pump 61 and the steering valve group 631 and the hydraulic pump 61 and the brake valve group 632 to filter the pressure oil. The pressure oil is transported toward the steering valve group 631 and the brake valve group 632 after being filtered by the oil filter assembly 67.

The oil filter assembly 67 includes a high pressure oil filter 671, wherein the high pressure oil filter 671 is located between the hydraulic pump 61 and the steering valve group 631, or the high pressure oil filter 671 is located at Between the hydraulic pump 61 and the brake valve group 632. After being pumped by the hydraulic pump 61, the pressure oil first passes through the high-pressure oil filter 671, and then is transported toward the steering valve group 631 and the brake valve group 632 respectively.

The high-pressure oil filter 671 further includes a plate-type high-pressure oil filter 6711 and a main relief valve 6712, wherein the plate-type high-pressure oil filter 6711 is integrated in the main relief valve 6712, the plate-type high-pressure oil filter 6711 The member 6711 is communicably connected to the hydraulic pump 61, and the main relief valve 6712 is communicably connected to the oil tank 64. A pressure sensor is provided in the high-pressure oil filter 671. The high-pressure oil filter 671 is directly connected to the hydraulic pump 61 through a pipe. The pressure sensor is used to detect the pressure of the hydraulic pump 61 at this position. Once the pressure of the steering brake hydraulic pump station 60 exceeds the setting value of the main relief valve 6712 of the high-pressure oil filter 671, the pressure oil is overflowed back to the main relief valve 6712 through the main relief valve 6712 The oil tank 64 prevents the oil pressure of the steering brake hydraulic pump station 60 from being too high.

Further, it is worth mentioning that the steering brake hydraulic pump station 60 includes a brake accumulator 68, wherein the brake accumulator 68 is communicably connected to the hydraulic pump 61 and is It is communicably connected to the brake valve group 632. The brake accumulator 68 can store the pressure oil and re-store the pressure oil in the brake accumulator 68 toward the brake valve group 632 when the brake valve group 632 needs it. transport.

The pressure oil from the oil tank 64 can be transported toward the steering valve group 631, the brake valve group 632, and the brake accumulator 68 under the action of the hydraulic pump 61, respectively.

Furthermore, the steering brake hydraulic pump station 60 includes a charging valve 69, wherein the brake accumulator 68 and the brake valve group 632 are respectively communicably connected to the charging valve 69 .

The pressure oil from the oil tank 64 is transported toward the steering valve group 631 and the brake valve group 632 under the action of the hydraulic pump 61. The charging valve 69 is located between the hydraulic pump 61 and the steering valve group 631. The pressure oil passes through the charging valve 69 and is respectively transferred to the brake valve group 632 and the steering valve group 631.

In other words, after the pressure oil is pumped by the hydraulic pump 61, it first passes through the high-pressure oil filter 671, part of the pressure oil is transmitted to the steering valve group 631, and part of the pressure oil is The charging valve 69 is transferred, and then the pressure oil is transferred to the brake accumulator 68 and the brake valve group 632 through the charging valve 69 respectively.

When the pressure in the brake accumulator 68 is lower than the charging value preset by the charging valve 69, the LS port on the charging valve 69 outputs a signal to the X port of the hydraulic pump 61, and then The hydraulic pump 61 outputs the pressure oil until the pressure of the brake accumulator 68 reaches the upper limit of the charging pressure of the charging valve 69, and the hydraulic pump 61 is in the low-pressure standby state.

When the brake valve group 632 needs the pressure oil, the brake accumulator 68 can directly deliver the pressure oil to the brake valve group 632 because the hydraulic pump 61 is in the In the low-pressure standby state, the pressure required by the brake valve group 632 cannot be reached in a short time.

In this way, the hydraulic pump 61 can be in the low-pressure standby state, and the brake accumulator 68 can act as an auxiliary output, thereby helping to save energy for the entire steering brake hydraulic pump station 60 use.

It is worth mentioning that, through load-sensing technology and reasonable design of the oil tank 64, the steering brake hydraulic pump station 60 can achieve thermal balance without requiring a special radiator.

Furthermore, the oil filter assembly 67 includes an air filter 672, wherein the air filter 672 is provided in the fuel tank 64 to prevent pollutants from following due to changes in the amount of oil in the fuel tank 64 Air is mixed into the fuel tank 64.

The oil filter assembly 67 further includes an oil suction filter 673, wherein the oil suction filter 673 is disposed between the oil tank 64 and the hydraulic pump 61. The oil suction filter 673 can filter out pollutants from the oil tank 64 to facilitate the normal operation and service life of the hydraulic pump 61.

Further, the detection unit 90 includes a pump station detection unit 92, wherein the pump station detection unit 92 is used to detect the operating state of the steering brake hydraulic pump station 60. The pump station detection unit 92 is communicably connected to the control unit 50. In this example, the pump station detection unit 92 and the control unit 50 are communicably connected to each other via a CAN bus. The control unit 50 monitors the operating status of the steering brake hydraulic pump station 60 in real time based on the detection data of the pump station detection unit 92.

The pump station detection unit 92 may include a plurality of detectors, wherein the detectors may be liquid level detectors, temperature sensors, pressure sensors, and the like. The data detected by the pump station detection unit 92 can be sent to the control unit 50, and then the control unit 50 sends related data outwards to facilitate the user to remotely monitor the vehicle 1. The liquid level detector of the pump station detection unit 92 may be installed in the oil tank 64 to obtain stored data of the oil in the oil tank 64. The temperature sensor of the pump station detection unit 92 may be installed in the oil tank 64 to obtain temperature data about the oil tank 64. The pressure sensor of the pump station detection unit 92 may also be provided in the oil tank 64 to obtain the working pressure of the oil tank 64. Of course, it is understandable that the pump station detection unit 92 can also be arranged at other positions of the steering brake hydraulic pump station 60, which obtains working state data of other components of the steering brake hydraulic pump station 60.

In this example, the pump station detection unit 92 includes a temperature sensor 921, a liquid level sensor 922, a visual liquid level and liquid temperature gauge 923, a pump pressure sensor 924, a brake accumulator pressure sensor 925, and A parking brake pressure sensor 926. The temperature sensor 921 is provided at the steering brake hydraulic pump station 60 for detecting the operating temperature of the steering brake hydraulic pump station 60. The liquid level sensor 922 is installed in the oil tank 64 for detecting the remaining pressure oil of the oil tank 64. The visual liquid level and liquid temperature gauge 923 is installed in the steering brake hydraulic pump station 60 for detecting the liquid level and liquid temperature of a preset position of the steering brake hydraulic pump station 60.

The pump pressure sensor 924 is installed in the steering brake hydraulic pump station 60 to detect the pressure of the hydraulic pump at a preset position. In detail, the pump pressure sensor 924 is provided in the high-pressure oil filter 671. The high-pressure oil filter 671 is directly connected to the hydraulic pump 61 through a pipe. The pump pressure sensor 924 is used to detect the pressure of the hydraulic pump 61 at this position.

The brake accumulator pressure sensor 925 is provided in the brake valve group, and is used to detect the pressure of the brake accumulator 67 when oil is delivered to the brake valve group 632. The parking brake pressure sensor 926 is provided in the brake valve group 632

Further, the motor 621 of the steering brake hydraulic pump station 60 is a variable frequency motor 621, wherein the operation of the hydraulic pump 61 can be controlled by the variable frequency motor 621, and the rotation speed of the variable frequency motor 621 can be based on The demand of the hydraulic pump 61 is adjusted in a timely manner, so that the operation of the entire steering brake hydraulic pump station 60 will be more energy-saving.

In this example, the hydraulic pump 61 is implemented as a variable displacement plunger pump. Further, a main relief valve 6712 is integrated in the high-pressure oil filter 671 of the oil filter assembly 67, so as to help ensure the pressure safety in the steering brake hydraulic pump station 60.

The motor controller 622 of the motor 621 can control the working speed of the hydraulic pump 61. When the vehicle 1 is in a standby state, the working speed of the hydraulic pump 61 can be reduced to reduce power consumption. When the vehicle 1 is running in gear, the rotation speed of the hydraulic pump 61 may be increased to supply oil to the steering valve group 631.

When the vehicle 1 needs to turn, the pump station controller 65 of the steering brake hydraulic pump station 60 receives a steering command from the control unit 50. The steering instruction of the control unit 50 may be generated based on the detection data of the detection unit 90, or may be from an operator. The pump station controller 65 converts the steering command into an electric signal and sends it to the steering valve group 631.

The pressure oil is pumped by the hydraulic pump 61 and filtered, and then output to the steering valve group 631. In this example, the number of the wheels of the walking unit 20 of the vehicle 1 is four, and each of the wheels can be controlled to steer.

The four electromagnets of the steering valve group 631 respectively control the left and right steering of the two wheels located at the front of the vehicle body 10 and the left and right steering of the two wheels located at the rear of the vehicle body 10 .

It is worth noting that the electromagnet of the steering valve group 631 is a proportional quantity, so the steering valve group 631 can output a corresponding flow rate in a certain proportion based on the amount of current input to the steering valve group 631, so as to achieve the The vehicle 1 performs steering control at different steering speeds.

The steering speed of the vehicle 1 is linearly adjustable and has high accuracy.

When the vehicle 1 needs to be braked, the pump station controller 65 of the steering brake hydraulic pump station 60 is based on a braking command received from the control unit 50. The braking instruction of the control unit 50 may be generated based on the detection data of the detection unit 90, for example, there is an obstacle ahead, or it may be from an operator. The pump station controller 65 converts the brake command into an electric signal and sends it to the brake valve group 632.

The pressure oil is pumped by the hydraulic pump 61, filtered, and output to the brake valve group 632, so that the brake valve group 632 realizes the control of the brake unit 80, thereby realizing the vehicle 1. The brake.

With particular reference to FIG. 5, FIG. 5 illustrates an implementation of the brake valve group 632 of the steering brake hydraulic pump station 60 according to a preferred embodiment of the present invention.

The brake valve group 632 includes a row brake solenoid valve 6321, a parking brake solenoid valve 6322, and a pressure reducing valve 6323, wherein the service brake solenoid valve 6321 and the parking brake solenoid valve 6322 The pressure oil is respectively and communicably connected to the brake accumulator 68, and the pressure oil reaches the parking brake solenoid valve 6322 after being decompressed by the pressure reducing valve 6323.

In this example, the pressure reducing valve 6323 is implemented as a three-way pressure reducing valve.

Taking the parking brake of the vehicle 1 as an example for description, the brake accumulator 68 is connected to the parking brake solenoid valve 6322 and the pressure reducing valve 6323 of the brake valve group 632. P mouth. After the pump station controller 65 of the steering brake hydraulic pump station 60 receives the parking brake control command from the control unit 50, it converts it into an electrical signal. After the pump station controller 65 controls the parking brake solenoid valve 6322 to be energized, the pressure oil is decompressed from the pressure reducing valve 6323 of the brake valve group 632 and then passes through the parking brake The solenoid valve 6322 is then transported toward a parking brake of the brake unit 80.

Taking the vehicle 1 requiring service brake as an example for description, the pump station controller 65 of the steering brake hydraulic pump station 60 receives the parking brake control command from the control unit 50, It is converted into an electrical signal. The pump station controller 65 controls the service brake solenoid valve 6321 based on the electrical signal. The service brake solenoid valve 6321 is implemented as an electromagnetic proportional pressure reducing valve 6323. The A port of the service brake solenoid valve 6321 outputs the corresponding pressure oil to the row brake of the brake unit 80 in proportion to the magnitude of the input current, so that braking can be performed at different braking speeds.

Further, the brake valve group 632 of the steering brake hydraulic pump station 60 includes a start unloading valve 6324 and a shuttle valve 6325, and the start unloading valve 6324 is controlled by the shuttle valve 6325. When the vehicle 1 is started, the start unloading valve 6324 is energized to work at the same time, and the X port of the hydraulic pump 61 is depressurized, so that the hydraulic pump 61 can work at a low pressure. When the rotation speed of the motor 621 is normal, the pump station controller 65 controls the start unloading valve 6324 to change from an energized state to a de-energized state, and the hydraulic pump 61 can supply oil according to actual demand.

In this way, the load when the vehicle 1 is started can be reduced, and the impact on the motor 621 can be reduced, so as to help prolong the service life of the steering brake hydraulic pump station 60. Those skilled in the art should understand that the above description and the embodiments of the present invention shown in the drawings are only examples and do not limit the present invention. The purpose of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may have any deformation or modification.

Claims (26)

1. A steering brake hydraulic pump station, applied to an unmanned vehicle, is characterized by including:

   A hydraulic pump;

   A motor, wherein the hydraulic pump is drivably connected to the motor;

   A brake valve group, wherein the brake valve group is communicably connected to the hydraulic pump;

   A steering valve group, wherein the steering valve group is communicably connected to the hydraulic pump; and

   A pump station controller, wherein the hydraulic pump, the brake valve group, and the steering valve group are respectively controllably connected to the pump station controller, and the pump station controller is configured to receive control commands and connect It is converted into an electric signal, and the pump station controller controls the motor, the hydraulic pump, the brake valve group, and the steering valve group based on the electric signal, and the hydraulic pump is controlled by the pump station The pressure oil is pumped toward the brake valve group and the steering valve group under the control of the device.
2. The steering brake hydraulic pump station according to claim 1, wherein the steering brake hydraulic pump station further comprises a brake accumulator, wherein the brake accumulator is communicably connected to the hydraulic pump And can be connected to the brake valve group.
3. The steering brake hydraulic pump station according to claim 2, wherein the steering brake hydraulic pump station further comprises a charging valve, wherein the charging valve is communicably connected to the hydraulic pump, the For the brake valve group and the brake accumulator, the pressure oil is delivered to the hydraulic pump and the brake valve group after passing through the charging valve.
4. The steering brake hydraulic pump station according to claim 3, wherein when the pressure in the brake accumulator is lower than the charging value of the charging valve, the hydraulic pump outputs to the brake accumulator The pressure oil reaches the upper limit value of the charging pressure of the brake accumulator so that the hydraulic pump is in a low pressure standby state.
5. The steering brake hydraulic pump station according to claim 3, wherein the steering brake hydraulic pump station further comprises a high-pressure oil filter, wherein the high-pressure oil filter is respectively communicably connected to the hydraulic pump, For the steering valve group and the brake valve group, the pressure oil is filtered by the high-pressure oil filter and then transported toward the steering valve group and the filling valve respectively.
6. The steering brake hydraulic pump station according to claim 1, wherein the steering brake hydraulic pump station further comprises a start unloading valve, wherein the start unloading valve is controllably connected to the pump station controller When the vehicle is started, the start unloading valve is energized, so that the X port of the hydraulic pump is depressurized, and the hydraulic pump works at low pressure. When the motor speed is normal, the start unloading valve When the power is cut off, the hydraulic pump supplies oil according to actual demand.
7. The steering brake hydraulic pump station according to claim 1, wherein the brake valve group includes a row brake solenoid valve and a parking brake solenoid valve, wherein the service brake solenoid valve and the parking brake solenoid valve The brake solenoid valves are respectively communicably connected to the hydraulic pump, and the traveling brake solenoid valve and the parking brake solenoid valve are respectively controllably connected to the pump station controller.
8. The steering brake hydraulic pump station according to claim 7, wherein the brake valve group includes a pressure reducing valve, wherein the pressure reducing valve is respectively connected to the hydraulic pump and the parking brake solenoid valve , The pressure oil is delivered to the parking brake solenoid valve after being decompressed by the pressure reducing valve.
9. The steering brake hydraulic pump station according to claim 7, wherein the service brake solenoid valve of the brake valve group is an electromagnetic proportional pressure reducing valve.
10. The steering brake hydraulic pump station according to claim 1, wherein the steering brake hydraulic pump station further comprises a frame, wherein the hydraulic pump, the motor, the steering valve group, and the brake valve group Is arranged in the frame.
11. The steering brake hydraulic pump station according to claim 1, wherein the motor is a variable frequency motor, the hydraulic pump is a variable displacement piston pump, and wherein the variable displacement piston pump is connected to the rotational speed controllably Inverter motor.
12. An unmanned AGV vehicle at a port is characterized by:

    A vehicle body;

    A walking unit, wherein the vehicle body is supported on the walking unit, and the walking unit is used to drive the vehicle body to move;

    A driving unit, wherein the driving unit is arranged on the vehicle body, and the walking unit is drivably connected to the driving unit;

    An external detection unit, wherein the external detection unit is arranged outside the vehicle body, and the external detection unit is used to detect the surrounding environment of the vehicle body;

    A brake unit, wherein the brake unit is provided on the vehicle body, and the walking unit is brakeably connected to the brake unit;

    A steering unit, wherein the steering unit is provided on the vehicle body, and the walking unit is steerably connected to the steering unit;

    A hydraulic pump station, wherein the hydraulic pump station includes a hydraulic pump, a motor, a brake valve group, a steering valve group, and a pump station controller, and the hydraulic pump is drivably connected to the motor, The brake valve group is communicably connected to the hydraulic pump, the steering valve group is communicably connected to the hydraulic pump, the hydraulic pump, the brake valve group, and the steering valve group Are respectively controllably connected to the pump station controller, the pump station controller is configured to receive control instructions and convert them into electrical signals, and the pump station controller controls the motor and the pump station controller based on the electrical signals. The hydraulic pump, the brake valve group and the steering valve group, the hydraulic pump pumps pressure oil toward the brake valve group and the steering valve group under the control of the pump station controller, wherein The brake unit is controllably connected to the brake valve group, and the steering unit is controllably connected to the steering valve group; and

    A control unit, wherein the walking unit, the driving unit, the braking unit and the steering unit are respectively controllably connected to the control unit, and the external detection unit is communicably connected to the A control unit, wherein the control unit and the hydraulic pump station are communicably connected to each other, and the pump station controller controls the motor, the hydraulic pump, and the steering valve group based on instructions from the control unit And the brake valve group.
13. The port unmanned AGV vehicle according to claim 12, wherein the control unit and the hydraulic pump station are communicably connected to each other through a CAN bus.
14. The port unmanned AGV vehicle according to claim 12, wherein the vehicle includes a pump station detection unit, wherein the pump station detection unit is provided in the hydraulic pump station, wherein the pump station detection unit is It is communicatively connected to the control unit.
15. The port unmanned AGV vehicle according to claim 12, wherein the hydraulic pump station is detachably installed on the vehicle body.
16. The port unmanned AGV vehicle according to claim 12, wherein the steering brake hydraulic pump station further comprises a brake accumulator, wherein the brake accumulator is communicably connected to the hydraulic pump And can be connected to the brake valve group.
17. The port unmanned AGV vehicle according to claim 13, wherein the steering brake hydraulic pump station further comprises a charging valve, wherein the charging valve is communicably connected to the hydraulic pump, the For the brake valve group and the brake accumulator, the pressure oil is delivered to the hydraulic pump and the brake valve group after passing through the charging valve.
18. The port unmanned AGV vehicle according to claim 14, wherein the steering brake hydraulic pump station further comprises a high-pressure oil filter, wherein the high-pressure oil filter is respectively communicably connected to the hydraulic pump, For the steering valve group and the brake valve group, the pressure oil is filtered by the high-pressure oil filter and then transported toward the steering valve group and the filling valve respectively.
19. The port unmanned AGV vehicle according to claim 12, wherein the steering brake hydraulic pump station further comprises a start unloading valve, wherein the start unloading valve is controllably connected to the pump station controller When the vehicle is started, the start unloading valve is energized, so that the X port of the hydraulic pump is depressurized, and the hydraulic pump works at low pressure. When the motor speed is normal, the start unloading valve When the power is cut off, the hydraulic pump supplies oil according to actual demand.
20. The port unmanned AGV vehicle according to claim 12, wherein the brake valve group includes a row brake solenoid valve and a parking brake solenoid valve, wherein the service brake solenoid valve and the parking brake solenoid valve The brake solenoid valves are respectively communicably connected to the hydraulic pump, and the traveling brake solenoid valve and the parking brake solenoid valve are respectively controllably connected to the pump station controller.
21. A working method of a steering brake hydraulic pump station is characterized in that it includes the following steps:

    A steering brake hydraulic pump station receives a control command from a control unit of an unmanned vehicle;

    Convert the control command into an electrical signal through a pump station controller; and

    Based on the electrical signal, a hydraulic pump of the steering brake hydraulic pump station delivers pressure oil to a brake valve group and a steering valve group.
22. 21. The working method according to claim 21, wherein in the above method, the pressure oil from the hydraulic pump passes through a charging valve and is respectively delivered to the brake valve group and a brake accumulator, wherein The brake accumulator is communicably connected to the brake valve group.
23. The working method according to claim 22, wherein in the above method, when the unmanned vehicle is started, an unloading valve of the steering brake hydraulic pump station is activated so that the X port of the hydraulic pump is released Pressure.
24. 22. The working method according to claim 23, wherein in the above method, when the motor speed of the unmanned vehicle is normal, the unloading valve is controlled to stop working so that the hydraulic pump supplies oil based on actual demand.
25. The working method according to claim 21, wherein in the above method, the hydraulic pump is a variable displacement piston pump and the hydraulic pump is driven by a variable frequency motor of the steering brake pump station.
26. The working method according to claim 25, wherein in the above method, when the unmanned vehicle is in a standby state, the rotation speed of the variable frequency motor is reduced.

Images