CN221251425U - High-flow line-control hydraulic steering system based on electrohydraulic proportional pilot control - Google Patents
High-flow line-control hydraulic steering system based on electrohydraulic proportional pilot control Download PDFInfo
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- CN221251425U CN221251425U CN202323543200.5U CN202323543200U CN221251425U CN 221251425 U CN221251425 U CN 221251425U CN 202323543200 U CN202323543200 U CN 202323543200U CN 221251425 U CN221251425 U CN 221251425U
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Abstract
A high-flow line-control hydraulic steering system based on electrohydraulic proportional pilot control comprises an oil tank, a steering main pump, a flow amplifier 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 hydraulic control system also comprises an electro-hydraulic proportional reversing valve, wherein the electro-hydraulic proportional reversing valve outputs pilot control oil to enable a steering main valve of the flow amplifier to reverse and supply pressure oil to the steering cylinder. The principle of the utility model is as follows: the steering system composed of the traditional mature flow amplifier and the electro-hydraulic proportional reversing valve is used for solving the large-flow wire steering requirement of the large-tonnage mining dump truck and reducing the manufacturing cost.
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 electro-hydraulic proportional 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 electrohydraulic proportional 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 electrohydraulic proportional pilot control comprises an oil tank, a steering main pump, a flow amplifier 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 hydraulic control system also comprises an electro-hydraulic proportional reversing valve, wherein the electro-hydraulic proportional reversing valve outputs pilot control oil to enable a steering main valve of the flow amplifier to reverse, and pressure oil is provided for a steering cylinder according to a specified amplification factor. The principle of the utility model is as follows: the steering system composed of the traditional mature flow amplifier and the electro-hydraulic proportional reversing valve is used for solving the large-flow wire steering requirement of the large-tonnage mining dump truck, reducing the manufacturing cost and saving energy during steering operation.
As an improvement, the emergency steering system also comprises a first one-way valve, an emergency steering pump, a second one-way valve, an overflow valve and a shuttle valve; the oil suction ports of the steering main pump and the emergency steering pump are respectively connected with an 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 the 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 control outlet of the shuttle valve, 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 electro-hydraulic proportional reversing valve, the P port of the flow amplifier is connected with the oil inlet P port of the electro-hydraulic proportional reversing valve, the L port of the flow amplifier is connected with the working oil port A of the electro-hydraulic proportional reversing valve, the R port of the flow amplifier is connected with the working oil port B of the electro-hydraulic proportional reversing valve, the CL port of the flow amplifier is connected with the rod cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder, the CR port of the flow amplifier is connected with the rod-free cavity of the left steering cylinder and the rod cavity of the right steering cylinder, and the oil inlets at two ends of the shuttle valve are respectively connected with the A port and the B port of the electro-hydraulic proportional reversing valve.
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 electro-hydraulic proportional reversing valve.
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 requirement of a high-flow steering-by-wire system is met by utilizing a traditional mature non-steering-by-wire flow amplifier and a conventional hydraulic electromagnetic proportional reversing valve, a special steering-by-wire valve control unit for high flow is not required to be developed, and the manufacturing cost is low;
3. The conventional main steering pump and the emergency steering pump are adopted, an expensive variable pump and a high-capacity energy accumulator are not needed, the occupied installation space of the steering system is reduced, the cost of the steering system is further reduced, the temporary emergency steering function of the steering energy accumulator during vehicle faults can be met, and the long-time self-steering function requirement of the fault vehicle in the rescue process can be met.
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 line-control hydraulic steering system based on electrohydraulic proportional pilot control comprises an oil tank 1, a steering main pump 2, a first one-way valve 3, an emergency steering pump 4, a second one-way valve 5, an overflow valve 6, a flow amplifier 7, an electrohydraulic proportional reversing valve 8, a shuttle valve 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 check valve 3, the oil outlet of the first check 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 check valve 5, the oil outlet of the second check valve 5 is connected with the oil outlet of the first check valve 3, the oil inlet of the overflow valve 6 is connected with the oil outlet of the first check 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 control outlet of the shuttle valve 9, the PP port of the flow amplifier 7 is connected with the P port of the flow amplifier 7, the T port of the flow amplifier 7 is connected with the oil return T port of the electro-hydraulic proportional reversing valve 8, the P port of the flow amplifier 7 is connected with the oil inlet P port of the electro-hydraulic proportional reversing valve 8, the L port of the flow amplifier 7 is connected with the working oil port A of the electro-hydraulic proportional reversing valve 8, the R port of the flow amplifier 7 is connected with the working oil port B of the electro-hydraulic proportional reversing valve 8, the CL port of the flow amplifier 7 is connected with the rod cavity of the left steering cylinder 10 and the rod-free cavity of the right steering cylinder, the CR port of the flow amplifier 7 is connected with the rod-free cavity of the left steering cylinder 10 and the rod cavity of the right steering cylinder, and oil inlets at two ends of the shuttle valve 9 are respectively connected with the A port and the B port of the electro-hydraulic proportional reversing valve 8.
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 main steering pump cannot work due to the failure of the vehicle or the main steering pump cannot work due to the failure of the main steering pump, 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 is 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, pressurized oil overflows back to the oil tank through the relief valve 6; the flow amplifier 7 integrates control functions of a priority valve, a steering main valve, a pressure-limiting oil supplementing valve and the like, and directly drives the steering of the left and right steering cylinders 10 and 11 through the output ports CL and CR of the flow amplifier 7, and the steering main valve of the flow amplifier 7 is controlled by a pilot-stage electro-hydraulic proportional reversing valve 8.
As shown in fig. 1, when the proportional electromagnet DT1 of the electro-hydraulic proportional directional valve 8 obtains the PWM duty cycle current given by the vehicle VCU, the valve core of the electro-hydraulic proportional directional valve 8 moves rightward by a distance proportional to the PWM duty cycle current, so that the P port and the a port of the electro-hydraulic proportional directional valve 8 are connected, and the B port and the T port are connected; the pressure oil from the steering main pump 2 passes through a priority valve and a P oil outlet of the flow amplifier 7, and then passes through a P-A channel of the electro-hydraulic proportional reversing valve 8, the pilot control oil which is output in proportion is input to a right end control cavity of a steering main valve of the flow amplifier 7 through an L port of the flow amplifier 7, meanwhile, hydraulic oil in a left end control cavity of the steering main valve of the flow amplifier 7 passes through an R port of the flow amplifier 7, passes through a B-T channel of the electro-hydraulic proportional reversing valve 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 leftwards under the pressure difference effect of control cavities at two ends of the pilot control oil; 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 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 leftwards.
As shown in fig. 1, when the proportional electromagnet DT2 of the electro-hydraulic proportional directional valve 8 obtains the PWM duty cycle current given by the vehicle VCU, the valve core of the electro-hydraulic proportional directional valve 8 moves leftward by a distance proportional to the PWM duty cycle current, so that the P port and the B port of the electro-hydraulic proportional directional valve 8 are connected, and the a port and the T port are connected; the pressure oil from the steering main pump 2 passes through a priority valve and a P oil outlet of the flow amplifier 7, and then passes through a P-B channel of the electro-hydraulic proportional reversing valve 8, the pilot control oil which is output in proportion is input into a left end control cavity of a steering main valve of the flow amplifier 7 through an R port of the flow amplifier 7, meanwhile, hydraulic oil in a right end control cavity of the steering main valve of the flow amplifier 7 passes through an L port of the flow amplifier 7, passes through an A-T channel of the electro-hydraulic proportional reversing valve 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 rightwards under the pressure difference effect of the control cavities at two ends of the pilot control oil; 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, the shuttle valve 9 is used for transmitting a pressure signal of an a port or a B port of the electro-hydraulic proportional directional valve 8 to a priority valve load sensing Ls port of the flow amplifier 7, so that the opening and closing of the priority valve of the flow amplifier 7 can follow a pressure control signal of the electro-hydraulic proportional directional valve 8; when the electro-hydraulic proportional reversing valve 8 is opened, the priority valve of the flow amplifier 7 is opened, and the pressure difference before and after the opening of the electro-hydraulic proportional reversing valve 8 is kept at a constant value, so that the flow passing through the opening of the electro-hydraulic proportional reversing valve 8 is not changed along with the change of the load; when the electro-hydraulic proportional reversing valve 8 stops working, the pressure oil from the steering main pump 2 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 leftwards (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, PWM duty ratio current (1% -100%/PWM/0-maximum current) is output to the electro-hydraulic proportional reversing valve DT1, pilot control oil is output by the electro-hydraulic proportional reversing valve to enable the main valve of the flow amplifier to reverse, 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, PWM duty ratio current (1% -100%/PWM/0-maximum current) is output to the electro-hydraulic proportional reversing valve DT2, pilot control oil is output by the electro-hydraulic proportional reversing valve to enable the main valve of the flow amplifier to reverse, 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, current output to the pilot proportional valve electromagnets DT1 and DT2 is stopped, and the steering cylinder stops steering.
Claims (3)
1. A high-flow line-control hydraulic steering system based on electrohydraulic proportional pilot control comprises an oil tank, a steering main pump, a flow amplifier 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 hydraulic control system also comprises an electro-hydraulic proportional reversing valve, wherein the electro-hydraulic proportional reversing valve outputs pilot control oil to enable a steering main valve of the flow amplifier to reverse, and pressure oil is provided for a steering cylinder according to a specified amplification factor.
2. The high-flow steer-by-wire system based on electro-hydraulic proportional pilot control of claim 1, wherein: the emergency steering system further comprises a first one-way valve, an emergency steering pump, a second one-way valve, an overflow valve and a shuttle valve; the oil suction ports of the steering main pump and the emergency steering pump are respectively connected with an 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 the 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 control outlet of the shuttle valve, 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 electro-hydraulic proportional reversing valve, the P port of the flow amplifier is connected with the oil inlet P port of the electro-hydraulic proportional reversing valve, the L port of the flow amplifier is connected with the working oil port A of the electro-hydraulic proportional reversing valve, the R port of the flow amplifier is connected with the working oil port B of the electro-hydraulic proportional reversing valve, the CL port of the flow amplifier is connected with the rod cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder, the CR port of the flow amplifier is connected with the rod-free cavity of the left steering cylinder and the rod cavity of the right steering cylinder, and the oil inlets at two ends of the shuttle valve are respectively connected with the A port and the B port of the electro-hydraulic proportional reversing valve.
3. The high-flow steer-by-wire system based on electro-hydraulic proportional pilot control 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 electro-hydraulic proportional reversing valve.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2023234525549 | 2023-12-18 | ||
| CN202323452554 | 2023-12-18 |
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| Publication Number | Publication Date |
|---|---|
| CN221251425U true CN221251425U (en) | 2024-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323543200.5U Active CN221251425U (en) | 2023-12-18 | 2023-12-25 | High-flow line-control hydraulic steering system based on electrohydraulic proportional pilot control |
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| Country | Link |
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| CN (1) | CN221251425U (en) |
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2023
- 2023-12-25 CN CN202323543200.5U patent/CN221251425U/en active Active
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