CN221251424U - High-flow line-control hydraulic steering system based on servo motor pilot control - Google Patents
High-flow line-control hydraulic steering system based on servo motor pilot control Download PDFInfo
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- CN221251424U CN221251424U CN202323543199.6U CN202323543199U CN221251424U CN 221251424 U CN221251424 U CN 221251424U CN 202323543199 U CN202323543199 U CN 202323543199U CN 221251424 U CN221251424 U CN 221251424U
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Abstract
A high-flow line-control hydraulic steering system based on servo motor pilot control comprises an oil tank, a flow amplifier, a steering gear and a steering cylinder; the steering system further comprises a servo motor, the servo motor is connected with the steering gear, the steering gear is driven to rotate after receiving the electric signal, pilot control oil is output to enable the main valve of the flow amplifier to reverse, and pressure oil is provided for the steering cylinder. The principle of the utility model is as follows: the steering system formed by the traditional mature flow amplifier and the servo motor driving pilot steering gear is used for solving the large-flow wire steering requirement of mining machinery such as a large-tonnage mining dump truck, a loader and the like, reducing the manufacturing cost and saving energy during steering operation.
Description
Technical Field
The utility model relates to the technical field of mining dumpers, in particular to a high-flow line-control hydraulic steering system based on servo motor pilot control.
Background
According to the application requirements of intelligent and unmanned scenes of mining machines such as mining dumpers and loaders, a wire control chassis with a wire control function is a necessary execution terminal for realizing the intelligent and unmanned mining machines. A steer-by-wire system, which is one of the key systems of the chassis-by-wire, assumes the function of steering the vehicle.
The traditional steering system realizes vehicle steering by manually operating a steering wheel and directly driving a steering mechanism, and the vehicle steering is completely controlled by a person and cannot realize intelligent control and unmanned functions of the vehicle steering.
The steering-by-wire system realizes the steering of the vehicle by automatically controlling a steering mechanism through an electric signal, and the vehicle VCU analyzes the calculation result according to the data of the vehicle environment sensing sensor and the vehicle state sensing sensor, combines the steering instructions of the 5G industrial Internet and the GPS positioning system or the electronic steering wheel and the electronic steering handle, and completes the steering of the vehicle through the steering-by-wire system SCU; the electronic steering wheel or the electronic steering handle can be used for realizing the driving of a person, and the perception sensor can be used for realizing the unmanned driving. The automatic driving is to input information according to road condition sensing sensors (millimeter wave radar, laser radar, cameras, infrared night vision devices and the like) and vehicle state sensing sensors (vehicle speed sensors, yaw acceleration sensors and the like), and transmit the calculation result of a calculation platform of a control algorithm to a vehicle VCU through a CAN bus to realize automatic turning and automatic cruising of the vehicle.
At present, unmanned mine cars in China realize operation in mines, a steering system of the unmanned mine cars adopts a specially developed wire-control hydraulic steering unit, and the specially developed wire-control hydraulic steering unit is high in price and limited in steering flow and can only be applied to wide dump trucks with the load of less than 100 tons.
Disclosure of Invention
The utility model aims to solve the technical problem of providing a large-flow wire-control hydraulic steering system based on servo motor pilot control, which solves the large-flow wire-control steering requirement of a large-tonnage mining dump truck and reduces the manufacturing cost.
In order to solve the technical problems, the technical scheme of the utility model is as follows: a high-flow line-control hydraulic steering system based on servo motor pilot control comprises an oil tank, a flow amplifier, a steering gear and a steering cylinder; the steering system further comprises a servo motor, the servo motor is connected with the steering gear, the steering gear is driven to rotate after receiving the electric signal, pilot control oil is output to enable the main valve of the flow amplifier to reverse, and pressure oil is provided for the steering cylinder. The principle of the utility model is as follows: the steering system formed by the traditional mature flow amplifier and the servo motor driving pilot steering gear is used for solving the large-flow wire steering requirement of mining machinery such as a large-tonnage mining dump truck, a loader and the like, reducing the manufacturing cost and saving energy during steering operation.
As an improvement, the hydraulic control system further comprises a steering main pump, a first one-way valve, an emergency steering pump, a second one-way valve and an overflow valve; the hydraulic fluid pump and the emergency steering pump are respectively connected with the oil tank, the oil outlet of the main steering pump is connected with the oil inlet of a first one-way valve, the oil outlet of the first one-way valve is connected with the HP port of a flow amplifier, the oil outlet of the emergency steering pump is connected with the oil inlet of a second one-way valve, the oil outlet of the second one-way valve is connected with the oil outlet of the first one-way valve, the oil inlet of an overflow valve is connected with the oil outlet of the first one-way valve, the oil return port of the overflow valve is connected with the HT port of the flow amplifier, the EF port of the flow amplifier is connected with the HT port of the flow amplifier, the load sensing Ls port of the flow amplifier is connected with the load sensing Ls port of the steering device, the PP port of the flow amplifier is connected with the P port of the flow amplifier, the T port of the flow amplifier is connected with the oil return T port of the steering device, the L port of the flow amplifier is connected with the L port of the steering device, the R port of the flow amplifier is connected with the R port of the steering device, the CL port of the flow amplifier is connected with the rod cavity of the left steering cylinder and the right steering cylinder, and the CR port of the left steering cylinder is connected with the rod cavity of the steering cylinder.
As an improvement, the rotating shaft mechanical interface of the steering gear is connected with the servo motor through a spline.
As an improvement, the electronic steering wheel or the electronic steering handle sends signals to the whole vehicle controller through the position sensor, and the whole vehicle controller sends signals to the servo motor.
Compared with the prior art, the utility model has the beneficial effects that:
1. The high-flow steering-by-wire system can meet the requirements of the steering-by-wire system of engineering machinery such as a large-tonnage mining dump truck, a loader and the like with the high-flow steering requirement of more than 100L/min, and the maximum steering flow can reach more than 400L/min;
2. The requirements of a large-flow steering-by-wire system are met by utilizing a traditional mature non-steering-by-wire flow amplifier and a servo motor, a special steering-by-wire valve control unit for large flow is not required to be developed, and the manufacturing cost is low;
3. the invention adopts the conventional main steering pump and the emergency steering pump, does not need an expensive variable pump and a high-capacity energy accumulator, reduces the occupied installation space of the steering system, further reduces the manufacturing cost of the steering system, can not only meet the temporary emergency steering function of the steering energy accumulator when the vehicle fails, but also meet the requirement of long-time self-steering in the rescue process of the failed vehicle.
Drawings
Fig. 1 is a schematic diagram of a high flow steer-by-wire hydraulic steering system.
Fig. 2 is a vehicle steer-by-wire control block diagram.
Description of the embodiments
The utility model is further described below with reference to the drawings.
As shown in fig. 1, the high-flow hydraulic steering system based on servo motor pilot control comprises an oil tank 1, a steering main pump 2, a one-way valve 3, an emergency steering pump 4, a one-way valve 5, an overflow valve 6, a flow amplifier 7, a steering device 8, a servo motor 9 and a steering cylinder.
As shown in fig. 1, the oil suction ports of the steering main pump 2 and the emergency steering pump 4 are respectively connected with the oil tank 1, the oil outlet of the main steering pump 2 is connected with the oil inlet of the first one-way valve 3, the oil outlet of the first one-way valve 3 is connected with the HP port of the flow amplifier 7, the oil outlet of the emergency steering pump 4 is connected with the oil inlet of the second one-way valve 5, the oil outlet of the second one-way valve 5 is connected with the oil outlet of the first one-way valve 3, the oil inlet of the overflow valve 6 is connected with the oil outlet of the first one-way valve 3, the oil return port of the overflow valve 6 is connected with the HT port of the flow amplifier 7, the EF port of the flow amplifier 7 is connected with the HT port thereof, the load sensing Ls port of the flow amplifier 7 is connected with the load sensing Ls port of the steering gear 8, the PP port of the flow amplifier 7 is connected with the P port thereof, the T port of the flow amplifier 7 is connected with the oil return T port of the steering gear 8, the P port of the flow amplifier 7 is connected with the P port of the steering gear 8, the L port of the flow amplifier 7 is connected with the L port of the steering gear 8, the R port of the R amplifier 7 is connected with the R port of the steering cylinder 7 and the left and the right steering cylinder 11 is connected with the left and right cylinder 11 of the steering cylinder 11; the mechanical interface of the rotating shaft of the steering gear 8 is connected with the servo motor 9 through a spline.
As shown in fig. 1, when the steering system works, the steering main pump 2 absorbs hydraulic oil from the oil tank 1, and converts the hydraulic oil into pressure oil which enters an HP port of the flow amplifier 7 through the first one-way valve 3; when the steering main pump 2 cannot work due to the failure of the vehicle or the steering main pump 2 cannot work due to the failure of the vehicle, the emergency steering pump 4 can be started, and the pumped pressure oil enters the HP port of the flow amplifier 7 through the second one-way valve 5 to serve as an emergency power oil source; the power supply of the driving motor of the emergency steering pump 4 comes from a vehicle-mounted 24VDC storage battery; the relief valve 6 serves as a relief valve, the maximum operating pressure of the oil pump is set, and when the operating pressure of the oil pump is greater than the set pressure of the relief valve 6, the pressurized oil overflows back to the oil tank 1 through the relief valve 6; the flow amplifier 7 integrates control functions of a priority valve, a steering main valve, a pressure-limiting oil-compensating valve, and the like, and directly drives steering of the left and right steering cylinders 10, 11 through output ports CL and CR thereof, and the steering main valve of the flow amplifier 7 is controlled by a pilot-stage steering gear 8.
As shown in fig. 1, when the servo motor 9 obtains a forward PWM pulse signal given by the vehicle VCU, the servo motor 9 drives the steering gear 8 to rotate clockwise, an oil inlet P of the steering gear 8 is connected to an oil outlet R, an oil outlet L of the steering gear 8 is connected to an oil return T, pressure oil from the steering main pump 2 passes through a priority valve and an oil outlet P of the flow amplifier 7, and then passes through a P-R channel of the steering gear 8, the proportionally output pilot control oil passes through an R port of the flow amplifier 7 and is input into a left control cavity of a steering main valve of the flow amplifier 7, meanwhile hydraulic oil in a right control cavity of the steering main valve of the flow amplifier 7 passes through an L port of the flow amplifier 7 and then passes through an L-T channel of the steering gear 8, and then passes through a T port and an HT port oil return tank of the flow amplifier 7, and the steering main valve of the flow amplifier 7 moves rightward under the pressure difference effect of control cavities at two ends of the steering main valve; the pressure oil from the steering main pump 2 enters the rodless cavity of the right steering cylinder 11 and the rod cavity of the left steering cylinder 10 through the HP port, the priority valve and the steering main valve of the flow amplifier 7 and the CL port, and pushes the steering mechanism to steer the vehicle to the right.
As shown in fig. 1, when the servo motor 9 obtains a reverse PWM pulse signal given by the vehicle VCU, the servo motor 9 drives the steering gear 8 to rotate anticlockwise, an oil inlet P of the steering gear 8 is connected with an oil outlet L, an oil outlet R of the steering gear 8 is connected with an oil return T, pressure oil from the steering pump passes through a priority valve and an oil outlet P of the flow amplifier 7, and then passes through a P-L channel of the steering gear 8, the proportionally output pilot control oil is input to a right control cavity of a steering main valve of the flow amplifier 7 through the L port of the flow amplifier 7, meanwhile, hydraulic oil in a left control cavity of the steering main valve of the flow amplifier 7 passes through an R port of the flow amplifier 7 and then passes through an R-T channel of the steering gear 8, and then passes through an oil return tank T and an HT port of the flow amplifier 7, and the steering main valve of the flow amplifier 7 moves leftwards under the differential pressure action of control cavities at two ends of the steering main valve; the pressure oil from the steering main pump 2 enters the rodless cavity of the left steering cylinder 10 and the rod cavity of the right steering cylinder 11 through the HP port, the priority valve and the steering main valve of the flow amplifier 7 and the CR port, and pushes the steering mechanism to steer the vehicle to the left.
The pressure signals of the oil outlet L port and the oil outlet R port of the steering gear are transmitted to the priority valve load sensing Ls port of the flow amplifier 7 through the Ls port of the steering gear, so that the opening and closing of the priority valve of the flow amplifier 7 can follow the pressure control signal of the steering gear; when the servo motor is started to work, the steering gear is driven to enable the priority valve of the flow amplifier 7 to work along with the opening of the steering gear, and the front-rear pressure difference of the opening of the steering gear is kept constant, so that the flow passing through the opening of the steering gear is not changed along with the change of the load; when the servo motor is stopped rotating, the pressure oil from the steering pump returns to the oil tank through the EF port of the priority valve of the flow amplifier 7, so that the energy consumption of the steering system can be effectively reduced.
As shown in fig. 2, the steering hydraulic system steering control process:
a. Left turning: when the electronic steering wheel or the electronic steering handle is driven to the left (0-maximum angle), signals of the electronic steering wheel or the electronic steering handle position sensor are input into the vehicle-mounted controller through CAN communication, the vehicle-mounted controller analyzes and calculates according to the input signals of the electronic steering wheel or the electronic steering handle position sensor, then a reverse PWM pulse signal is output to the servo motor, the servo motor drives the steering gear to rotate anticlockwise, pilot control oil is output to enable the main valve of the flow amplifier to change direction, left turning pressure oil is provided for the steering cylinder, and the steering cylinder pushes the steering mechanism to enable the vehicle to turn leftwards.
B. Turning to the right: when the electronic steering wheel or the electronic steering handle is driven to the right (0-maximum angle), signals of the electronic steering wheel or the electronic steering handle position sensor are input into the vehicle-mounted controller through CAN communication, the vehicle-mounted controller analyzes and calculates according to the input signals of the electronic steering wheel or the electronic steering handle position sensor, then a forward PWM pulse signal is output to the servo motor, the servo motor drives the steering gear to rotate clockwise, pilot control oil is output to enable the main valve of the flow amplifier to change direction, right-turning pressure oil is provided for the steering cylinder, and the steering cylinder pushes the steering mechanism to enable the vehicle to turn to the right.
C. stopping turning: when the electronic steering wheel is stopped, or the electronic steering handle is loosened to automatically return to the neutral position (0 DEG), signals of the electronic steering wheel or the electronic steering handle position sensor are input into the vehicle-mounted controller through CAN communication, the vehicle-mounted controller performs analysis and calculation according to the signals input by the electronic steering wheel or the electronic steering handle position sensor, then the output of pulse signals to the servo motor is stopped, and the steering cylinder stops steering.
Claims (4)
1. A high-flow line-control hydraulic steering system based on servo motor pilot control comprises an oil tank, a flow amplifier, a steering gear and a steering cylinder; the flow amplifier is integrated with a priority valve, a steering main valve and a pressure-limiting oil supplementing valve; the method is characterized in that: the steering system further comprises a servo motor, the servo motor is connected with the steering gear, the steering gear is driven to rotate after receiving the electric signal, pilot control oil is output to enable the main valve of the flow amplifier to change direction, and pressure oil is provided for the steering cylinder according to the specified amplification factor.
2. The servo motor pilot control-based high-flow hydraulic steer-by-wire system of claim 1, wherein: the emergency steering system further comprises a steering main pump, a first one-way valve, an emergency steering pump, a second one-way valve and an overflow valve; the hydraulic fluid pump and the emergency steering pump are respectively connected with the oil tank, the oil outlet of the main steering pump is connected with the oil inlet of a first one-way valve, the oil outlet of the first one-way valve is connected with the HP port of a flow amplifier, the oil outlet of the emergency steering pump is connected with the oil inlet of a second one-way valve, the oil outlet of the second one-way valve is connected with the oil outlet of the first one-way valve, the oil inlet of an overflow valve is connected with the oil outlet of the first one-way valve, the oil return port of the overflow valve is connected with the HT port of the flow amplifier, the EF port of the flow amplifier is connected with the HT port of the flow amplifier, the load sensing Ls port of the flow amplifier is connected with the load sensing Ls port of the steering device, the PP port of the flow amplifier is connected with the P port of the flow amplifier, the T port of the flow amplifier is connected with the oil return T port of the steering device, the L port of the flow amplifier is connected with the L port of the steering device, the R port of the flow amplifier is connected with the R port of the steering device, the CL port of the flow amplifier is connected with the rod cavity of the left steering cylinder and the right steering cylinder, and the CR port of the left steering cylinder is connected with the rod cavity of the steering cylinder.
3. The servo motor pilot control-based high-flow hydraulic steer-by-wire system of claim 1, wherein: the rotating shaft mechanical interface of the steering gear is connected with the servo motor through a spline.
4. The servo motor pilot control-based high-flow hydraulic steer-by-wire system of claim 1, wherein: the electronic steering wheel or the electronic steering handle sends signals to the whole vehicle controller through the position sensor, and the whole vehicle controller sends signals to the servo motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323452555 | 2023-12-18 | ||
| CN2023234525553 | 2023-12-18 |
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| Publication Number | Publication Date |
|---|---|
| CN221251424U true CN221251424U (en) | 2024-07-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323543199.6U Active CN221251424U (en) | 2023-12-18 | 2023-12-25 | High-flow line-control hydraulic steering system based on servo motor pilot control |
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| Country | Link |
|---|---|
| CN (1) | CN221251424U (en) |
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2023
- 2023-12-25 CN CN202323543199.6U patent/CN221251424U/en active Active
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