CN104670311B - For the unmanned steering system of vehicle and the vehicle with the unmanned steering system - Google Patents
For the unmanned steering system of vehicle and the vehicle with the unmanned steering system Download PDFInfo
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- CN104670311B CN104670311B CN201310628180.3A CN201310628180A CN104670311B CN 104670311 B CN104670311 B CN 104670311B CN 201310628180 A CN201310628180 A CN 201310628180A CN 104670311 B CN104670311 B CN 104670311B
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- control valve
- solenoid directional
- directional control
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- steering system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of vehicle and its unmanned steering system, the unmanned steering system includes：Power cylinder, being provided with power cylinder is used for power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber；Rotary valve, rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and the left part hydraulic fluid port of rotary valve is connected by the first solenoid directional control valve with left part chamber, and the right part hydraulic fluid port of rotary valve is connected by the second solenoid directional control valve with right part chamber；Electromagnetic switch valve, electromagnetic switch valve has inlet and outlet, and outlet is connected with oil inlet；And oil pump, oil pump is connected with import, the first solenoid directional control valve and the second solenoid directional control valve respectively.The unmanned steering system of the present invention has manual mode and remote control mode, and the unmanned steering system architecture is simple, easy to control and cost is low.
Description
Technical field
The present invention relates to automobile construction field, more particularly, to a kind of unmanned steering system for vehicle and distant with this
Control the vehicle of steering.
Background technology
The function of automobile steering system is to ensure that automobile can carry out Turning travel according to the will of driver.Motor turning
System can be divided into mechanical steering system and power steering system.Mechanical steering system is used as steering energy using the muscle power of driver
Source, wherein all force transmission elements are all mechanical structure, mainly by operating mechanism, steering gear and steering gear three parts group
Into.The steering that power steering system is a set of dual-purpose driver muscle power and engine power is steerable energy, electronic-controlled power steering
System is mainly additionally arranged steering augmentor, and the steering augmentor is mainly hydraulic steering unit, in driver turn
During steering wheel, turning to augmentor can aid in completing go to action, reduce the torque of driver turn steering wheel.
In correlation technique known for inventor, unmanned steering system is occurred in that again on the basis of power steering system
System, with manually and automatically both of which, it is possible to achieve such as automatic parking function, but related remote control known for inventor
The structure of steering is more complicated, control is cumbersome and cost is high, and practicality is poor, and these remote driving technologies are all based on
Electric power-assisted steering apparatus（EPS）Exploitation, but many electric power-assisted steering apparatus（EPS）Also be not it is especially ripe, especially
For the heavier automobile of front axle load, it is necessary to develop powerful brushless electric machine, during remote driving, electric power steering
Device（EPS）Pivot stud can be often carried out, now the load of transfer is maximum, electric power-assisted steering apparatus（EPS）Electricity
Chance produces very big heat and causes motor to enter self-protection pattern, greatly reduces electric power-assisted steering apparatus（EPS）Electricity
The life-span of machine.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem of the prior art to a certain extent.
Therefore, it is an object of the present invention to propose a kind of unmanned steering system for vehicle, the unmanned steering system
System has manual mode and remote control mode, and the unmanned steering system architecture is simple, easy to control and cost is low.
It is another object of the present invention to propose a kind of vehicle, the vehicle includes above-mentioned unmanned steering system.
The unmanned steering system for vehicle of embodiment according to an aspect of the present invention, including：Power cylinder, described turn
Being provided with into power cylinder is used for the power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber；Turn
Valve, the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and the left part hydraulic fluid port of the rotary valve passes through the first electricity
Magnetic reversal valve is connected with the left part chamber, and the right part hydraulic fluid port of the rotary valve passes through the second solenoid directional control valve and the right part chamber
It is connected；Electromagnetic switch valve, the electromagnetic switch valve has inlet and outlet, and the outlet is connected with the oil inlet；And oil
Pump, the oil pump is connected with the import, first solenoid directional control valve and second solenoid directional control valve respectively；Wherein, institute
Stating unmanned steering system has manual steering operating mode and unmanned steering operating mode：Described manual turn is in the unmanned steering system
During to operating mode, the oil pump passes sequentially through the electromagnetic switch valve, the rotary valve, first solenoid directional control valve to the left part
Fuel feeding in chamber, or by the electromagnetic switch valve, the rotary valve, second solenoid directional control valve into the right part chamber
Fuel feeding；When the unmanned steering system is in the unmanned steering operating mode, the oil pump passes through first solenoid directional control valve
The fuel feeding into the left part chamber, or by second solenoid directional control valve into the right part chamber fuel feeding.
Unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode, in vehicle just
Often during traveling, driver is manually operable steering wheel so as to control vehicle to turn to the left, turn to the right or keep straight on, and is needing to drive
When member's Remote Control Vehicle is turned to, such as in vehicle automatic parking, driver easily Remote Control Vehicle can rotate to the left or to the right, now
Driver can in the car, certainly also can the remote control outside car, easy to operate, control is simple.
In addition, according to the unmanned steering system for vehicle of the present invention, can also have following additional technical feature：
According to some embodiments of the present invention, the oil pump is driven by motor, is set between the motor and the oil pump
There is speed adjusting gear.
It is each in first solenoid directional control valve and second solenoid directional control valve according to some embodiments of the present invention
It is individual to be respectively provided with the first normally open, the second normally open and normally closed port, wherein
First normally open of first solenoid directional control valve is connected with the left part hydraulic fluid port, first solenoid directional control valve
Second normally open is connected with the left part chamber；
First normally open of second solenoid directional control valve is connected with the right part hydraulic fluid port, second solenoid directional control valve
Second normally open is connected with the right part chamber；
The normally closed port and the normally closed port of second solenoid directional control valve of the oil pump respectively with first solenoid directional control valve
It is connected.
According to some embodiments of the present invention, the normally closed port of first solenoid directional control valve and second solenoid directional control valve
Normally closed port be connected by control valve with the oil pump, the control valve be used for prevent the left part chamber or the right part chamber
Interior hydraulic oil inversely flows back to the electromagnetic switch valve.
According to some embodiments of the present invention, the control valve is check valve.
According to some embodiments of the present invention, the unmanned steering system also includes：Safety valve, the safety valve is located at institute
State between control valve and the oil pump.
According to some embodiments of the present invention, piston rod is respectively arranged with the two sides of the power cylinder piston, it is each
The piston rod of side extends the knuckle for being suitable for driving the vehicle side from inside to outside from corresponding chamber respectively.
According to some embodiments of the present invention, first solenoid directional control valve and second solenoid directional control valve are integrated in institute
State on power cylinder.
According to some embodiments of the present invention, first solenoid directional control valve and second solenoid directional control valve are integrated into one
Body.
According to the vehicle of embodiment, including unmanned steering system according to a further aspect of the invention, the unmanned steering system
The unmanned steering system for vehicle of the above embodiment of the present invention.
Brief description of the drawings
Schematic diagram when Fig. 1 is unmanned steering system straight trip according to embodiments of the present invention；
Fig. 2 is schematic diagram when unmanned steering system according to embodiments of the present invention is in manual left-hand rotation operating mode；
Fig. 3 is schematic diagram when unmanned steering system according to embodiments of the present invention is in manual right-hand rotation operating mode；
Fig. 4 is schematic diagram when unmanned steering system according to embodiments of the present invention is in remote control left-hand rotation operating mode；
Fig. 5 is schematic diagram when unmanned steering system according to embodiments of the present invention is in remote control right-hand rotation operating mode；
Fig. 6 is the schematic diagram of unmanned steering system according to embodiments of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of
The description present invention and simplified description, rather than indicate or imply that the device or element of meaning must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not direct contact but by it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " fisrt feature that includes are immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
The unmanned steering system for vehicle according to embodiments of the present invention is described in detail below with reference to Fig. 1-Fig. 6.Wherein,
Fig. 1 is the schematic diagram when vehicle is kept straight on according to the unmanned steering system of the embodiment of the present invention, and Fig. 2 is according to the embodiment of the present invention
Unmanned steering system vehicle be in manual left-hand rotation operating mode when schematic diagram, Fig. 3 be according to the remote control of the embodiment of the present invention turn
To schematic diagram of the system when vehicle is in manual right-hand rotation operating mode, Fig. 4 is to be existed according to the unmanned steering system of the embodiment of the present invention
Vehicle is in schematic diagram during remote control left-hand rotation operating mode, and Fig. 5 is to be according to the unmanned steering system of the embodiment of the present invention in vehicle
Schematic diagram during remote control right-hand rotation operating mode.And it should be noted that in Fig. 1-Fig. 5 example, between two different parts
The arrow that solid line can be represented on pipeline, solid line schematically shows the void between the flow direction of fluid, two different parts
Line can represent that the arrow on electrical connection, dotted line schematically shows the transmission of signal.
As Figure 1-Figure 5, unmanned steering system according to embodiments of the present invention can include power cylinder 11, rotary valve
2nd, the first solenoid directional control valve 31, the second solenoid directional control valve 32, electromagnetic switch valve 33 and oil pump 4.
Being provided with shown in reference picture 1- Fig. 5, in power cylinder 11 is used for the internal insulation of power cylinder 11 into left part chamber
Room 14 and the power cylinder piston 12 of right part chamber 15.Specifically, power cylinder 11 can be the hydraulic oil of elongated shape column
Be provided with power cylinder piston 12 in cylinder, power cylinder 11, power cylinder piston 12 be sealingly fitted in power cylinder 11 with
The inner space of power cylinder 11 is isolated into left part chamber 14 and right part chamber 15, left part chamber 14 and right part chamber 15 are each other
Independent, non-interference, i.e., the hydraulic oil in hydraulic oil and right part chamber 15 in left part chamber 14 can not pass through power cylinder piston
Mutually circulated at 12.
Power cylinder piston 12 can be moved back and forth along the axial direction of power cylinder 11 in power cylinder 11, thus left part chamber
The volume of room 14 and right part chamber 15 can also be change, and such as power cylinder piston 12 is to left movement（Reference picture 3 and Fig. 5 institutes
Show）, then the volume of left part chamber 14 diminish, the volume of right part chamber 15 becomes big, and and for example power cylinder piston 12 is moved right（Reference
Shown in Fig. 2 and Fig. 4）, then the volume of right part chamber 15 diminish, the volume of left part chamber 14 is mutually strained greatly.
According to one embodiment of present invention, piston rod 13 is respectively arranged with the two sides of power cylinder piston 12, changes speech
It, piston rod 13 is provided with the left surface and right flank of power cylinder piston 12.Piston rod 13 per side is respectively from corresponding
Chamber extend the knuckle for being suitable for driving the vehicle side from inside to outside, that is to say, that the piston rod 13 in left side is from left part chamber
Power cylinder 11 is extended beyond in room 14 to the left, the left end of the piston rod 13 on the left of this is suitable to the knuckle with vehicle left side
Coordinate, to drive the knuckle on the left of this to act.Equally, the piston rod 13 on right side is extended beyond to the right out of right part chamber 15
Power cylinder 11, the right-hand member of the piston rod 13 on the right side of this is suitable to coordinate with the knuckle of vehicle right side, to drive on the right side of this
Knuckle is acted.What piston rod 13 can be integrally formed with power cylinder piston 12, certain power cylinder piston 12 and piston rod 13
Can also be that then Split type structure is assembled together.
Shown in reference picture 1- Fig. 5, rotary valve 2 has oil inlet 21, oil return opening 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24, turns
The left part hydraulic fluid port 23 of valve 2 is connected by the first solenoid directional control valve 31 with left part chamber 14, and the right part hydraulic fluid port 24 of rotary valve 2 passes through second
Solenoid directional control valve 32 is connected with right part chamber 15.In other words, rotary valve 2 and left part chamber 14 and right part chamber 15 and indirect phase
Even, but it is indirectly connected to by corresponding solenoid directional control valve.
It should be appreciated that the specific configuration and operation principle of rotary valve 2 have been prior art, and it is the common skill of this area
Known to art personnel.Specifically, rotary valve 2（That is rotary valve type）Valve core rotatable around its axis can control fluid
Flow, rotary valve 2 has the oil inlet 21, oil return opening 22, left part hydraulic fluid port 23 and the right part hydraulic fluid port 24 that interconnect, left part hydraulic fluid port 23
Suitable for being connected with left part chamber 14, right part hydraulic fluid port 24 is suitable to connect with right part chamber 15, when valve core turns over a very little clockwise
Angle when, can be supplied to right part hydraulic fluid port 24 from the pressure oil of oil pump 4 through oil inlet 21（It is schematically illustrate）, now left part hydraulic fluid port 23
Separated.When valve core turns over the angle of very little counterclockwise, left part is can be supplied to from the pressure oil of oil pump 4 through oil inlet 21
Hydraulic fluid port 23（It is schematically illustrate）, now right part hydraulic fluid port 24 separated.In other words, rotary valve 2 be in neutral position when, oil inlet 21, return
Hydraulic fluid port 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24 are interconnected, and the angle of very little is turned over along a direction in the valve core of rotary valve 2
Afterwards, oil inlet 21 connects left part hydraulic fluid port 23 simultaneously with right part hydraulic fluid port 24 and connected with oil return opening 22 or oil inlet 21 and left part oil
Right part hydraulic fluid port 24 is connected the connection of mouth 23 with oil return opening 22 simultaneously.
According to some embodiments of the present invention, the assembling mode of rotary valve 2 can use assembling mode same as the prior art,
For example so that steering gear is pinion and-rack manual steering gear as an example（Not limited to this）, the pinion and-rack manual steering gear, steering
Power cylinder 11 and rotary valve 2 can make into a single integrated structure, constitute in-line power steering, but the present invention is not limited thereto.It is dynamic
Power cylinder piston 12 can be formed integrally with steering rack, and the front end pin of torsion bar is connected with tooth sector, and rear end is connected with valve core, valve
The heart is fixed together with turning to the tip of the axis again, thus steering spindle can drive tooth sector to be driven by torsion bar.
When rotary valve 2 is in neutral position, 15 liang of chambers of left part chamber 14 and right part chamber are communicated（Rotary valve 2 is in neutral position
When putting, each hydraulic fluid port intercommunication of rotary valve 2, therefore left part chamber 14 and right part chamber 15 are the intercommunications by rotary valve 2）, fluid
Fuel tank is flowed back to by oil return opening 22, therefore power cylinder 11 does not work completely, now vehicle is in straight trip operating mode, reference picture
Shown in 1.When clockwise together with valve core upon starting rotation steering wheel, steering spindle（It is schematically illustrate）During rotation because by turn
The road surface steering drag transmitted to joint arm, power cylinder piston 12 and steering rack can not temporarily be moved, therefore tooth sector is temporary transient
Can not be with steering axes.
So, the torque for passing to tooth sector by steering spindle can only make torsion bar produce a little torsional deflection, make steering spindle（I.e.
Valve core）It is able to relative tooth sector（That is valve pocket）Little angle is turned over, so that rotary valve 2 makes the right part chamber of power cylinder 11
15 turn into the oil suction chamber of high pressure, and left part chamber 14 turns into the oil back chamber of low pressure.Act on hydraulic pressure to the left on power cylinder piston 12
Active force, helps tooth sector to force steering rack to start action, so as to drive knuckle band motor car wheel to deflect to the right.
Meanwhile, tooth sector also begins to rotate in same direction with steering spindle in itself, if steering wheel is rotated further, and turns round torsion of bar and becomes
Shape just exists always, and the right turn position residing for rotary valve 2 is also constant, once steering wheel stops operating, power cylinder 11 is temporary transient
Work is also continued to, causes tooth sector to be rotated further, reduces the torsional deflection of torsion bar, until torsion bar affranchises state, is turned
Valve 2 returns to neutral position, and power cylinder 11 is stopped, now, and steering wheel is to be parked in motionless on a certain position, then wheel
Corner is also maintained for necessarily.
When being rotated counterclockwise for steering wheel, the movement of torsion bar, the rotation direction of the valve core of rotary valve 2 and power cylinder piston 12
Direction is contrary to the above, and deflecting roller is deflected to the left, is not detailed herein.
It should be appreciated that described above is only illustrative, it is impossible to be not understood as the hint to the present invention or limitation.It is right
For those skilled in the art, reading on the basis of specification above disclosure, prior art can be combined
Above-mentioned technical proposal or technical characteristic are replaced and/or changed.
Shown in reference picture 1- Fig. 5, electromagnetic switch valve 33 has import 331 and outlet 332, outlet 332 and the oil-feed of rotary valve 2
Mouth 21 is connected, and import 331 is connected with the first solenoid directional control valve 31 and the second solenoid directional control valve 32 respectively, oil pump 4 and the phase of import 331
Even.In other words, the import 331 of oil pump 4 respectively with the first solenoid directional control valve 31, the second solenoid directional control valve 32 and electromagnetic switch valve 33
It is connected, oil pump 4 can supply fluid one of the first solenoid directional control valve 31 and the second solenoid directional control valve 32 or supply electromagnetic switch valve
33。
Wherein, unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode.
Specifically, when unmanned steering system is in manual steering operating mode, shown in reference picture 2 and Fig. 3, oil pump 4 leads to successively
Cross electromagnetic switch valve 33, rotary valve 2, the first solenoid directional control valve 31 fuel feeding into left part chamber 14, or by electromagnetic switch valve 33,
Rotary valve 2, the second solenoid directional control valve 32 fuel feeding into right part chamber 15.When unmanned steering system is in unmanned steering operating mode, oil
The fuel feeding into left part chamber 14 by the first solenoid directional control valve 31 of pump 4, or by the second solenoid directional control valve 32 to right part chamber
Fuel feeding in 15.That is, controller is passed through（That is, ECU）To control the conducting shape of the first solenoid directional control valve 31, the second solenoid directional control valve 32
State and the on off operating mode for controlling electromagnetic switch valve, so as to realize unmanned steering system in unmanned steering operating mode and manual steering
The purpose switched between operating mode.
More specifically, shown in reference picture 2, when unmanned steering system is in manual operating mode, turning if driver turns left
To disk, controller control electromagnetic switch valve 33 is turned on, and oil pump 4 exports oil fluid pump to rotary valve to electromagnetic switch valve 33,33
2, rotary valve 2 is exported fluid to the first solenoid directional control valve 31, after fluid is by the first solenoid directional control valve 31 by left part hydraulic fluid port 23
Enter in left part chamber 14, oil pressure increases in left part chamber 14, so that propulsion power cylinder piston 12 moves right, power cylinder
Piston 12 drives knuckle to act by piston rod 13, wheel is turned left.Now, because right part chamber 15 is lived by power cylinder
Plug 12 compresses, and the fluid in right part chamber 15 after the second solenoid directional control valve 32, rotary valve 2 from the oil return opening 22 of rotary valve 2 by flowing back
To fuel tank.
Equally, shown in reference picture 3, when unmanned steering system is in manual operating mode, the steering wheel if driver turns right,
Controller control electromagnetic switch valve 33 is turned on, oil pump 4 by fluid pump to electromagnetic switch valve 33, electromagnetic switch valve 33 by oil export to
Rotary valve 2, rotary valve 2 is exported fluid to the second solenoid directional control valve 32 by right part hydraulic fluid port 24, and fluid passes through the second solenoid directional control valve
Enter in right part chamber 15, oil pressure increases in right part chamber 15, so that propulsion power cylinder piston 12 is moved to the left, move after 32
Power cylinder piston 12 drives knuckle to act by piston rod 13, wheel is turned left.Now, because left part chamber 14 is by power
Cylinder piston 12 compresses, and the fluid in left part chamber 14 passes through the oil return opening 22 after the first solenoid directional control valve 31, rotary valve 2 from rotary valve 2
Flow back fuel tank.
Shown in reference picture 4, when unmanned steering system is in unmanned steering operating mode, controller control electromagnetic switch valve 33 breaks
Open and control the first solenoid directional control valve 31 to commutate, the remote-controlled wheel steering system work of driver, if driver's control vehicle turns
When being turned left to wheel, fluid pump is given the first solenoid directional control valve 31 by oil pump 4, and fluid is entered by the first solenoid directional control valve 31
In left part chamber 14, oil pressure increases in left part chamber 14, so that propulsion power cylinder piston 12 moves right, power cylinder piston 12
Drive knuckle to act by piston rod 13, wheel is turned left.Now, because right part chamber 15 is pressed by power cylinder piston 12
Fluid in contracting, right part chamber 15 passes through the backflow fuel tank of oil return opening 22 after the second solenoid directional control valve 32, rotary valve 2 from rotary valve 2.
Shown in reference picture 5, unmanned steering system be in unmanned steering operating mode when, if driver's Remote Control Vehicle deflecting roller to
When turning right dynamic, controller control electromagnetic switch valve 33 disconnects and controls the second solenoid directional control valve 32 to commutate, and oil pump 4 gives fluid pump
Second solenoid directional control valve 32, fluid is entered in right part chamber 15 by the second solenoid directional control valve 32, oil pressure in right part chamber 15
Power increases, so that propulsion power cylinder piston 12 is moved to the left, power cylinder piston 12 drives knuckle to act by piston rod 13, makes
Wheel turns right.Now, because left part chamber 14 is compressed by power cylinder piston 12, the fluid in left part chamber 14 passes through first
From the backflow fuel tank of oil return opening 22 of rotary valve 2 after solenoid directional control valve 31, rotary valve 2.
Thus, unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode,
During normal vehicle operation, driver is manually operable steering wheel so as to control vehicle to turn to the left, turn to the right or keep straight on, and is needing
When wanting the steering of driver's Remote Control Vehicle, such as in vehicle automatic parking, driver easily Remote Control Vehicle can turn to the left or to the right
It is dynamic, now driver can in the car, certainly also can the remote control outside car, easy to operate, control is simple.
It should be appreciated that during the steering of driver's Remote Control Vehicle, RPB can be arranged on the control of vehicle centre console
It on panel, may alternatively be integrated within certainly on car key, facilitate user's remote control outside car, certain RPB can also be provided separately within one
On individual portable steering remote control.
It should be noted that in the above-described embodiment, due to the first solenoid directional control valve 31, the and of the second solenoid directional control valve 32
Electromagnetic switch valve 33 is electrically-controlled valve, with commutation and/or flow regulating function, therefore passes through controller control switching this three
Upper electricity, the power-down state of valve can realize the switching of different operating modes.Because the vehicle plenty of time is in manual operation state, because
This preferably, controller control three valves be in power-down state when, unmanned steering system can be at manual steering operating mode, and
In controller controls three valves when being partially in power-up state, unmanned steering system can be at unmanned steering operating mode, this
Sample not only saves energy consumption, while easy to control.
According to some embodiments of the present invention, the first solenoid directional control valve 31 has the first normally open 311, the second normally open
312 and normally closed port 313, the second solenoid directional control valve 32 has the first normally open 321, the second normally open 322 and normally closed port 323, its
In the first normally open 311 of the first solenoid directional control valve 31 be connected with left part hydraulic fluid port 23, the second of the first solenoid directional control valve 31 is normally opened
Mouth 312 is connected with left part chamber 14.First normally open 321 of the second solenoid directional control valve 32 is connected with right part hydraulic fluid port 24, the second electricity
Second normally open 322 of magnetic reversal valve 32 is connected with right part chamber 15.The import 331 of electromagnetic switch valve 33 and the outlet of oil pump 4
It is connected, the normally closed port 323 exported also with the solenoid directional control valve 32 of normally closed port 313 and second of the first solenoid directional control valve 31 of oil pump 4
It is connected.
The operation principle of unmanned steering system according to embodiments of the present invention is briefly described below.
When vehicle is in straight trip, as shown in figure 1, the first solenoid directional control valve 31, the second solenoid directional control valve 32 and electromagnetism are opened
The all no powers of valve 33 are closed, three valves flow back to oil from oil pump 4 all in initial position, fluid after electromagnetic switch valve 33 and rotary valve 2
Case.
When unmanned steering system is in manual steering operating mode：As shown in figure 3, the first solenoid directional control valve 31, the second electromagnetism
Reversal valve 32 and all no powers of electromagnetic switch valve 33, three valves are all in initial position, and fluid is from oil pump 4 through electromagnetic switch valve 33
Enter rotary valve 2 afterwards, steering wheel is rotated clockwise manually, fluid flows out from the right part hydraulic fluid port 24 of rotary valve 2, by the second electromagnetic switch
Entered after the first normally open 321 and the second normally open 322 of valve 32 in the right part chamber 15 of power cylinder 11, power cylinder is lived
Fill in 12 drives pivoted wheels on vehicle to turn right to left movement to pass through knuckle.Meanwhile, the fluid in left part chamber 14 passes sequentially through
Enter rotary valve 2 after the second normally open 312, the first normally open 311 and the left part hydraulic fluid port 23 of one solenoid directional control valve 31, then from rotary valve
2 oil return opening 22 is back to fuel tank.
As shown in Fig. 2 when rotating counterclockwise steering disk manually, pivoted wheels on vehicle will turn left, its principle with it is above-mentioned big
Cause is identical, refer to above description, no longer describes in detail here.
When unmanned steering system is in unmanned steering operating mode：As shown in figure 5, controller can control electromagnetic switch valve 33
Be powered commutation so that the import 331 and outlet 332 of electromagnetic switch valve 33 separate, and the no power of the first solenoid directional control valve 31 is in just
Beginning position, controller also control the second solenoid directional control valve 32 be powered commutation so that the He of normally closed port 323 of the second solenoid directional control valve 32
Second normally open 322 is turned on, and fluid flows out the normally open of normally closed port 323 and second by the second solenoid directional control valve 32 through oil pump 4
322 are entered in right part chamber 15, and propulsion power cylinder piston 12 is moved to the left, so that deflecting roller is turned to the right.Now first is electric
Magnetic reversal valve 31 is still in off-position, and it is second normally opened that the fluid in left part chamber 14 passes sequentially through the first solenoid directional control valve 31
Enter rotary valve 2 after the 312, first normally open 311 of mouth and left part hydraulic fluid port 23, then fuel tank is back to from the oil return opening 22 of rotary valve 2, it is real
Steering to the right under existing remote control mode.
Equally, shown in reference picture 4, when being turned to the left under remote control mode, controller controls the first solenoid directional control valve 31 to lead to
Electricity, the second solenoid directional control valve 32 is powered off, and its principle is roughly the same with above description, repeats no more here.
Further, shown in reference picture 1- Fig. 5, the solenoid directional control valve 32 of normally closed port 313 and second of the first solenoid directional control valve 31
Normally closed port 323 be connected by control valve 34 and oil pump 4, control valve 34 is used to prevent left part chamber 14 or right part chamber 15
Interior fluid inversely flows back to fuel tank by oil pump 4.Thus, after unmanned steering system remote control redirect to a certain angle, control valve
34 can lock the fluid in power cylinder 1 so that vehicle is kept at an angle constant when travelling.Alternatively, control valve
34 be check valve.Thus, simple in construction, cost is low.
Further, according to one embodiment of present invention, unmanned steering system also includes safety valve 35, and safety valve 35 is set
Between control valve 34 and oil pump 4.Safety valve 35 can be overflow valve, for preventing during unmanned steering that oil pressure is excessive and damages
System, increases the reliability of system.
According to one embodiment of present invention, the first solenoid directional control valve 31 and the second solenoid directional control valve 32, which can be integrated in, turns
To on power cylinder 11, so that unmanned steering system architecture is compacter, while convenient arrangement.
But, the present invention is not limited thereto, in another embodiment of the present invention, the first solenoid directional control valve 31 and second
Solenoid directional control valve 32 can become one.Or, the first solenoid directional control valve 31 and the second solenoid directional control valve 32 may alternatively be integrated within and turn
To on device, it is connected by pipeline with power cylinder 11, or the first solenoid directional control valve 31 and the second solenoid directional control valve 32 also may be used
It is independent mutually, it is connected to each other by pipeline.Furthermore, the first solenoid directional control valve 31, the second solenoid directional control valve 32 and electromagnetic switch valve
33 can be fabricated to an integrated valve block structure, be installed on existing hydraulic steering gear, reduce oil pipe, reduce cost.
In short, those skilled in the art is being read on the basis of specification disclosure, with reference to hydraulic pressure
The ABC in field, can be to the arrangement shape of the first solenoid directional control valve 31, the second solenoid directional control valve 32 and electromagnetic switch valve 33
Formula, assembling mode are improved, and to cause unmanned steering system according to embodiments of the present invention to be adapted to different automobile types, make root
Compacter, simple according to the unmanned steering system architecture of the embodiment of the present invention, cost is lower, and the scope of application is wider.
According to some embodiments of the present invention, oil pump 4 can be directly driven by the engine of vehicle, due to the rotating speed of engine
Moment is becoming, therefore the oil pump 4 can have flow control device and overflow mechanism, and the flow of the oil pump 4 output can be controlled
In a less mobility scale, maximum oil pressure is constant, that is to say, that those skilled in the art can be according to unmanned steering
The output flow and maximum oil pressure of the requirement setting oil pump 4 of system.
But, the present invention is not limited thereto, in other embodiments of the present invention, and oil pump 4 also can be directly by individually electricity
Machine is driven, i.e., oil pump 4 is not directly driven by engine.In such an embodiment, it is preferable the output speed of oil pump 4 is adjustable, example
As that can set speed adjusting gear between oil pump 4 and motor, speed adjusting gear can be single-row single-stage planetary gear train and/or single
Double pinions mechanism and/or ravigneaux planetary gear mechanism, such oil pump 4 are driven by single motor, and are set up
Speed adjusting gear, so that the output speed of oil pump 4 is adjustable, such He of first solenoid directional control valve, 31 and second solenoid directional control valve 32
Electromagnetic switch valve 33 can be solenoid directional control valve, and the corresponding speed of Vehicular turn can be controlled by the pump oil amount for adjusting oil pump 4
And turning velocity.Moreover, by setting single motor and speed adjusting gear, motor can be set and exported by speed adjusting gear
The maximum (top) speed of oil-feed pump so that oil pump can be at declared working condition under the maximum (top) speed, can so cancel overflow mechanism, reduction
Cost.But, the present invention is not limited thereto.
Vehicle according to embodiments of the present invention is briefly described below.
Vehicle according to embodiments of the present invention, including the unmanned steering system according to described in the above embodiment of the present invention.
Vehicle according to some embodiments of the invention can be car, car, truck, lorry, SUV etc..
It should be noted that the other structures of vehicle according to embodiments of the present invention such as speed changer, differential mechanism, decelerator
Deng being prior art, and it is well known for ordinary skill in the art, therefore be no longer described in detail one by one here.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
What combined in an appropriate manner in one or more embodiments or example.In addition, those skilled in the art can say this
Not be the same as Example or example described in bright book are engaged and combined.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (9)
1. a kind of unmanned steering system for vehicle, it is characterised in that including：
Power cylinder, being provided with the power cylinder is used for the power cylinder internal insulation into left part chamber and the right side
The power cylinder piston of portion's chamber；
Rotary valve, the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and the left part hydraulic fluid port of the rotary valve passes through
First solenoid directional control valve is connected with the left part chamber, and the right part hydraulic fluid port of the rotary valve passes through the second solenoid directional control valve and the right side
Portion's chamber is connected；
Electromagnetic switch valve, the electromagnetic switch valve has inlet and outlet, and the outlet is connected with the oil inlet；And
Oil pump, the oil pump is connected with the import, first solenoid directional control valve and second solenoid directional control valve respectively；
Wherein, the unmanned steering system has manual steering operating mode and unmanned steering operating mode：
The unmanned steering system be in the manual steering operating mode when, the oil pump pass sequentially through the electromagnetic switch valve,
The rotary valve, first solenoid directional control valve fuel feeding into the left part chamber, or by the electromagnetic switch valve, described turn
Valve, second solenoid directional control valve fuel feeding into the right part chamber；
The unmanned steering system be in the unmanned steering operating mode when, the oil pump by first solenoid directional control valve to
Fuel feeding in the left part chamber, or by second solenoid directional control valve into the right part chamber fuel feeding；
Each in first solenoid directional control valve and second solenoid directional control valve is respectively provided with the first normally open, second normally opened
Mouth and normally closed port, wherein
First normally open of first solenoid directional control valve is connected with the left part hydraulic fluid port, and the second of first solenoid directional control valve
Normally open is connected with the left part chamber；
First normally open of second solenoid directional control valve is connected with the right part hydraulic fluid port, and the second of second solenoid directional control valve
Normally open is connected with the right part chamber；
The oil pump is connected with the normally closed port of first solenoid directional control valve and the normally closed port of second solenoid directional control valve respectively.
2. the unmanned steering system according to claim 1 for vehicle, it is characterised in that the oil pump is driven by motor
It is dynamic, it is provided with speed adjusting gear between the motor and the oil pump.
3. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first solenoid directional control valve
Normally closed port be connected with the normally closed port of second solenoid directional control valve by control valve with the oil pump, the control valve be used for prevent
Only the hydraulic oil in the left part chamber or the right part chamber inversely flows back to the electromagnetic switch valve.
4. the unmanned steering system according to claim 3 for vehicle, it is characterised in that the control valve is unidirectional
Valve.
5. the unmanned steering system according to claim 3 for vehicle, it is characterised in that also include：Safety valve, it is described
Safety valve is located between the control valve and the oil pump.
6. the unmanned steering system according to claim 1 for vehicle, it is characterised in that the two of the power cylinder piston
Piston rod is respectively arranged with side, the piston rod per side extends from inside to outside from corresponding chamber respectively to be suitable for driving
The knuckle of the motor-car side.
7. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first solenoid directional control valve
It is integrated in second solenoid directional control valve on the power cylinder.
8. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first solenoid directional control valve
Become one with second solenoid directional control valve.
9. a kind of vehicle, it is characterised in that including unmanned steering system, the unmanned steering system is according to claim 1-8
Any one of unmanned steering system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310628180.3A CN104670311B (en) | 2013-11-29 | 2013-11-29 | For the unmanned steering system of vehicle and the vehicle with the unmanned steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310628180.3A CN104670311B (en) | 2013-11-29 | 2013-11-29 | For the unmanned steering system of vehicle and the vehicle with the unmanned steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104670311A CN104670311A (en) | 2015-06-03 |
| CN104670311B true CN104670311B (en) | 2017-08-22 |
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ID=53306040
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310628180.3A Active CN104670311B (en) | 2013-11-29 | 2013-11-29 | For the unmanned steering system of vehicle and the vehicle with the unmanned steering system |
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| Country | Link |
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| CN (1) | CN104670311B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112744290B (en) * | 2019-10-31 | 2022-05-13 | 比亚迪股份有限公司 | Hydraulic power-assisted steering system and vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3412642B2 (en) * | 1993-11-08 | 2003-06-03 | マツダ株式会社 | Automotive steering control device |
| JP3731956B2 (en) * | 1996-12-02 | 2006-01-05 | 光洋精工株式会社 | Steering device |
| JP4247986B2 (en) * | 2003-12-10 | 2009-04-02 | 株式会社小松製作所 | Vehicle steering control device |
| FR2955305A1 (en) * | 2010-01-20 | 2011-07-22 | Mauguin Citagri | Device for aligning wheels assembled on mobile axle of e.g. agricultural machinery with tractor, has automatic pressure regulating system provided with aligning pressure regulation mechanism connected to hydraulic transmission system |
| CN202827716U (en) * | 2012-09-12 | 2013-03-27 | 上海宝冶集团有限公司 | Steering electro-hydraulic control system for remote-control loader |
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2013
- 2013-11-29 CN CN201310628180.3A patent/CN104670311B/en active Active
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| Publication number | Publication date |
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| CN104670311A (en) | 2015-06-03 |
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