CN109955897A - Hydraulic control system for intelligent mobile vehicle - Google Patents
Hydraulic control system for intelligent mobile vehicle Download PDFInfo
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- CN109955897A CN109955897A CN201910178874.9A CN201910178874A CN109955897A CN 109955897 A CN109955897 A CN 109955897A CN 201910178874 A CN201910178874 A CN 201910178874A CN 109955897 A CN109955897 A CN 109955897A
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- power
- assisted
- steering wheel
- spool
- oil
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of hydraulic control systems for intelligent mobile vehicle, comprising: steering shaft, first end are equipped with steering wheel；Rocking bar, first end are configured to be sequentially connected with the steering shaft；Drive rod is movably connected in the second end of the rocking bar；Switching valve, spool are driven by the steering shaft；The switching valve has oil inlet, oil return opening, two working holes；Power-assisted oil cylinder, two chamber are connected to two working holes respectively, and the telescopic rod of the power-assisted oil cylinder is articulated to the rocking bar to provide power-assisted for the swing for the rocking bar；Oil supply system provides hydraulic oil by the oil inlet for the power-assisted oil cylinder, and recycles the hydraulic oil flowed out from the power-assisted oil cylinder by the oil return opening；Power-assisted cuts down mechanism, is used to offset a part of power-assisted provided by power-assisted oil cylinder in real time when the steering wheel rotates, so that the damping provided by steering wheel to driver increases with the increase of the rotational angle of steering wheel.
Description
Technical field
It is the present invention relates to the steering technique field of move vehicle, in particular to a kind of for providing the control of hydraulic booster
System.
Background technique
Well known, currently, most move vehicle, especially passenger vehicles, such as car, steering are all made of hydraulic booster
System, the hydraulic system generally include: end is provided with the steering shaft of steering wheel, switching valve, rocking bar, drive rod, power-assisted oil cylinder
And oil supply system.Wherein, steering shaft drives the valve core rotation of switching valve by the torsion of steering wheel, so that oil supply system
In hydraulic oil the two chambers of power-assisted oil cylinder are selectively entered based on the rotation direction of steering wheel, to drive piston and work
Stopper rod movement, piston rod with rocking bar by connect and drive rocker swings that (meanwhile rocking bar and steering shaft also form transmission connection
So that the swing angle of rocking bar is corresponding with the rotational angle of steering wheel), drive rod by connect with rocking bar and with runner hub
It swings.Wherein, power-assisted oil cylinder drive rocker, so that being become smaller by the power that steering wheel drive rocker is swung.This is namely so-called
Power-assisted oil cylinder provide power-assisted by drive rocker for the rotation of steering wheel.
Above-mentioned power-assisted mode in the prior art has following defects that
The power-assisted of power-assisted oil cylinder drive rocker in steering wheel rotation process is constant always, this causes, and steering wheel is rotating
Process, the power that driver is applied are constant always.That is, driver is in rotation direction when driver operates steering wheel
Suffered damping is constant always (or damping provided by steering wheel is constant) when disk.
Increase the rotary damping of steering wheel although being configured in some intelligent cars (car of high end configuration)
Mode (is often arranged such) in the motor pattern of car, however, in this mode, steering wheel is being rotated process every time
Provided in damping it is still constant.
Summary of the invention
For the above-mentioned technical problems in the prior art, the embodiment provides one kind to be used for intelligent sliding
The hydraulic control system of motor-car.
In order to solve the above technical problems, the embodiment of the present invention the technical solution adopted is that:
A kind of hydraulic control system for intelligent mobile vehicle, comprising:
Steering shaft, first end are equipped with steering wheel；
Rocking bar, first end are configured to be sequentially connected with the steering shaft；
Drive rod is movably connected in the second end of the rocking bar；
Switching valve, spool are driven by the steering shaft；The switching valve has oil inlet, oil return opening, two work
Mouthful；
Power-assisted oil cylinder, two chamber are connected to two working holes respectively, the telescopic rod activity of the power-assisted oil cylinder
The rocking bar is connected to provide power-assisted for the swing for the rocking bar；
Oil supply system provides hydraulic oil by the oil inlet for the power-assisted oil cylinder, and returns by the oil return opening
Receive the hydraulic oil flowed out from the power-assisted oil cylinder；
Power-assisted cuts down mechanism, is used to offset power-assisted provided by power-assisted oil cylinder in real time when the steering wheel rotates
A part, so that the damping provided by steering wheel to driver increases with the increase of the rotational angle of steering wheel.
Preferably, power-assisted abatement mechanism is configured to: for directly applying damping to steering shaft, and the resistance applied
Buddhist nun increases with the increase of the rotational angle of steering wheel.
Preferably, power-assisted abatement mechanism include be oppositely arranged and coat two friction tiles of the steering shaft with
And the actuator of pretightning force is provided to two friction tiles；Wherein:
The actuator is configured to: the actuator is to the power that is applied of friction tile with the angle of rotation of steering wheel
The increase of degree and increase.
Preferably, power-assisted abatement mechanism is configured to: for make to provide the power-assisted oil cylinder hydraulic oil pressure with
The increase of the rotational angle of steering wheel and reduce.
Preferably, power-assisted abatement mechanism includes the spring being respectively arranged in the two chambers of the power-assisted oil cylinder,
Two springs are in compressive state.
Preferably, power-assisted abatement mechanism includes:
Valve body offers the inlet and outlet of valve chamber and the perforation valve chamber；
Spool group comprising the first spool and the second spool that are arranged in the valve chamber and be connected to described in two
Connecting rod between spool is so that first spool sliding synchronous in the valve chamber with second spool, second valve
Core changes the section that the permission hydraulic oil of the outlet passes through by moving along the valve chamber；
Servo mechanism；Wherein:
The valve body is also provided with the pressure channel for being connected to the outlet and the valve chamber close to the second spool side；
The servo mechanism applies thrust to first spool in real time according to the rotational angle of the steering wheel, to work as
When the rotational angle of the steering wheel increases, the thrust that the servo mechanism applies to first spool increases, and when described
When the rotational angle of steering wheel reduces, the thrust that the servo mechanism applies to first spool reduces.
Preferably, the servo mechanism includes:
Throw-out collar, slidably and limitation rotation be set in the valve chamber and it is opposite with first spool；
Pedestal is fixed on the valve body close to one end of first spool；
Transmission shaft wears the pedestal and stretches in the valve chamber and wear the throw-out collar to form spiral shell with throw-out collar
Line connection, the transmission shaft are installed on the pedestal by bearing；
Gear set is used to that the steering shaft to be made to be driven with the transmission shaft with a stable drive ratio；
Magnet pair, homopolarity is opposite to be respectively arranged on first spool and the throw-out collar.
Preferably, the transmission shaft is arranged to two sections；Electromagnetic clutch is provided between two sections of transmission shafts；To borrow
So that two sections of transmission shafts is synchronized transmission by electromagnetic clutch or releases Synchronous Transmission.
Preferably, the servo mechanism includes:
End cap is buckled in the valve body close to one end of first spool；
Magnet pair, opposite is set on first spool and the end cap, is at least set to the magnetic of the end cap
Body is electromagnet, so that the magnet is opposite to homopolarity when electromagnet is powered；
Angular transducer is used to detect the rotational angle of the steering wheel；
Controller is controlled according to the rotational angle of steering wheel detected by the angular transducer to the electromagnetism
The size of body offer electric current.
Preferably, the second end of the steering shaft extends to form one end lead screw, and the first end of the rocking bar is connected with
Nut sleeve, the nut sleeve are sheathed on the lead screw to form worm drive.
Compared with prior art, the beneficial effect of the hydraulic control system disclosed by the invention for intelligent mobile vehicle
It is: mechanism is cut down by setting power-assisted, so that driver in steering wheel rotation, is applied with the increase of rotational angle
Rotatory force also increases, and this damping characteristic provided by steering wheel can effectively simulated roadway resist to caused by tyre rotation
The situation of change of power enables driver to obtain more true traffic information in steering wheel rotation.
Detailed description of the invention
Fig. 1 is the signal provided by one embodiment of the present of invention for the hydraulic control system of intelligent mobile vehicle
Figure.
Fig. 2 is showing for the hydraulic control system of intelligent mobile vehicle provided by another embodiment of the invention
It is intended to.
Fig. 3 is showing for the hydraulic control system of intelligent mobile vehicle provided by yet another embodiment of the present invention
It is intended to.
Fig. 4 cuts down the schematic diagram of mechanism for power-assisted in the embodiment that is shown based on Fig. 3.
Fig. 5 is the section view of Fig. 4.
Fig. 6 is showing for the hydraulic control system of intelligent mobile vehicle provided by another embodiment of the invention
It is intended to.
Fig. 7 cuts down the schematic diagram of mechanism for power-assisted in the embodiment that is shown based on Fig. 6.
In figure:
10- steering shaft；11- lead screw；20- switching valve；30- rocking bar；31- nut sleeve；40- drive rod；50- power-assisted oil cylinder；
61- fuel tank；62- pump；63- accumulator；64- overflow valve；65- oil inlet pipe；66- oil return line；The first working line of 67-；
The second working line of 68-；70- damps applying mechanism；81- spring；91- valve body；911- valve chamber；912- import；The outlet 913-；
914- pressure channel；915- pedestal；916- bearing；917- end cap；918- electromagnet；919- magnet；The first spool of 921-；
The second spool of 922-；923- connecting rod；93- throw-out collar；931- sliding block；94- transmission shaft；95- gear set；951- gear；961- is forever
Magnet；97- electromagnetic clutch；981- angular transducer；982- controller；982- power supply.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention with reference to the accompanying drawing and is embodied
Mode elaborates to the present invention.
As shown in Figures 1 to 7, the invention discloses a kind of hydraulic control system for intelligent mobile vehicle, the systems
It include: steering shaft 10, rocking bar 30, drive rod 40, switching valve 20, power-assisted oil cylinder 50 and oil supply system.Steering wheel, which is mounted on, to be turned
To the first end of axis 10, when steering wheel rotation, steering shaft 10 and steering wheel are rotated synchronously.The middle part of rocking bar 30 joins in shifting
On the vehicle frame of motor-car, first end and the steering shaft 10 of the rocking bar 30 are configured to be sequentially connected, for example, making the of steering shaft 10
Two ends extend one section to form lead screw 11, are flexibly connected a nut sleeve 31,31 sets of the nut sleeve in the first end of rocking bar 30
It is located on lead screw 11, so that: when steering wheel drives shaft rotation, nut sleeve 31 is and with the formation worm drive of lead screw 11
Along the axial movement of lead screw 11, and then rocking bar 30 is driven to swing, drive rod 40 is articulated to the second end of rocking bar 30, the drive
The distal end of lever 40 is connected to the bogie of move vehicle, drives drive rod 40 to carry out attitudes vibration in this way, rocking bar 30 is swung,
So that bogie drive hub turns to.It is readily appreciated that ground, the rotation lift angle of lead screw 11 need reasonable disposition, so that steering wheel
The steering angle of angle and wheel hub meets design requirement.Ground is readily appreciated that, if not to steering wheel, steering shaft 10, rocking bar 30, driving
One or several in lever 40 provide power-assisted, and the rotary damping that steering wheel is supplied to driver can be very big, so that driving
Member's steering wheel rotation is extremely difficult.Power-assisted oil cylinder 50 is used for while rocking bar 30 is swung, and the swing for rocking bar 30 provides
Power-assisted, according to drive theory, it is damping provided by driver that this, which certainly will substantially reduce steering wheel, is allowed the operator to
More easily steering wheel rotation.Oil supply system is used to provide hydraulic oil and pressure for power-assisted oil cylinder 50, and switching valve 20 is used for
Keep the force direction of power-assisted oil cylinder 50 consistent with the rotation direction of steering wheel.Specifically, oil supply system includes: fuel tank 61, pump
62, overflow valve 64, accumulator 63；And switching valve 20 is identical as switching valve 20 in the prior art, have an oil inlet P,
One oil return inlet T, a working hole A, a working hole B.Oil inlet P is connected to by oil inlet pipe 65 with fuel tank 61, oil return opening
It is connected to by oil return line 66 with fuel tank 61；The left chamber that working hole A passes through the first working line 67 and power-assisted oil cylinder 50
Connection, working hole B are connected to by the second working line 68 with the right chamber of power-assisted oil cylinder 50；Pump 62, overflow valve 64 and storage
Energy device 63 is arranged on oil inlet pipe 65, and pump 62 is for entering the hydraulic oil pump 62 in fuel tank 61 in accumulator 63, accumulator
63, for making hydraulic oil flow into switching valve 20 via oil inlet with certain pressure, flow through the hydraulic oil of switching valve 20 selectively
It is flowed by working hole A or working hole B in the chamber of power-assisted oil cylinder 50.Wherein, it is known to, the rotation of steering shaft 10 drives
Valve core rotation, and then hydraulic oil is made to flow into one of chamber, and the indoor hydraulic oil of another one chamber passes through switching valve 20
Fuel tank 61 is returned to by by oil return opening, oil return line 66.
The course of work specifically are as follows: when steering wheel is in middle position, switching valve 20 makes two chambers of power-assisted oil cylinder 50
Room is connected to by switching valve 20；When steering wheel rotates clockwise, switching valve 20 makes hydraulic oil provided by accumulator 63
The left chamber of power-assisted oil cylinder 50 is flowed to from working hole A, and then makes to take turns by telescopic rod drive rocker 30 and drive rod 40
Hub left steering；When steering wheel rotates counterclockwise, switching valve 20 flows hydraulic oil provided by accumulator 63 from working hole B
Make wheel hub to the right chamber of power-assisted oil cylinder 50, and then by telescopic rod drive rocker 30 and 40 counter motion of drive rod
Right turn returns wheel for left steering.
In the present invention, power-assisted abatement mechanism is used to offset in real time provided by power-assisted oil cylinder 50 in steering wheel rotation
A part of power-assisted, so that the damping provided by steering wheel to driver increases with the increase of the rotational angle of steering wheel.
That is: when driver rotates steering wheel to a direction, for example, utilization orientation is faced left when beating wheel, power-assisted cuts down machine
Structure is increasing for making damping provided by steering wheel, this makes driver in steering wheel rotation, and required application turns
Power is bigger.
Present invention has an advantage that
Cut down mechanism by setting power-assisted, so that driver is in steering wheel rotation, as the increase of rotational angle is applied
The rotatory force added also increases, this damping characteristic provided by steering wheel can effectively simulated roadway to produced by tyre rotation
Drag situation of change, enable driver to obtain more true traffic information in steering wheel rotation.
For cutting down there are two types of the modes of power-assisted:
1, directly to transmission chain (e.g., steering shaft 10, rocking bar 30, drive rod 40) wherein one or more apply and help
The contrary damping of the supported power of power cylinder 50 is to offset part power-assisted.
2, part power-assisted is offset by cutting down the pressure of hydraulic oil.
Based on first way, the present invention provides two embodiments.
Embodiment 1
In the present embodiment, as shown in Figure 1, power-assisted abatement mechanism is configured to: for directly applying resistance to steering shaft 10
Buddhist nun, and the damping applied increases with the increase of the rotational angle of steering wheel.Specifically, power-assisted abatement mechanism (mechanism this
When be properly termed as damping applying mechanism 70) include two friction tiles and actuator.This two friction tile make-ups are to be used for
Steering shaft 10 is coated, actuator is used to apply two friction tiles pretightning force, which is that steering shaft 10 provides centainly
Rotary damping, and the rotary damping indirectly counteracts power-assisted oil cylinder 50 (as a component in transmission chain) and is supplied to and shakes
A part of power-assisted of the bar 30 and power of the actuator applied increases with the increase of the rotational angle of steering wheel, in turn
Increase damping provided by steering wheel with the increase of rotational angle.Electromagnetic actuators can be selected in the actuator, and make to pass through
The electric current of electromagnetic coil and the rotational angle of steering wheel are associated, and then make the force size of actuator and turning for steering wheel
Dynamic angle realizes association, and then realizes said effect.
Embodiment 2
In the present embodiment, as shown in Fig. 2, power-assisted abatement mechanism is configured to: the fortune for the piston to power-assisted oil cylinder 50
Dynamic opposite direction provides power, that is, exerts a force offer less than exerted a force counter-force to telescopic rod.Specifically, power-assisted cuts down mechanism packet
The spring 81 being respectively arranged in the two chambers of power-assisted oil cylinder 50 is included, two springs 81 are in compressive state.With steering wheel
Rotational angle increase, the stroke of telescopic rod also increases, and spring 81 because corresponding decrement increases make described in it is anti-
Power increases, and the counter-force is for offsetting a part of power-assisted that telescopic rod is supplied to steering wheel, so that with the angle of rotation of steering wheel
The increase of degree, power-assisted constantly reduce, and then realize above-mentioned effect.
Based on the second way, the present invention provides two embodiments.
Embodiment 3
In the present embodiment, power-assisted abatement mechanism be configured to: for make provide power-assisted oil cylinder 50 hydraulic oil pressure with
The increase of the rotational angle of steering wheel and reduce.As shown in Figures 3 to 5, specifically, power-assisted abatement mechanism include: valve body 91,
Spool group and servo mechanism.Valve body 91 offers valve chamber 911 and penetrates through the import 912 and outlet 913 of valve chamber 911；Spool
Group includes the first spool 921 being arranged in valve chamber 911 and the second spool 922 and the connecting rod being connected between two spools
923 so that the sliding synchronous in valve chamber 911 with the second spool 922 of the first spool 921, the second spool 922 is by along valve chamber
The section that the 911 mobile permission hydraulic oil to change outlet 913 pass through；Servo mechanism；Wherein: valve body 91 is also provided with connection
The pressure channel 914 of outlet 913 and the valve chamber 911 close to 922 side of the second spool；Servo mechanism is according to the rotation of steering wheel
Angle applies thrust to the first spool 921 in real time, with when the rotational angle of steering wheel increases, servo mechanism is to the first spool
921 thrusts applied increase, and when the rotational angle of steering wheel reduces, the thrust that servo mechanism applies to the first spool 921
Reduce, wherein import 912 and outlet 913 are connected on oil inlet pipe 65.Specifically, servo mechanism includes: throw-out collar 93, seat
Body 915, transmission shaft 94,951 group 95 of gear, magnet pair.Throw-out collar 93 slidably and limitation rotation be set in valve chamber 911 simultaneously
With the first spool 921 opposite (one section of guide groove being arranged on sliding block 931 and valve chamber 911 on throw-out collar 93 cooperates)；Pedestal 915 is solid
Due to valve body 91 close to one end of the first spool 921；Transmission shaft 94 wears pedestal 915 and stretches in valve chamber 911 and wear and pushes away
To be threadedly coupled with the formation of throw-out collar 93, transmission shaft 94 is installed on pedestal 915 ring 93 by bearing 916；951 group 95 of gear use
In being driven steering shaft 10 and transmission shaft 94 with a stable drive ratio (gear is shown merely with two gears 951 in attached drawing
951 group 95 of structure, in fact, the number of gear 951 needs to set according to transmission ratio, the calculation basis direction of the transmission ratio
The circle number of the rotation of the setting of disk)；Magnet to include homopolarity it is opposite be respectively arranged at the first spool 921 on throw-out collar 93
Two permanent magnets 961.Be configured to the rotation of steering wheel and the direction of motion of throw-out collar 93: when steering wheel therefrom position towards any side
To when rotation, in one direction, and the rotation direction makes throw-out collar 93 by the spiral shell with transmission shaft 94 for the rotation of transmission shaft 94
Rotation is driven and moves downward, and then increases the magnetic repulsion of two permanent magnets 961, and when steering wheel is turned round from maximum angle,
That is, transmission rotates backward and moves upwards throw-out collar 93 and make two permanent magnets 961 far to reduce magnetic repulsion when returning wheel.It is right
Be configured to above-mentioned relation in the transmission direction of the rotation direction and rotation that make steering wheel, can by well known Elactro magnetic commutator it
The reversing arrangement of class realizes that (commutator is optionally arranged in steering shaft 10 or on transmission shaft 94, in attached drawing not
It shows).
The working characteristics of power-assisted abatement mechanism are as follows: when steering wheel is when a direction rotates, e.g., driver beats wheel to the left
When, accumulator 63 (its provide hydraulic oil pressure it is more constant) in hydraulic oil by import 912 flow into valve body 91, and from
913 outflow of outlet, as the rotational angle of steering wheel increases, the constantly lower shifting movement of throw-out collar 93, so that two permanent magnets 961
Magnetic repulsion increases, and is less than via the hydraulic oil that pressure channel 914 enters 922 lower section of the second spool to the pressure of the second spool 922
Magnetic repulsion (as thrust, is applied to the first spool 921), so that under the first spool 921 is synchronous with the second spool 922
It moves, in this way, the second spool 922 moves down so that the section reduction that 913 permission hydraulic oil passes through is exported, so that from going out
The hydraulic oil of 913 outflow of mouth reduce with the increase of the rotation direction of steering wheel, and then are used in and provide the left chamber of power-assisted
The pressure of interior hydraulic oil reduces and power-assisted is cut down, to obtain above-mentioned effect.
Embodiment 4
Embodiment 4 is different from the servo mechanism for implementing 3, has following difference:
As shown in Figure 6 and Figure 7, close to one end of the first spool 921, button is equipped with end cap 917, and magnet is to including electromagnet
918 and magnet 919, the magnet that electromagnet 918 is set to end cap 917 be, magnet 919 be arranged on the first spool 921, and with
When so that electromagnet 918 being powered, magnet is opposite to homopolarity.
It is additionally arranged angular transducer 981 and controller 982, angular transducer 981 is used for the angle of rotation of detection direction disk
Degree；
The rotational angle of the steering wheel according to detected by angular transducer 981 of controller 982 is controlled to electromagnet 918
The size of electric current is provided.Specific control mode are as follows: with the increase of the rotational angle of steering wheel, controller 982 makes power supply
982 to electromagnet 918 provide electric current it is bigger, this make the magnetic repulsion of magnet pair bigger and make outlet 913 permission it is hydraulic
The section that oil passes through reduces, so that subtracting from the hydraulic oil that outlet 913 is flowed out with the increase of the rotation direction of steering wheel
It is small, and then be used in the pressure reduction that the indoor hydraulic oil of left chamber of power-assisted is provided and power-assisted is cut down, it is above-mentioned to obtain
Effect.
Should illustrate: power-assisted abatement mechanism provided by embodiment 1 and implementation 2 forces in mechanical part (transmission because using
Each component in chain) mode cut down power-assisted so that using effect be inferior to implement 3 and implement 4 provided by power-assisted abatement machine
Structure.
The abatement mechanism of power-assisted provided by embodiment 3 and embodiment 4 offsets power-assisted by the pressure for changing hydraulic oil,
And cleverly it is associated the rotational angle of steering wheel and the pressure for the hydraulic oil for driving power-assisted oil cylinder 50, it is helped so that offsetting
The mode of power is more direct.
Embodiment 3 is compared to the beneficial effect outstanding for implementing 4: making steering wheel using mechanically operated mode
The pressure of rotational angle and hydraulic oil is associated, so that the rotational angle of steering wheel and provided damping relation are stablized.
Embodiment 4 is compared to the beneficial effect outstanding for implementing 3: using the rotational angle of steering wheel when automatically controlled mode
It is associated with the pressure of hydraulic oil, so that steering wheel is sensitiveer with the variation of steering wheel rotational angle with the damping of offer.
Preferably, transmission shaft 94 is arranged to two sections；(the electromagnetism of electromagnetic clutch 97 is provided between two sections of transmission shafts 94
Clutch 97 is well known for making two components synchronous rotations, or the component being separated from each other, and principle is no longer superfluous herein
It states)；To make two sections of transmission shafts 94 synchronize transmission by electromagnetic clutch 97 or release Synchronous Transmission.In this implementation
In example, when not needing the mechanism participation of power-assisted abatement, closes electromagnetic clutch 97 and make two sections of shafts separation and no longer carry out
Transmission.
Above embodiments are only exemplary embodiment of the present invention, are not used in the limitation present invention, protection scope of the present invention
It is defined by the claims.Those skilled in the art can within the spirit and scope of the present invention make respectively the present invention
Kind modification or equivalent replacement, this modification or equivalent replacement also should be regarded as being within the scope of the present invention.
Claims (9)
1. a kind of hydraulic control system for intelligent mobile vehicle characterized by comprising
Steering shaft, first end are equipped with steering wheel；
Rocking bar, first end are configured to be sequentially connected with the steering shaft；
Drive rod is movably connected in the second end of the rocking bar；
Switching valve, spool are driven by the steering shaft；The switching valve has oil inlet, oil return opening, two working holes；
Power-assisted oil cylinder, two chamber are connected to two working holes respectively, and the telescopic rod of the power-assisted oil cylinder is flexibly connected
To the rocking bar to provide power-assisted for the swing for the rocking bar；
Oil supply system provides hydraulic oil by the oil inlet for the power-assisted oil cylinder, and by oil return opening recycling from
The hydraulic oil of the power-assisted oil cylinder outflow；
Power-assisted cuts down mechanism, is used to offset one of power-assisted provided by power-assisted oil cylinder in real time when the steering wheel rotates
Point, so that the damping provided by steering wheel to driver increases with the increase of the rotational angle of steering wheel.
2. the hydraulic control system according to claim 1 for intelligent mobile vehicle, which is characterized in that the power-assisted disappears
Subtract mechanism to be configured to: for directly applying damping to steering shaft, and the damping applied is with the increase of the rotational angle of steering wheel
And increase.
3. the hydraulic control system according to claim 2 for intelligent mobile vehicle, which is characterized in that the power-assisted disappears
Subtracting mechanism includes being oppositely arranged and coating two friction tiles of the steering shaft and provide to two friction tiles pre-
The actuator of clamp force；Wherein:
The actuator is configured to: the actuator is to the power that is applied of friction tile with the increasing of the rotational angle of steering wheel
Increase greatly.
4. the hydraulic control system according to claim 1 for intelligent mobile vehicle, which is characterized in that the power-assisted disappears
Subtract mechanism to be configured to: for subtracting the pressure for the hydraulic oil for providing the power-assisted oil cylinder with the increase of the rotational angle of steering wheel
It is small.
5. the hydraulic control system according to claim 4 for intelligent mobile vehicle, which is characterized in that the power-assisted disappears
Subtracting mechanism includes:
Valve body offers the inlet and outlet of valve chamber and the perforation valve chamber；
Spool group comprising the first spool and the second spool that are arranged in the valve chamber and be connected to two spools it
Between connecting rod so that first spool sliding synchronous in the valve chamber with second spool, second spool pass through
It is moved along the valve chamber to change the section that the permission hydraulic oil of the outlet passes through；
Servo mechanism；Wherein:
The valve body is also provided with the pressure channel for being connected to the outlet and the valve chamber close to the second spool side；
The servo mechanism applies thrust to first spool in real time according to the rotational angle of the steering wheel, to work as the side
When increasing to the rotational angle of disk, the thrust that the servo mechanism applies to first spool increases, and works as the steering wheel
Rotational angle when reducing, the reduction of thrust that the servo mechanism applies to first spool.
6. the hydraulic control system according to claim 5 for intelligent mobile vehicle, which is characterized in that the servo
Structure includes:
Throw-out collar, slidably and limitation rotation be set in the valve chamber and it is opposite with first spool；
Pedestal is fixed on the valve body close to one end of first spool；
Transmission shaft wears the pedestal and stretches in the valve chamber and wear the throw-out collar to form screw thread company with throw-out collar
It connects, the transmission shaft is installed on the pedestal by bearing；
Gear set is used to that the steering shaft to be made to be driven with the transmission shaft with a stable drive ratio；
Magnet pair, homopolarity is opposite to be respectively arranged on first spool and the throw-out collar.
7. the hydraulic control system according to claim 6 for intelligent mobile vehicle, which is characterized in that the transmission shaft
It is arranged to two sections；Electromagnetic clutch is provided between two sections of transmission shafts；To make two sections of biographies by electromagnetic clutch
Moving axis synchronizes transmission or releases Synchronous Transmission.
8. the hydraulic control system according to claim 5 for intelligent mobile vehicle, which is characterized in that the servo
Structure includes:
End cap is buckled in the valve body close to one end of first spool；
Magnet pair, opposite is set on first spool and the end cap, and the magnet for being at least set to the end cap is
Electromagnet, so that the magnet is opposite to homopolarity when electromagnet is powered；
Angular transducer is used to detect the rotational angle of the steering wheel；
Controller is controlled to the electromagnet according to the rotational angle of steering wheel detected by the angular transducer and is provided
The size of electric current.
9. the hydraulic control system according to claim 1 for intelligent mobile vehicle, which is characterized in that the steering shaft
Second end extend to form one end lead screw, the first end of the rocking bar is connected with nut sleeve, and the nut sleeve is sheathed on institute
Lead screw is stated to form worm drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910178874.9A CN109955897B (en) | 2019-03-11 | 2019-03-11 | Hydraulic control system for intelligent mobile vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910178874.9A CN109955897B (en) | 2019-03-11 | 2019-03-11 | Hydraulic control system for intelligent mobile vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109955897A true CN109955897A (en) | 2019-07-02 |
| CN109955897B CN109955897B (en) | 2020-06-30 |
Family
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| CN201910178874.9A Expired - Fee Related CN109955897B (en) | 2019-03-11 | 2019-03-11 | Hydraulic control system for intelligent mobile vehicle |
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| DE19851678A1 (en) * | 1998-11-10 | 2000-05-18 | Daimler Chrysler Ag | Hydraulic power assisted steering system for motor vehicle has bypass in each damping valve incorporating variable restrictor which increases throttling action in proportion to increase in centrifugal force on vehicle |
| US6681883B2 (en) * | 2002-03-12 | 2004-01-27 | Ford Global Technologies, Llc | Method and apparatus for suppressing vibration in vehicle a steering system |
| CN102267487A (en) * | 2011-05-11 | 2011-12-07 | 江苏大学 | Electro-hydraulic power steering system based on vehicle speed and load signal control |
| CN102303642A (en) * | 2011-06-20 | 2012-01-04 | 上海华普汽车有限公司 | Hydraulic power-assisted steering system with adjustable assisted power and power-assisted steering control method thereof |
| CN103171620A (en) * | 2011-12-21 | 2013-06-26 | 北京市三一重机有限公司 | Multi-axle steering system and multi-axle steering vehicle |
| CN103373388A (en) * | 2012-04-19 | 2013-10-30 | 华南理工大学 | Turn angle positioning control device for steering wheel of full-hydraulic steering system |
| CN104309684A (en) * | 2014-10-20 | 2015-01-28 | 浙江万达汽车方向机有限公司 | Circulating ball type magnetofluid electric control hydraulic power steering device and control method |
| CN206171558U (en) * | 2016-11-22 | 2017-05-17 | 中国重汽集团泰安五岳专用汽车有限公司 | A turn to device that is used for large -tonnage level to turn to axle |
| CN106882264A (en) * | 2017-03-30 | 2017-06-23 | 福建船政交通职业学院 | A kind of automatically controlled variable-flow steering boost system |
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2019
- 2019-03-11 CN CN201910178874.9A patent/CN109955897B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19851678A1 (en) * | 1998-11-10 | 2000-05-18 | Daimler Chrysler Ag | Hydraulic power assisted steering system for motor vehicle has bypass in each damping valve incorporating variable restrictor which increases throttling action in proportion to increase in centrifugal force on vehicle |
| US6681883B2 (en) * | 2002-03-12 | 2004-01-27 | Ford Global Technologies, Llc | Method and apparatus for suppressing vibration in vehicle a steering system |
| CN102267487A (en) * | 2011-05-11 | 2011-12-07 | 江苏大学 | Electro-hydraulic power steering system based on vehicle speed and load signal control |
| CN102303642A (en) * | 2011-06-20 | 2012-01-04 | 上海华普汽车有限公司 | Hydraulic power-assisted steering system with adjustable assisted power and power-assisted steering control method thereof |
| CN103171620A (en) * | 2011-12-21 | 2013-06-26 | 北京市三一重机有限公司 | Multi-axle steering system and multi-axle steering vehicle |
| CN103373388A (en) * | 2012-04-19 | 2013-10-30 | 华南理工大学 | Turn angle positioning control device for steering wheel of full-hydraulic steering system |
| CN104309684A (en) * | 2014-10-20 | 2015-01-28 | 浙江万达汽车方向机有限公司 | Circulating ball type magnetofluid electric control hydraulic power steering device and control method |
| CN206171558U (en) * | 2016-11-22 | 2017-05-17 | 中国重汽集团泰安五岳专用汽车有限公司 | A turn to device that is used for large -tonnage level to turn to axle |
| CN106882264A (en) * | 2017-03-30 | 2017-06-23 | 福建船政交通职业学院 | A kind of automatically controlled variable-flow steering boost system |
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| CN109955897B (en) | 2020-06-30 |
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