CN112550446B - Steering system - Google Patents
Steering system Download PDFInfo
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- CN112550446B CN112550446B CN202011498799.3A CN202011498799A CN112550446B CN 112550446 B CN112550446 B CN 112550446B CN 202011498799 A CN202011498799 A CN 202011498799A CN 112550446 B CN112550446 B CN 112550446B
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- steering
- pressure oil
- valve
- port
- load feedback
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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
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
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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
- B62D5/062—Details, component parts
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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
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The embodiment of the invention provides a steering system, which comprises: the steering mechanism assembly, the steering oil cylinder assembly and the steering electric proportional valve group; the steering mechanism assembly includes: the steering gear is used for controlling the oil return oil way and the high-pressure oil way to be respectively connected with the steering oil cylinder assembly; a first load feedback port is arranged in the steering gear and connected with a pressure sensor; the steering electro proportional valve group comprises: a load feedback valve and an electric proportional directional valve; the load feedback valve is connected with the pressure sensor; the electric proportional reversing valve is connected with the high-pressure oil path and the oil return oil path respectively, the electric proportional reversing valve is connected with the load feedback valve through a first oil path and a second oil path, the first oil path flows to the load feedback valve, and the second oil path flows to the electric proportional reversing valve; the second oil path and the oil return path are connected with the steering oil cylinder assembly through an electric proportional reversing valve. The invention improves the response speed of the steering system and can realize the switching between the manual driving mode and the unmanned driving mode.
Description
Technical Field
The invention relates to the technical field of vehicle manufacturing, in particular to a steering system.
Background
In order to provide the steering system with the unmanned driving function, a driving motor is generally added on a steering column in the conventional vehicle steering system, and the steering column is driven to rotate by the motor so as to simulate manual steering to realize the steering function of the vehicle. The mode does not relate to the working principle of a vehicle hydraulic system, and only redesigns the steering column structure. The manual operation priority function is realized through increasing torque sensor on steering column, torque sensor output torque when people rotate the steering wheel, manual operation monitoring. The steering angle closed-loop control is realized by adding an angle sensor on a steering column. The existing solution has the following disadvantages: after the unmanned control command is issued, the transmission link is long, the response time is prolonged and the hysteresis of the steering action of the system is increased through the motor-speed reducing mechanism-steering column-steering gear-hydraulic system. On the other hand, the motor, the speed reducing mechanism, the steering column assembly, the steering gear and other elements are connected in a mechanical structure, a mechanical gap exists, free rotation quantity can be generated when the steering wheel rotates, the free rotation quantity can enable steering delay to be larger, the rotation angle recorded by the angle sensor is distorted, and the steering control precision is poor.
Therefore, the traditional steering system has the characteristics of diffuse response speed and low precision when unmanned steering and manual steering are realized.
Disclosure of Invention
In view of this, an object of the embodiments of the present invention is to provide a steering system, which can improve the response speed of the steering system and can switch between manual driving and unmanned driving through a pressure sensor.
In a first aspect, the present application provides the following technical solutions through an embodiment:
a steering system, comprising: the steering mechanism assembly, the steering oil cylinder assembly and the steering electric proportional valve group are arranged on the steering mechanism assembly; the steering mechanism assembly includes: the steering gear is used for controlling the oil return oil way and the high-pressure oil way to be respectively connected with the steering oil cylinder assembly; a first load feedback port is arranged in the steering gear and connected with a pressure sensor; the steering electro-proportional valve group comprises: a load feedback valve and an electric proportional directional valve; the load feedback valve is connected with the pressure sensor; the electric proportional reversing valve is connected with the high-pressure oil path and the oil return oil path respectively, the electric proportional reversing valve is connected with the load feedback valve through a first oil path and a second oil path, the first oil path flows to the load feedback valve, and the second oil path flows to the electric proportional reversing valve; and the second oil way and the oil return oil way are connected with the steering oil cylinder assembly through the electric proportional reversing valve.
Optionally, a first high-pressure oil inlet, a first low-pressure oil return port, a first left steering pressure oil output port and a first right steering pressure oil output port are further arranged in the steering gear; the steering gear is used for selectively connecting or disconnecting the first high-pressure oil inlet with or from the first left steering pressure oil output port/the first right steering pressure oil output port based on manual steering, and connecting or disconnecting the first low-pressure oil return port with or from the first right steering pressure oil output port/the first left steering pressure oil output port; the first left steering pressure oil output port and the first right steering pressure oil output port are respectively connected with the steering oil cylinder assembly.
Optionally, the diverter is a closed core.
Optionally, the steering mechanism assembly further includes: the steering wheel is arranged at one end of the steering column, and the other end of the steering column is connected with the steering gear.
Optionally, the steering electro-proportional valve group further includes: the first joint comprises a second high-pressure oil inlet and a second low-pressure oil return port; the electric proportional reversing valve is provided with a second left steering pressure oil output port and a second right steering pressure oil output port; the electric proportional reversing valve is used for selectively connecting or disconnecting the second high-pressure oil inlet with the second left steering pressure oil output port/the second right steering pressure oil output port based on automatic steering and connecting or disconnecting the second low-pressure oil return port with the second right steering pressure oil output port/the second left steering pressure oil output port.
Optionally, the first connection further includes: the second load feedback port, the pressure testing port and the cartridge shuttle valve; the cartridge shuttle valve is respectively connected with the second load feedback port and the pressure testing port, and the pressure testing port is connected with the pressure sensor.
Optionally, the load feedback valve is connected to the cartridge shuttle valve through a load feedback oil path.
Optionally, the system further comprises a flow valve, and the flow valve is connected with the cartridge shuttle valve.
Optionally, a displacement sensor is arranged in the steering cylinder assembly, and the displacement sensor is used for monitoring a steering angle.
Optionally, the electric proportional directional valve is a three-position seven-energization proportional directional valve.
The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:
the steering system provided in the embodiment of the present invention includes: the steering mechanism assembly, the steering oil cylinder assembly and the steering electric proportional valve group; the steering mechanism assembly includes: the steering gear is used for controlling the oil return oil way and the high-pressure oil way to be respectively connected with the steering oil cylinder assembly; a first load feedback port is arranged in the steering gear and connected with a pressure sensor; the steering electro proportional valve group comprises: a load feedback valve and an electric proportional directional valve; the load feedback valve is connected with the pressure sensor; the electric proportional reversing valve is connected with the high-pressure oil path and the oil return oil path respectively, the electric proportional reversing valve is connected with the load feedback valve through a first oil path and a second oil path, the first oil path flows to the load feedback valve, and the second oil path flows to the electric proportional reversing valve; the second oil path and the oil return path are connected with the steering oil cylinder assembly through an electric proportional reversing valve. In the embodiment of the invention, the control signal can be directly acted on the hydraulic system through the electric proportional reversing valve by the structure, mechanical transmission of a motor, a speed reducing mechanism, a direction pipe column, a steering gear and the like is omitted, the response speed of the steering system is improved, and two modes of manual driving and unmanned driving can be switched by the pressure sensor.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1, 3, 4, 8 and 11 are schematic structural diagrams of a steering system according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a steering mechanism assembly in an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a steering electro-proportional valve stack in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a structure of a lead in an embodiment of the invention;
FIG. 7 is a schematic diagram of an electrically proportional reversing valve in an embodiment of the invention;
FIG. 9 is a schematic structural diagram of a tail unit in an embodiment of the present invention;
fig. 10 is a schematic structural view of a steering cylinder in the embodiment of the present invention.
Icon: 100-a steering system; 1-a steering mechanism assembly; 2-steering cylinder assembly; 3-a tubular shuttle valve; 4-a steering electro-proportional valve group; 5-a steering wheel; 6-a steering column; 7-a diverter; 8-first connection; 9-sheet type electric proportional directional valve; 10-tail; 11-a pressure sensor; 12-a shuttle valve cartridge; 13-a load feedback valve; 131-a one-way valve; 14-an electrically proportional reversing valve; 15-a first electromagnet; 16-a second electromagnet; 17-flow valve; 18-a steering cylinder; 19-a displacement sensor; p1-a first high pressure oil inlet; t1 — first low pressure return; l1 — first left-hand pressure oil output; r1 — first right-steering pressurized oil output; LS1 — first load feedback port; p2-a second high-pressure oil inlet; t2 — second low pressure return; l2 — second left-hand pressure oil output; r2 — second right-steering pressurized oil output; x-load feedback access; MX-pressure test port; m-high pressure oil line pressure measuring port; LS3 — second load feedback port.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Referring to fig. 1, the present embodiment provides a steering system 100, including: the steering mechanism assembly, the steering electro-proportional valve group 4 and the steering oil cylinder assembly 2. The relationship and operation of the above components in the present embodiment will be described in detail below.
The steering mechanism assembly is used for realizing manual control steering; wherein, the steering mechanism assembly includes: a steering gear 7, a steering wheel 5 and a steering column 6, as shown in fig. 2. The steering gear 7 is used for controlling the oil return path and the high-pressure oil path to be respectively connected with the steering oil cylinder assembly 2.
The steering wheel 5 is provided at one end of a steering column 6, and the other end of the steering column 6 is connected to a steering gear 7. The steering gear 7 is provided with a first load feedback port LS1, a first high-pressure oil inlet P1, a first low-pressure oil return port T1, a first left steering pressure oil output port L1, and a first right steering pressure oil output port R1. The first load feedback port LS1 is connected to the pressure sensor 11, and by monitoring the hydraulic pressure of the first load feedback port LS1 by the pressure sensor 11, it can be determined whether the steering gear 7 is being actuated by man. The steering gear 7 is specifically configured to selectively connect or disconnect the first high-pressure oil inlet P1 with or from the first left steering pressure oil output port L1/the first right steering pressure oil output port R1, and connect or disconnect the first low-pressure oil return port T1 with or from the first right steering pressure oil output port R1/the first left steering pressure oil output port L1, based on manual steering; the first left steering pressure oil output port L1 and the first right steering pressure oil output port R1 are connected to the steering cylinder assembly 2, respectively.
More specifically, the steering gear 7 employs a closed-core steering gear 7 with a load feedback function. When the user does not steer the steering wheel 5, the first left steering pressure oil output port L1, the first right steering pressure oil output port R1, and the first low-pressure oil return port T1 of the steering gear 7 communicate with the first load feedback port LS1, and the first high-pressure oil inlet port P1 is closed. When a user turns the steering wheel 5 leftwards, the steering wheel 5 drives the steering gear 7 to rotate through the steering column 6, at the moment, the principle of communication of an internal oil path of the steering gear 7 is shown in fig. 3, the first high-pressure oil inlet P1 is communicated with the first left steering pressure oil output port L1 and the first load feedback port LS1, and the first right steering pressure oil output port R1 is communicated with the first low-pressure oil return port T1. When a user turns the steering wheel 5 to the right, the steering wheel 5 drives the steering gear 7 to rotate through the steering column 6, at the moment, the principle of communication of an internal oil path of the steering gear 7 is shown in fig. 4, the first high-pressure oil inlet P1 is communicated with the first right steering pressure oil outlet R1 and the first load in a feedback manner, and the first left steering pressure oil outlet L1 is communicated with the first low-pressure oil return port T1.
And the steering electro-proportional valve group 4 is used for realizing automatic steering control. The steering electro-proportional valve group 4 includes: a lead 8, a load feedback valve 13, an electrically proportional directional valve 14 and a tail 10, as shown in fig. 5. The head joint 8, the electric proportional directional valve 14 and the tail joint 10 are communicated with a high-pressure oil path, an oil return path and a load feedback oil path pore passage inside, are installed in an overlapping mode and can be fastened through screws.
Specifically, the first connection 8 includes: the second high-pressure oil inlet P2, the second low-pressure oil return port T2, the second load feedback port LS3, the load feedback inlet X, the pressure test port MX and the cartridge shuttle valve 12 are shown in FIG. 6. The cartridge shuttle valve 12 is respectively connected with a second load feedback port LS3, a load feedback access port X and a pressure test port MX, a feedback sensitive port of the system is connected with the pressure test port MX, and the pressure test port MX is connected with the pressure sensor 11; the load feedback inlet X is connected to the pressure sensor 11, i.e. the first load feedback inlet LS1 is connected to the pressure sensor 11 through the load feedback inlet X to monitor the action of the steering gear 7. The electric proportional directional valve 14 is connected with the high-pressure oil path through a second high-pressure oil inlet P2 and is connected with the oil return path through a second low-pressure oil return port T2. The electro-proportional directional valve 14 is provided with a second left-steering pressure oil output port L2 and a second right-steering pressure oil output port R2; the electric proportional directional valve 14 is configured to selectively connect or disconnect the second high-pressure oil inlet P2 with or from the second left-steering pressure oil output port L2/the second right-steering pressure oil output port R2, and connect or disconnect the second low-pressure oil return port T2 with or from the second right-steering pressure oil output port R2/the second left-steering pressure oil output port L2, based on automatic steering.
In addition, a high-pressure oil line pressure measuring port M can be further integrated in the first connection 8 and used for measuring the pressure of the high-pressure oil line.
More specifically, the electric proportional directional valve 14 and the load feedback valve 13 constitute the plate-type electric proportional directional valve 9. The electric proportional directional valve 14 is connected with the load feedback valve 13 through a first oil path and a second oil path, the first oil path flows to the load feedback valve 13, and the second oil path flows to the electric proportional directional valve 14; the second oil path and the oil return path are connected with the steering cylinder assembly 2 through an electric proportional reversing valve 14. Meanwhile, the load feedback valve 13 is connected to the shuttle cartridge 12 through a load feedback oil path, as shown in fig. 7.
In the present embodiment, the electro-proportional directional valve 14 may be a three-position seven-pass electro-proportional directional valve 14. Referring to fig. 7, the first electromagnet 15 and the second electromagnet 16 are respectively disposed on two sides of the electrically proportional directional valve 14 for controlling the direction change of the electrically proportional directional valve 14. The load feedback valve 13 generates load through the first oil path and then high-pressure oil is controlled to change direction. The electric proportional directional valve 14 is reset through a spring, when the first electromagnet 15 or the second electromagnet 16 is not powered, the electric proportional directional valve 14 is in a neutral position, at the moment, the second high-pressure oil inlet P2 and the electric proportional directional valve 14 are closed, and the second left steering pressure oil output port L2, the second right steering pressure oil output port R2, the second low-pressure oil return port T2 and the second load feedback port LS3 are communicated. When the first electromagnet 15 is powered on, the oil path communication schematic diagram of the steering electro-proportional valve group 4 is shown in fig. 8, high-pressure oil in a high-pressure oil path enters the steering electro-proportional valve group 4 through a second high-pressure oil inlet P2 of the first connection 8 and is led to the electro-proportional directional valve 14 through the oil path, the high-pressure oil flows to the load feedback valve 13 through the first oil path after passing through the electro-proportional directional valve 14 and enters the directional control cavity of the load feedback valve 13, and the load feedback valve 13 is switched. Part of the high-pressure oil flows to the electro-proportional directional valve 14 through a second oil path by the load feedback valve 13 and enters a second left steering pressure oil output port L2, and a check valve 131 can be arranged in the second oil path; another portion of the high pressure oil enters the load feedback circuit through the load feedback valve 13 and passes through the cartridge shuttle valve 12 to exit the second load feedback port LS 3. At this time, the second right steering pressure oil output port R2 of the electro-proportional valve group is communicated with the second low-pressure oil return port T2 through the electro-proportional directional valve 14, that is, the second high-pressure oil inlet P2 is communicated with the second left steering pressure oil output port L2 and the second load feedback port LS3, and the second low-pressure oil return port T2 is communicated with the second right steering pressure oil output port R2. Similarly, when the second electromagnet 16 is powered on, the second high-pressure oil inlet P2 is communicated with the second right steering pressure oil output port R2 and the second load feedback port LS3, and the second low-pressure oil return port T2 is communicated with the second left steering pressure oil output port L2.
Referring to fig. 9, a flow valve 17 may be integrated into the tail 10 for unloading the load feedback loop. The flow valve 17 is connected to the shuttle valve 12. When the electric proportional directional valve 14 is in the middle position, part of high-pressure oil leaks to the load feedback oil way through the electrified proportional directional valve 14, the oil leakage in the part influences the normal operation of the system, and the leaked oil needs to pass through the flow valve 17 to lead to the oil return oil way so as to ensure the normal operation of the system. For example, in the specific example, if the leakage is 0.1L/min, the flow rate of the flow valve 17 may be 0.4L/min. After the electric proportional directional valve 14 is switched, the load feedback oil path is communicated with the high-pressure oil path, at this time, the maximum flow rate through the flow valve 17 is 0.4L/min, the second load feedback port LS3 can still generate load pressure, and the load feedback function is guaranteed to work normally.
Referring to fig. 1 and 10, the steering cylinder assembly 2 includes a steering cylinder 18, a tubular shuttle valve 3, and a displacement sensor 19 disposed in the steering cylinder 18, the displacement sensor 19 is used for monitoring a steering angle, the displacement sensor 19 may be a resistive linear displacement sensor 19, and when the steering cylinder 18 generates a displacement change in a length direction through expansion and contraction, the resistance of the built-in displacement sensor 19 changes, and the change in the output displacement value. The pipe shuttle valve 3 communicates with a steering cylinder 18. The steering mechanism assembly and the steering electro-proportional valve group 4 are connected with the steering oil cylinder assembly 2 through the tubular shuttle valve 3.
The above-mentioned interface connection relation is as follows:
the first high-pressure oil inlet P1 of the steering gear 7 is communicated with the second high-pressure oil inlet P2 of the steering electro-proportional valve group 4 and is connected to a high-pressure oil path of the system. The first low-pressure oil return port T1 of the steering gear 7 communicates with the second low-pressure oil return port T2 of the steering electro-proportional valve group 4, and is connected to the system oil return passage. The first load feedback port LS1 of the steering gear 7 communicates with the load feedback inlet X of the steering electro-proportional valve group 4. A first left steering pressure oil output port L1 of the steering gear 7 and a second left steering pressure oil output port L2 of the steering electro-proportional valve group 4 are respectively connected to two input ends of the tubular shuttle valve 3, and an output port of the tubular shuttle valve 3 is communicated with a left steering oil port of the steering oil cylinder assembly 2. A first right steering pressure oil output port R1 of the steering gear 7 and a second right steering pressure oil output port R2 of the steering electro-proportional valve group 4 are respectively connected to two input ends of the tubular shuttle valve 3, and an output port of the tubular shuttle valve 3 is communicated with a right steering oil port of the steering oil cylinder assembly 2. The second load feedback port LS3 of the diverting electro-proportional valve bank 4 is connected to a load sensitive port of the system. The pressure test port MX of the steering electro-proportional valve group 4 is connected with the pressure sensor 11.
The working principle of the embodiment is as follows:
the steering system 100 of the present embodiment is schematically shown in fig. 1 when the steering wheel 5 is not actuated and the electro proportional valve is not energized. At this time, the high-pressure oil path is in a closed state in both the steering gear 7 and the steering electro-proportional valve group 4, the first left steering pressure oil output port L1, the first right steering pressure oil output port R1, and the first load feedback port LS1 of the steering gear 7 are communicated with the first low-pressure oil return port T1, and the second left steering pressure oil output port L2, the second right steering pressure oil output port R2, and the second load feedback port LS3 in the steering electro-proportional valve group 4 are communicated with the second low-pressure oil return port T2. At this time, the steering cylinder 18 is not actuated.
When the steering wheel 5 is turned to the left and the steering electro-proportional valve group 4 is not energized. The steering system 100 of the present embodiment is schematically shown in fig. 3. The first high-pressure oil inlet P1 of the steering gear 7 is communicated with a first left steering pressure oil output port L1 and a first load feedback port LS1, and the first right steering pressure oil output port R1 is communicated with a first low-pressure oil return port T1. And a second high-pressure oil inlet P2 in the steering electro-proportional valve group 4 is closed, and a second left steering pressure oil output port L2, a second right steering pressure oil output port R2 and a second load feedback port LS3 are communicated with a second low-pressure oil return port T2. At this time, the high-pressure oil flows out from the first left steering pressure oil output port L1 of the steering gear 7 through the first high-pressure oil inlet P1 of the steering gear 7, and flows to the left steering chamber of the steering cylinder assembly 2 from the pipe shuttle valve 3. The right-turn chamber oil of the steering cylinder assembly 2 flows back to the first right-turn pressure oil output port R1 of the steering gear 7 from the tubular shuttle valve 3, and enters the first low-pressure oil return port T1 for oil return. At this time, the first load feedback port LS1 of the steering gear 7 generates high pressure, high-pressure oil flows out from the first load feedback port LS1 of the steering gear 7 and enters the load feedback access port X of the steering electric proportional valve group 4, the pressure sensor 11 is installed on the pressure test port MX communicated with the load feedback access port X, pressure output can be monitored, it is indicated that the steering gear 7 is steering, when the pressure output exists in the pressure test port MX, the control system controls the first electromagnet 15 and the second electromagnet 16 to be incapable of being powered, and the manual priority function is achieved. High-pressure oil flows out from a second load feedback port LS3 of the steering electro-proportional valve group 4 through the cartridge shuttle valve 12 and flows to a system load sensitive port to carry out load sensitive control. When the steering oil cylinder 18 acts, the built-in displacement sensor 19 integrated in the steering oil cylinder outputs displacement change, and the closed-loop control feedback of the unmanned electric and hydraulic steering system is realized by monitoring the telescopic length of the steering oil cylinder 18.
When the steering wheel 5 is turned in the right direction and the steering electro-proportional valve group 4 is not energized, the steering system 100 of the present embodiment is schematically shown in fig. 4. The first high-pressure oil inlet P1 of the steering gear 7 is communicated with a first right steering pressure oil output port R1 and a first load feedback port LS1, and the first left steering pressure oil output port L1 is communicated with a first low-pressure oil return port T1. And a second high-pressure oil inlet P2 in the steering electro-proportional valve group 4 is closed, and a second left steering pressure oil output port L2, a second right steering pressure oil output port R2 and a second load feedback port LS3 are communicated with a second low-pressure oil return port T2. At this time, the high-pressure oil flows out from the first right-turn pressure oil output port R1 of the steering gear 7 through the first high-pressure oil inlet P1 of the steering gear 7, and flows to the right-turn chamber of the steering cylinder assembly 2 from the pipe shuttle valve 3. The oil in the left turning cavity of the steering cylinder assembly 2 flows back to the first left turning pressure oil output port L1 of the steering gear 7 from the tubular shuttle valve 3, and enters the first low-pressure oil return port T1 for oil return. At this time, the first load feedback port LS1 of the steering gear 7 generates high pressure, high-pressure oil flows out from the first load feedback port LS1 of the steering gear 7 and enters the load feedback access port X of the steering electric proportional valve group 4, the pressure sensor 11 is installed on the pressure test port MX communicated with the load feedback access port X, pressure output can be monitored, it is indicated that the steering gear 7 is steering, when the pressure output exists in the pressure test port MX, the control system controls the first electromagnet 15 and the second electromagnet 16 to be incapable of being powered, and the manual priority function is achieved. High-pressure oil flows out from a second load feedback port LS3 of the steering electro-proportional valve group 4 through the cartridge shuttle valve 12 and flows to a system load sensitive port to carry out load sensitive control. When the steering oil cylinder acts, the built-in displacement sensor 19 integrated in the steering oil cylinder outputs displacement change, and the telescopic length of the steering oil cylinder 18 is monitored, so that closed-loop control feedback of the unmanned electric and hydraulic steering system is realized.
When the steering wheel 5 is not operated and the first electromagnet 15 of the steering electro-proportional valve group 4 is energized, the steering system 100 of the present embodiment is schematically shown in fig. 8. The first high-pressure oil inlet P1 is in a closed state at the diverter 7, and a first left steering pressure oil output port L1, a first right steering pressure oil output port R1 and a first load feedback port LS1 of the diverter 7 are communicated with a first low-pressure oil return port T1. And a second high-pressure oil inlet P2 of the steering electro-proportional valve group 4 is communicated with a second left steering pressure oil output port L2 and a second load feedback port LS3, and a second low-pressure oil return port T2 is communicated with a second right steering pressure oil output port R2. At this time, the high-pressure oil flows out from the second left steering pressure oil output port L2 through the second high-pressure oil inlet P2 of the steering electro-proportional valve group 4, and flows to the left steering cavity of the steering cylinder assembly 2 from the tubular shuttle valve 3. The right-turn chamber oil of the steering oil cylinder assembly 2 flows back to the second right-turn pressure oil output port R2 of the steering electro-proportional valve group 4 from the tubular shuttle valve 3, and enters the second low-pressure oil return port T2 for returning. The second load feedback port LS3 of the steering electro-proportional valve group 4 generates high pressure, and high-pressure oil flows out of the second load feedback port LS3 of the steering electro-proportional valve group 4 through the cartridge shuttle valve 12 and flows to a system load sensitive port to perform load sensitive control. When the steering oil cylinder 18 acts, the built-in displacement sensor 19 integrated in the steering oil cylinder outputs displacement change, and the closed-loop control feedback of the unmanned electric and hydraulic steering system is realized by monitoring the telescopic length of the steering oil cylinder 18.
When the steering wheel 5 is not operated and the second electromagnet 16 of the steering electro-proportional valve group 4 is energized, the steering system 100 of the present embodiment is schematically shown in fig. 11. The first high-pressure oil inlet P1 is in a closed state at the diverter 7, and a first left steering pressure oil output port L1, a first right steering pressure oil output port R1 and a first load feedback port LS1 of the diverter 7 are communicated with a first low-pressure oil return port T1. And a second high-pressure oil inlet P2 of the steering electro-proportional valve group 4 is communicated with a second right steering pressure oil output port R2 and a second load feedback port LS3, and a second low-pressure oil return port T2 is communicated with a second left steering pressure oil output port L2. At this time, the high-pressure oil flows out from the second right-turn pressure oil output port R2 through the second high-pressure oil inlet P2 of the steering electro-proportional valve group 4, and flows toward the right-turn chamber of the steering cylinder assembly 2 from the tubular shuttle valve 3. The oil in the left turning cavity of the steering cylinder assembly 2 flows back to the second left turning pressure oil output port L2 of the turning electro proportional valve group 4 from the tubular shuttle valve 3, and enters the second low-pressure oil return port T2 for oil return. The second load feedback port LS3 of the steering electro-proportional valve group 4 generates high pressure, and high-pressure oil flows out of the second load feedback port LS3 of the steering electro-proportional valve group 4 through the cartridge shuttle valve 12 and flows to a system load sensitive port to carry out load sensitive control. When the steering oil cylinder 18 acts, the built-in displacement sensor 19 integrated in the steering oil cylinder outputs displacement change, and the closed-loop control feedback of the unmanned electric and hydraulic steering system is realized by monitoring the telescopic length of the steering oil cylinder 18.
When the first solenoid 15 or the second solenoid 16 of the steering electro-proportional valve group 4 is energized, the steering wheel 5 is actuated at the same time. At the moment, a high voltage is established at a first load feedback port LS1 in the steering gear 7 and flows to a load feedback access port X of the steering electric proportional valve group 4, the pressure is monitored by a pressure sensor 11 of a pressure test port MX, the first electromagnet 15 and the second electromagnet 16 are controlled to be incapable of being electrified through a control system, and the manual priority function of the unmanned electric and hydraulic steering system is achieved.
When the steering oil cylinder acts, the displacement sensor 19 integrated in the steering oil cylinder outputs displacement change, and the flexible length of the steering oil cylinder 18 is monitored, so that closed-loop control feedback of the unmanned electric and hydraulic steering system can be realized.
In summary, the steering system 100 provided in the present embodiment includes: the steering mechanism assembly, the steering oil cylinder assembly 2 and the steering electro-proportional valve group 4; the steering mechanism assembly includes: the steering gear 7 is used for controlling the oil return oil path and the high-pressure oil path to be respectively connected with the steering oil cylinder assembly 2; the steering gear 7 is provided with a first load feedback port LS1, and the first load feedback port LS1 is connected with the pressure sensor 11; the steering electro-proportional valve group 4 includes: a load feedback valve 13 and an electric proportional directional valve 14; the load feedback valve 13 is connected with the pressure sensor 11; the electric proportional directional valve 14 is respectively connected with the high-pressure oil path and the oil return path, the electric proportional directional valve 14 is connected with the load feedback valve 13 through a first oil path and a second oil path, the first oil path flows to the load feedback valve 13, and the second oil path flows to the electric proportional directional valve 14; the second oil path and the oil return path are connected with the steering cylinder assembly 2 through an electric proportional reversing valve 14. In the embodiment, the control signal can directly act on the hydraulic system through the electric proportional directional valve 14 by the structure, mechanical transmission of a motor, a speed reducing mechanism, a direction pipe column, the steering gear 7 and the like is omitted, the response speed of the steering system is increased, and two modes of manual driving and unmanned driving can be switched by the pressure sensor 11.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first", "second", "third", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (7)
1. A steering system, characterized by comprising: the steering mechanism assembly, the steering oil cylinder assembly and the steering electric proportional valve group;
the steering mechanism assembly includes: the steering gear is used for controlling the oil return oil way and the high-pressure oil way to be respectively connected with the steering oil cylinder assembly; a first load feedback port is arranged in the steering gear and connected with a pressure sensor;
the steering electro proportional valve group comprises: a load feedback valve and an electric proportional directional valve; the load feedback valve is connected with the pressure sensor; the electric proportional reversing valve is connected with the high-pressure oil path and the oil return oil path respectively, the electric proportional reversing valve is connected with the load feedback valve through a first oil path and a second oil path, the first oil path flows to the load feedback valve, and the second oil path flows to the electric proportional reversing valve; the second oil way and the oil return way are connected with the steering oil cylinder assembly through the electric proportional reversing valve;
a displacement sensor is arranged in the steering oil cylinder assembly and used for monitoring a steering angle;
the steering gear is a closed-core steering gear with a load feedback function; the steering gear is also provided with a first high-pressure oil inlet, a first low-pressure oil return port, a first left steering pressure oil output port and a first right steering pressure oil output port; when the steering wheel is not operated to steer, the first left steering pressure oil output port, the first right steering pressure oil output port and the first low-pressure oil return port of the steering gear are communicated with the first load feedback port, and the first high-pressure oil inlet is closed; when a steering wheel is steered leftwards, the steering wheel drives the steering gear to rotate through a steering column, the first high-pressure oil inlet is communicated with the first left steering pressure oil output port and the first load feedback port, and the first right steering pressure oil output port is communicated with the first low-pressure oil return port; when a steering wheel is steered to the right, the steering wheel drives the steering gear to rotate through the steering column, the first high-pressure oil inlet is communicated with the first right steering pressure oil output port and the first load feedback, and the first left steering pressure oil output port is communicated with the first low-pressure oil return port.
2. The steering system of claim 1, wherein the steering mechanism assembly further comprises: the steering wheel is arranged at one end of the steering column, and the other end of the steering column is connected with the steering gear.
3. The steering system of claim 1, wherein the steering electro-proportional valve set further comprises: the first joint comprises a second high-pressure oil inlet and a second low-pressure oil return port; the electric proportional reversing valve is provided with a second left steering pressure oil output port and a second right steering pressure oil output port; the electric proportional reversing valve is used for selectively connecting or disconnecting the second high-pressure oil inlet with the second left steering pressure oil output port/the second right steering pressure oil output port based on automatic steering and connecting or disconnecting the second low-pressure oil return port with the second right steering pressure oil output port/the second left steering pressure oil output port.
4. The steering system of claim 3, wherein the inline further comprises: the second load feedback port, the pressure test port and the cartridge shuttle valve; the cartridge shuttle valve is respectively connected with the second load feedback port and the pressure testing port, and the pressure testing port is connected with the pressure sensor.
5. The steering system of claim 4, wherein the load feedback valve is coupled to the cartridge shuttle valve via a load feedback oil path.
6. The steering system of claim 4, further comprising a flow valve coupled to the shuttle cartridge valve.
7. The steering system of claim 1, wherein the electro-proportional directional valve is a three-position, seven-pass electro-proportional directional valve.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498799.3A CN112550446B (en) | 2020-12-17 | 2020-12-17 | Steering system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498799.3A CN112550446B (en) | 2020-12-17 | 2020-12-17 | Steering system |
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| CN112550446A CN112550446A (en) | 2021-03-26 |
| CN112550446B true CN112550446B (en) | 2022-06-17 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006019803B4 (en) * | 2006-04-28 | 2008-11-27 | Sauer-Danfoss Aps | Hydraulic steering |
| US7913800B2 (en) * | 2006-10-30 | 2011-03-29 | Deere & Company | Steering system with variable flow rate amplification ratio and associated method |
| CN103032396B (en) * | 2013-01-06 | 2015-01-07 | 浙江大学 | Energy-saving shield segment assembling and positioning electro-hydraulic control system adopting load-sensitive technology |
| CN104354760B (en) * | 2014-11-04 | 2017-12-22 | 广西柳工机械股份有限公司 | The ratio control system and proportional controlling means of contactless limiting steering |
| CN105197104A (en) * | 2015-09-25 | 2015-12-30 | 广西柳工机械股份有限公司 | Hydraulic steering system |
| CN105805062B (en) * | 2016-03-24 | 2018-10-26 | 中国北方车辆研究所 | Vehicle appearance is adjustable hydro-pneumatic suspension system |
| CN109723693B (en) * | 2019-01-15 | 2023-10-03 | 江苏徐工工程机械研究院有限公司 | Load-sensitive multi-way valve and hydraulic system |
| CN209667193U (en) * | 2019-04-18 | 2019-11-22 | 山东交通学院 | A kind of electric-controlled hydraulic steering valve group based on satellite navigation |
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