CN215154988U - Tractor drive-by-wire steering mechanism - Google Patents
Tractor drive-by-wire steering mechanism Download PDFInfo
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- CN215154988U CN215154988U CN202120023582.0U CN202120023582U CN215154988U CN 215154988 U CN215154988 U CN 215154988U CN 202120023582 U CN202120023582 U CN 202120023582U CN 215154988 U CN215154988 U CN 215154988U
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Abstract
The utility model discloses a tractor drive-by-wire steering mechanism, include front axle steering angle encoder, recirculating ball formula electric power assisted steering ware, VCU, integrated form automatic driving intelligent control ware and the machine controller that is connected with the front axle, front axle steering angle encoder passes through recirculating ball formula electric power assisted steering ware and is connected with the steering wheel, front axle steering angle encoder and VCU's Input module electric connection, VCU passes through CAN bus and integrated form automatic driving intelligent control ware electric connection. Has the advantages that: after reading the numerical value of the front axle steering angle encoder, the VCU transmits the numerical value to the traction motor controller through an Output module of the VCU, so that the rotating speed of a rear wheel traction motor is controlled to avoid rollover danger caused by over-high speed during turning; the integrated automatic driving intelligent controller controls the VCU to control the power-assisted motor to operate by collecting the torque and angular displacement of the steering wheel, the rotating speed of the motor, the steering angle of the front axle and other information so as to achieve the corresponding steering angle of the front wheels.
Description
Technical Field
The utility model relates to the field of automotive technology, especially, relate to a tractor drive-by-wire steering mechanism.
Background
The principle of manual steering of the tractor: the driver rotates the steering wheel manually, and transmits the torque and the rotation angle input by the steering wheel to the rotor of the hydraulic steering gear through the steering column, the steering gear valve group opens the oil supply and pressure release oil path corresponding to the steering hydraulic cylinder of the front axle ackermann steering frame, supplies quantitative hydraulic oil corresponding to the rotation angle of the steering wheel to the action cavity of the hydraulic cylinder, and discharges the same amount of hydraulic oil back to the oil tank from the pressure release cavity of the hydraulic cylinder, thereby realizing that the direction and the stroke of the reciprocating linear motion of the piston column of the hydraulic cylinder of the steering frame are controlled by the steering and the rotation angle of the steering wheel, and the steering is changed into corresponding front wheel steering through the ackermann steering mechanism.
The rotating speed of a rear wheel traction motor cannot be controlled during manual driving so as to avoid the danger of side turning caused by too high speed during turning. In addition, switching between automatic steering and manual steering cannot be realized.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a tractor steer-by-wire mechanism, VCU can read the front axle steering angle encoder numerical value after, and convert it into corresponding voltage analog signal and transmit to the traction motor controller by VCU's Output module, thus control the rear wheel traction motor rotational speed in order to avoid the danger of turning on one's side that the speed is too fast and leads to when turning; the motor of the circulating ball type electric power steering device receives an instruction of the integrated automatic driving intelligent controller through the CAN bus to rotate the hydraulic steering device to realize automatic steering, and the integrated automatic driving intelligent controller controls the VCU to control the power motor to rotate by collecting information such as torque and angular displacement of a steering wheel, motor rotating speed, steering angle of a front axle and the like so as to achieve corresponding steering angle of the front wheel and realize free switching between an automatic steering mode and a manual steering mode.
The technical scheme of the utility model is realized like this:
the utility model provides a tractor steer-by-wire mechanism, includes front axle steering angle encoder, circulation ball formula electric power steering, VCU, integrated form automatic driving intelligent control ware and the machine controller that is connected with the front axle, front axle steering angle encoder passes through circulation ball formula electric power steering and is connected with the steering wheel, front axle steering angle encoder and VCU's Input module electric connection, VCU carries out data interaction and instruction and receives through CAN bus and integrated form automatic driving intelligent control ware electric connection, VCU passes through Output module and machine controller electric connection.
Further, the front axle steering angle encoder can directly read the rotation angle of the front axle kingpin, and the resolution of the front axle steering angle encoder is less than or equal to 0.01 °.
Further, the circulating ball type electric power steering device outputs torque and steering wheel rotation angles on a steering wheel to the VCU through CAN bus communication, and the VCU transmits collected data to the integrated automatic driving intelligent controller.
Furthermore, the device also comprises an electro-hydraulic parking switch, a gear switch, an accelerator pedal limit switch and a corner potentiometer which are connected with an Input module of the VCU.
Furthermore, the VCU directly outputs the signals of the electro-hydraulic parking switch, the gear switch, the accelerator pedal limit switch and the corner potentiometer received by the Input module to the motor controller through the Output end, so that the control of the rear axle traction motor is realized.
The utility model has the advantages that:
(1) under the working condition of manual driving, a driver can rotate a steering wheel, and under the assistance of an electric power steering device, front wheels are rotated through a hydraulic steering machine and a hydraulic cylinder type Ackerman bogie. After the VCU reads the numerical value of the front axle steering angle encoder, the numerical value is converted into a corresponding voltage analog signal, and the voltage analog signal is transmitted to the traction motor controller by an Output module of the VCU, so that the rotating speed of the traction motor of the rear wheel is controlled to avoid the rollover danger caused by the over-high speed during turning. At the moment, the steering wheel can rotate the hydraulic steering machine according to the mechanical transmission mode of the original vehicle to realize the full hydraulic steering of the front axle, the circulating ball type electric power steering device plays a role in extra assistance, and the VCU only collects the torque and angular displacement information of the steering wheel and transmits the torque and angular displacement information to the integrated automatic driving intelligent controller.
(2) When the electric power steering system is driven automatically, a motor of the circulating ball type electric power steering device receives an instruction of the integrated automatic driving intelligent controller through the CAN bus to rotate the hydraulic power steering device to realize automatic steering, and the integrated automatic driving intelligent controller controls the VCU to control the power-assisted motor to rotate by collecting information such as torque and angular displacement of a steering wheel, the rotating speed of the motor, the steering angle of a front axle and the like so as to achieve a corresponding steering angle of a front wheel. At the moment, if a steering wheel is manually intervened, a torque sensor and an angular displacement sensor in the recirculating ball type electric power steering gear are influenced and feed back to the VCU and the integrated automatic driving intelligent controller, so that an automatic steering mode is skipped, and the steering mode is converted into manual steering.
(3) Under the condition of motor failure of the electric power steering gear, the manual rotation of the steering wheel can not be influenced, and the vehicle steering can be realized through the steering column and the hydraulic steering gear. The priority of manual operation steering is higher than that of automatic steering at any time, and the safety of automatic driving is fully ensured by the logic of the system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a conventional tractor steer-by-wire mechanism;
fig. 2 is a schematic view of the tractor steer-by-wire mechanism of the present invention.
In the figure:
1. a front axle steering angle encoder; 2. a recirculating ball-type electric power steering gear; 3. a steering wheel; 4. an integrated intelligent controller for automatic driving; 5. a VCU; 6. a motor controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
According to the utility model discloses an embodiment provides a tractor drive-by-wire steering mechanism.
Referring to fig. 1-2, according to the utility model discloses tractor steer-by-wire mechanism, include front axle steering angle encoder 1, circulation ball formula electric power assisted steering ware 2, VCU5, integrated form automatic driving intelligent control ware 4 and the machine controller 6 that is connected with the front axle, front axle steering angle encoder 1 is connected with steering wheel 3 through circulation ball formula electric power assisted steering ware 2, front axle steering angle encoder 1 and VCU 5's Input module electric connection, VCU5 carries out data interaction and instruction receipt through CAN bus and integrated form automatic driving intelligent control ware 4 electric connection, VCU5 is through Output module and machine controller 6 electric connection.
Further, the front axle steering angle encoder 1 can directly read the rotation angle of the front axle kingpin, and the resolution of the front axle steering angle encoder 1 is less than or equal to 0.01 °.
Further, the recirculating ball electric power steering gear 2 outputs torque and steering wheel angle on the steering wheel to the VCU5 through CAN bus communication, and the VCU5 transmits collected data to the integrated automatic driving intelligent controller 4.
Furthermore, the device also comprises an electro-hydraulic parking switch, a gear switch, an accelerator pedal limit switch and a corner potentiometer which are connected with an Input module of the VCU 5.
Further, the VCU5 directly outputs signals of the electro-hydraulic parking switch, the gear switch, the accelerator pedal limit switch and the corner potentiometer received by the Input module to the motor controller 6 through the Output end, so as to control the rear axle traction motor.
As shown in fig. 1, the principle of manual steering of a tractor: the driver rotates the steering wheel manually, and transmits the torque and the rotation angle input by the steering wheel to the rotor of the hydraulic steering gear through the steering column, the steering gear valve group opens the oil supply and pressure release oil path corresponding to the steering hydraulic cylinder of the front axle ackermann steering frame, supplies quantitative hydraulic oil corresponding to the rotation angle of the steering wheel to the action cavity of the hydraulic cylinder, and discharges the same amount of hydraulic oil back to the oil tank from the pressure release cavity of the hydraulic cylinder, thereby realizing that the direction and the stroke of the reciprocating linear motion of the piston column of the hydraulic cylinder of the steering frame are controlled by the steering and the rotation angle of the steering wheel, and the steering is changed into corresponding front wheel steering through the ackermann steering mechanism.
As shown in fig. 2, this solution replaces the original steering wheel and column assembly with a steering column assembly with an eps (electrical Power steering) mechanism.
After the steering column assembly is modified, the original steering column connected with a steering wheel and a steering mechanism is replaced by the steering column assembly with the recirculating ball type electric power steering gear, the steering column assembly CAN output the torque and the steering wheel rotation angle on the steering wheel to the VCU through CAN bus communication, and the VCU transmits the collected data to the integrated automatic driving intelligent controller.
Under the working condition of manual driving, a driver can rotate a steering wheel, and under the assistance of an electric power steering device, front wheels are rotated through a hydraulic steering machine and a hydraulic cylinder type Ackerman bogie. After the VCU reads the numerical value of the front axle steering angle encoder, the numerical value is converted into a corresponding voltage analog signal, and the voltage analog signal is transmitted to the traction motor controller by an Output module of the VCU, so that the rotating speed of the traction motor of the rear wheel is controlled to avoid the rollover danger caused by the over-high speed during turning. At the moment, the steering wheel can rotate the hydraulic steering machine according to the mechanical transmission mode of the original vehicle to realize the full hydraulic steering of the front axle, the circulating ball type electric power steering device plays a role in extra assistance, and the VCU only collects the torque and angular displacement information of the steering wheel and transmits the torque and angular displacement information to the integrated automatic driving intelligent controller.
When the electric power steering system is driven automatically, a motor of the circulating ball type electric power steering system receives an instruction of the integrated automatic driving intelligent controller through the CAN bus to rotate the hydraulic power steering system to realize automatic steering, and the integrated automatic driving intelligent controller controls the VCU to control the power-assisted motor to operate by collecting information such as torque and angular displacement of a steering wheel, the rotating speed of the motor, the steering angle of a front axle and the like so as to achieve a corresponding steering angle of a front wheel. At the moment, if a steering wheel is manually intervened, a torque sensor and an angular displacement sensor in the recirculating ball type electric power steering gear are influenced and feed back to the VCU and the integrated automatic driving intelligent controller, so that an automatic steering mode is skipped, and the steering mode is converted into manual steering.
In addition, under the condition of motor failure of the electric power steering gear, the manual turning of the steering wheel is not influenced, and the vehicle steering is realized through the steering column and the hydraulic steering gear. The priority of manual operation steering is higher than that of automatic steering at any time, and the safety of automatic driving is fully ensured by the logic of the system.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (5)
1. The tractor steer-by-wire mechanism is characterized by comprising a front axle steering angle encoder (1), a recirculating ball type electric power steering gear (2), a VCU (5), an integrated automatic driving intelligent controller (4) and a motor controller (6), wherein the front axle steering angle encoder (1) is connected with a steering wheel (3) through the recirculating ball type electric power steering gear (2), the front axle steering angle encoder (1) is electrically connected with an Input module of the VCU (5), the VCU (5) is electrically connected with the integrated automatic driving intelligent controller (4) through a CAN bus to perform data interaction and instruction receiving, and the VCU (5) is electrically connected with the motor controller (6) through an Output module.
2. Tractor steer-by-wire mechanism according to claim 1, characterized in that said front axle steering angle encoder (1) is able to directly read the rotation angle of the front axle kingpin, said front axle steering angle encoder (1) having a resolution of 0.01 ° or less.
3. The tractor steer-by-wire mechanism according to claim 1, wherein the recirculating ball electric power steering (2) outputs torque on the steering wheel and steering wheel angle to the VCU (5) via CAN bus communication, and the VCU (5) transmits the collected data to the integrated autonomous driving intelligent controller (4).
4. The tractor steer-by-wire mechanism of claim 1, further comprising an electro-hydraulic parking switch, a shift switch, an accelerator pedal limit switch and a rotation angle potentiometer connected to an Input module of the VCU (5).
5. The tractor steer-by-wire mechanism according to claim 4, wherein the VCU (5) directly outputs the signals of the electro-hydraulic parking switch, the gear switch, the accelerator pedal limit switch and the corner potentiometer received by the Input module to the motor controller (6) through an Output end, so as to control a rear axle traction motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120023582.0U CN215154988U (en) | 2021-01-06 | 2021-01-06 | Tractor drive-by-wire steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120023582.0U CN215154988U (en) | 2021-01-06 | 2021-01-06 | Tractor drive-by-wire steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215154988U true CN215154988U (en) | 2021-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120023582.0U Active CN215154988U (en) | 2021-01-06 | 2021-01-06 | Tractor drive-by-wire steering mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215154988U (en) |
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2021
- 2021-01-06 CN CN202120023582.0U patent/CN215154988U/en active Active
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