CN110843903A - Unmanned vehicle distributing type all-wheel steering device - Google Patents
Unmanned vehicle distributing type all-wheel steering device Download PDFInfo
- Publication number
- CN110843903A CN110843903A CN201911076040.3A CN201911076040A CN110843903A CN 110843903 A CN110843903 A CN 110843903A CN 201911076040 A CN201911076040 A CN 201911076040A CN 110843903 A CN110843903 A CN 110843903A
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- steering
- alignment
- hydraulic cylinder
- wheel
- control
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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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- 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
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
A distributed all-wheel steering device of an unmanned vehicle comprises four steering alignment hydraulic cylinders (1), a steering control valve (2), a displacement sensor, a steering controller, an oil source control valve (4), two energy accumulators (5) and a pipeline (3); the four steering alignment hydraulic cylinders (1) respectively control 4 wheels to perform single-wheel single control, so that the steering function of the whole vehicle is realized; a displacement sensor is integrated in the steering alignment hydraulic cylinder (1), the actual displacement of the steering alignment hydraulic cylinder (1) can be fed back, and the two energy accumulators (5) can realize an impact buffering effect, so that the impact damage of a hydraulic execution system is avoided; the steering alignment hydraulic cylinder (1) has an alignment function, and can automatically align when hydraulic pressure fails, so that the requirement of straight line running of a vehicle is met, and the form safety of the vehicle is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned vehicles, and particularly relates to a distributed all-wheel steering device of an unmanned vehicle.
Background
The steering system is an important operation device of the vehicle, directly determines the maneuvering performance, the operation performance and the like of the whole vehicle, and the traditional steering system transmits the steering intention and the steering force of a person to wheels through a steering wheel, a transmission shaft, a steering gear, a steering pull rod system and the like, so that the steering control of the person on the vehicle is realized. However, the unmanned vehicles do not have a person to operate on the vehicles, and the steering operation of the person is intended to be performed by a vehicle execution control system through a command terminal, so that most unmanned vehicles adopt a linear control electric/electric-hydraulic steering execution mechanism.
For all-terrain vehicles, better maneuverability is required, all-wheel steering is an important means for solving the problem of high maneuverability of the vehicle, and the general all-wheel steering vehicle adopts a set of steering actuating mechanism at the front and the rear, and the middle is connected by a pull rod, or adopts two sets of independent steering devices, and is operated by a motor-driven rod system. However, the above device can only realize a smaller steering radius, and cannot realize functions such as center steering and crab steering due to structural limitations.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the high-trafficability unmanned vehicle has the advantages that the problems of all-wheel steering, center steering and crab steering of the unmanned vehicle are solved, a distributed all-wheel steering device is innovatively designed, and the purposes of single-wheel single control and real-time feedback and adjustment of steering actions can be achieved.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention discloses a distributed all-wheel steering device of an unmanned vehicle, which comprises a steering alignment hydraulic cylinder 1, a displacement sensor, a steering controller, an oil source control valve 4, a steering control valve 2, an energy accumulator 5 and a pipeline 3; the four steering alignment hydraulic cylinders are adopted to respectively control 4 wheels, the steering controller receives an upper-layer command, and the hydraulic cylinders are controlled through the steering control valves to perform single-wheel single control, so that the steering function of the whole vehicle is realized. Because of adopting the single-wheel single-control structure, the wheels can rotate in different directions and different angles, and the functions of two-wheel steering, four-wheel steering, center steering and crab steering of the vehicle can be realized.
According to the steering angle requirement given by the upper layer in the steering operation process, the electric control hydraulic system is utilized to perform displacement operation on the steering alignment hydraulic cylinder, the displacement sensor is integrated in the steering alignment hydraulic cylinder, the actual displacement of the hydraulic cylinder can be fed back, so that the turning angle of the tire is measured and calculated in real time according to the structural design, and the steering model is compared with the theoretical steering angle, so that the actual angle is corrected.
According to the invention, the two energy accumulators in the system can realize the impact buffering function, and when large external impact is met, the pressure can be adjusted through the energy accumulators, so that the impact damage of the hydraulic execution system is avoided. The steering alignment hydraulic cylinder has an alignment function, can automatically align when hydraulic pressure fails, guarantees the straight-line running requirement of a vehicle, and improves the form safety of the vehicle.
Drawings
FIG. 1 is a schematic structural diagram of the present invention
In fig. 1: the hydraulic control system comprises a 1-steering alignment hydraulic cylinder, a 2-steering control valve, a 3-pipeline, a 4-oil source control valve and a 5-accumulator.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Examples
The distributed all-wheel steering device of the unmanned vehicle according to the embodiment is shown in fig. 1. The device comprises four steering alignment hydraulic cylinders 1, a displacement sensor, a steering controller, an oil source control valve 4, a steering control valve 2, two energy accumulators 5 and a pipeline 3; the four steering alignment hydraulic cylinders 1 respectively control 4 wheels, a steering controller receives an upper-layer command, and the hydraulic cylinders are controlled through the steering control valves 4 to perform single-wheel single control, so that the steering function of the whole vehicle is realized. Because of adopting the single-wheel single-control structure, the wheels can rotate in different directions and different angles, and the functions of two-wheel steering, four-wheel steering, center steering and crab steering of the vehicle can be realized.
According to the embodiment, according to the steering angle requirement given by the upper layer in the steering operation process, the electric control hydraulic system is utilized to perform displacement operation on the steering alignment hydraulic cylinder 1, the displacement sensor is integrated in the steering alignment hydraulic cylinder 1, the actual displacement of the hydraulic cylinder can be fed back, so that the turning angle of the tire is measured and calculated in real time according to the structural design, and the steering model is compared with the theoretical steering angle, so that the actual angle is corrected.
According to the embodiment, the two energy accumulators 5 in the system can realize the impact buffering effect, and when large external impact is met, the pressure can be adjusted through the energy accumulators, so that the impact damage of a hydraulic execution system is avoided. The steering alignment hydraulic cylinder has an alignment function, can automatically align when hydraulic pressure fails, guarantees the straight-line running requirement of a vehicle, and improves the form safety of the vehicle.
Claims (1)
1. A distributed all-wheel steering device of an unmanned vehicle comprises four steering alignment hydraulic cylinders (1), a steering control valve (2), a displacement sensor, a steering controller, an oil source control valve (4), two energy accumulators (5) and a pipeline (3); the method is characterized in that: the four steering alignment hydraulic cylinders (1) respectively control 4 wheels, a steering controller receives an upper-layer command, and the hydraulic cylinders (1) are operated through the steering control valves (2) to perform single-wheel single control, so that the steering function of the whole vehicle is realized; according to the steering angle requirement given by the upper layer in the steering operation process, an electric control hydraulic system is utilized to perform displacement operation on the steering alignment hydraulic cylinder (1), a displacement sensor is integrated in the steering alignment hydraulic cylinder (1) and can feed back the actual displacement of the steering alignment hydraulic cylinder (1), so that the turning angle of the tire is measured and calculated in real time according to the structural design, and the steering model is compared with the theoretical steering angle, so that the actual angle is corrected; the two energy accumulators (5) can realize the impact buffering effect, and when large external impact is met, the pressure can be adjusted through the two energy accumulators (5), so that the impact damage of a hydraulic execution system is avoided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911076040.3A CN110843903A (en) | 2019-11-06 | 2019-11-06 | Unmanned vehicle distributing type all-wheel steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911076040.3A CN110843903A (en) | 2019-11-06 | 2019-11-06 | Unmanned vehicle distributing type all-wheel steering device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110843903A true CN110843903A (en) | 2020-02-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911076040.3A Pending CN110843903A (en) | 2019-11-06 | 2019-11-06 | Unmanned vehicle distributing type all-wheel steering device |
Country Status (1)
| Country | Link |
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| CN (1) | CN110843903A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1702007A (en) * | 2005-05-26 | 2005-11-30 | 江苏大学 | Separated steering device for vehicular four wheels and its control method |
| CN102267488A (en) * | 2011-05-18 | 2011-12-07 | 三一汽车起重机械有限公司 | Multi-steering bridge control system and method as well as engineering device |
| CN203294219U (en) * | 2013-05-29 | 2013-11-20 | 湖南三一路面机械有限公司 | Track tensioning hydraulic system and walking machinery |
| CN106740090A (en) * | 2015-11-19 | 2017-05-31 | 许亚夫 | A kind of electric-control system on four-wheel drive four-wheel steering automatic Pilot chassis |
| CN208181233U (en) * | 2018-05-07 | 2018-12-04 | 天津维特力机械科技有限公司 | A kind of triangular caterpillar deivce with shock-absorbing function |
-
2019
- 2019-11-06 CN CN201911076040.3A patent/CN110843903A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1702007A (en) * | 2005-05-26 | 2005-11-30 | 江苏大学 | Separated steering device for vehicular four wheels and its control method |
| CN102267488A (en) * | 2011-05-18 | 2011-12-07 | 三一汽车起重机械有限公司 | Multi-steering bridge control system and method as well as engineering device |
| CN203294219U (en) * | 2013-05-29 | 2013-11-20 | 湖南三一路面机械有限公司 | Track tensioning hydraulic system and walking machinery |
| CN106740090A (en) * | 2015-11-19 | 2017-05-31 | 许亚夫 | A kind of electric-control system on four-wheel drive four-wheel steering automatic Pilot chassis |
| CN208181233U (en) * | 2018-05-07 | 2018-12-04 | 天津维特力机械科技有限公司 | A kind of triangular caterpillar deivce with shock-absorbing function |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200228 |