CN104670309B - For the unmanned steering system of vehicle and the vehicle with the unmanned steering system - Google Patents
For the unmanned steering system of vehicle and the vehicle with the unmanned steering system Download PDFInfo
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- CN104670309B CN104670309B CN201310627772.3A CN201310627772A CN104670309B CN 104670309 B CN104670309 B CN 104670309B CN 201310627772 A CN201310627772 A CN 201310627772A CN 104670309 B CN104670309 B CN 104670309B
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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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Abstract
The invention discloses a kind of vehicle and its unmanned steering system, the unmanned steering system includes：Power cylinder, being provided with power cylinder is used for power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber；Rotary valve, rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and the left part hydraulic fluid port of rotary valve is connected by the first control valve with left part chamber, and the right part hydraulic fluid port of rotary valve is connected by the second control valve with right part chamber；And oil pump, oil pump is connected with oil inlet by the 3rd control valve and is connected by the 3rd control valve with the first control valve and the second control valve.The unmanned steering system of the present invention has manual mode and remote control mode, and the unmanned steering system architecture is simple, easy to control and cost is low.
Description
Technical field
The present invention relates to automobile construction field, more particularly, to a kind of unmanned steering system for vehicle and distant with this
Control the vehicle of steering.
Background technology
The function of automobile steering system is to ensure that automobile can carry out Turning travel according to the will of driver.Motor turning
System can be divided into mechanical steering system and power steering system.Mechanical steering system is used as steering energy using the muscle power of driver
Source, wherein all force transmission elements are all mechanical structure, mainly by operating mechanism, steering gear and steering gear three parts group
Into.The steering that power steering system is a set of dual-purpose driver muscle power and engine power is steerable energy, electronic-controlled power steering
System is mainly additionally arranged steering augmentor, and the steering augmentor is mainly hydraulic steering unit, in driver turn
During steering wheel, turning to augmentor can aid in completing go to action, reduce the torque of driver turn steering wheel.
In correlation technique known for inventor, unmanned steering system is occurred in that again on the basis of power steering system
System, with manually and automatically both of which, it is possible to achieve such as automatic parking function, but related remote control known for inventor
The structure of steering is more complicated, control is cumbersome and cost is high, and practicality is poor, and these remote driving technologies are all based on
Electric power-assisted steering apparatus（EPS）Exploitation, but many electric power-assisted steering apparatus（EPS）Also be not it is especially ripe, especially
For the heavier automobile of front axle load, it is necessary to develop powerful brushless electric machine, during remote driving, electric power steering
Device（EPS）Pivot stud can be often carried out, now the load of transfer is maximum, electric power-assisted steering apparatus（EPS）Electricity
Chance produces very big heat and causes motor to enter self-protection pattern, greatly reduces electric power-assisted steering apparatus（EPS）Electricity
The life-span of machine.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem of the prior art to a certain extent.
Therefore, it is an object of the present invention to propose a kind of unmanned steering system for vehicle, the unmanned steering system
System has manual mode and remote control mode, and the unmanned steering system architecture is simple, easy to control and cost is low.
It is another object of the present invention to propose a kind of vehicle, the vehicle includes above-mentioned unmanned steering system.
The unmanned steering system for vehicle of embodiment according to an aspect of the present invention, including：Power cylinder, described turn
Being provided with into power cylinder is used for the power cylinder internal insulation into left part chamber and the power cylinder piston of right part chamber；Turn
Valve, the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and the left part hydraulic fluid port of the rotary valve passes through the first control
Valve processed is connected with the left part chamber, and the right part hydraulic fluid port of the rotary valve is connected by the second control valve with the right part chamber；With
And oil pump, the oil pump be connected by the 3rd control valve with the oil inlet and by the 3rd control valve with described first control
Valve processed is connected with second control valve；Wherein, the unmanned steering system has manual steering operating mode and unmanned steering operating mode：
When the unmanned steering system is in the manual steering operating mode, the oil pump passes sequentially through the 3rd control valve, described
Rotary valve, first control valve fuel feeding into the left part chamber, or pass through the 3rd control valve, rotary valve, described
Second control valve fuel feeding into the right part chamber；It is described when the unmanned steering system is in the unmanned steering operating mode
Oil pump fuel feeding into the left part chamber by the 3rd control valve and first control valve, or pass through the described 3rd control
Valve processed and second control valve fuel feeding into the right part chamber.
Unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode, in vehicle just
Often during traveling, driver is manually operable steering wheel so as to control vehicle to turn to the left, turn to the right or keep straight on, and is needing to drive
When member's Remote Control Vehicle is turned to, such as in vehicle automatic parking, driver easily Remote Control Vehicle can rotate to the left or to the right, now
Driver can in the car, certainly also can the remote control outside car, easy to operate, control is simple.
In addition, according to the unmanned steering system for vehicle of the present invention, can also have following additional technical feature：
According to some embodiments of the present invention, the 3rd control valve is the control valve with flow regulating function.Thus,
By controlling the aperture of the 3rd control valve, so that controllable flow flows to the first control valve or the second control valve to rotary valve and rotary valve
Fluid flow in unit interval, and then the control to power cylinder piston action speed is realized, wheel steering is responded and is turned
It is controllable within the specific limits to speed.
According to some embodiments of the present invention, first control valve and second control valve are solenoid directional control valve,
3rd control valve is electromagnetic proportional valve.
According to some embodiments of the present invention, first control valve and second control valve are with Flow-rate adjustment
The control valve of function.So, by the regulation to the first control valve and the second control valve opening, equally achievable wheel steering rings
Should and turning velocity control.
According to some embodiments of the present invention, first control valve and second control valve are electromagnetic proportional valve,
3rd control valve is solenoid directional control valve.
According to some embodiments of the present invention, first control valve, second control valve and the 3rd control valve
It is the control valve with flow regulating function.
According to some embodiments of the present invention, first control valve, second control valve and the 3rd control valve
It is electromagnetic proportional valve.
According to some embodiments of the present invention, the oil pump is driven by motor, is set between the motor and the oil pump
There is speed adjusting gear.
According to some embodiments of the present invention, first control valve, second control valve and the 3rd control valve
In each be respectively provided with the first normally open, the second normally open and normally closed port, wherein
First normally open of first control valve is connected with the left part hydraulic fluid port, and the second of first control valve is normally opened
Mouth is connected with the left part chamber；
First normally open of second control valve is connected with the right part hydraulic fluid port, and the second of second control valve is normally opened
Mouth is connected with the right part chamber；
First normally open of the 3rd control valve is connected with the oil pump, the second normally open of the 3rd control valve with
The oil inlet is connected, the normally closed port of the 3rd control valve respectively with the normally closed port of first control valve and described second
The normally closed port of control valve is connected.
According to some embodiments of the present invention, the normally closed port of the normally closed port of first control valve and second control valve
It is connected by the 4th control valve with the normally closed port of the 3rd control valve, the 4th control valve is used to prevent the left part chamber
Or the hydraulic oil in the right part chamber inversely flows back to the 3rd control valve.
According to some embodiments of the present invention, the 4th control valve is check valve.
According to some embodiments of the present invention, the unmanned steering system also includes：Safety valve, the safety valve is located at institute
Between the normally closed port for stating the 4th control valve and the 3rd control valve.
According to some embodiments of the present invention, piston rod is respectively arranged with the two sides of the power cylinder piston, it is each
The piston rod of side extends the knuckle for being suitable for driving the vehicle side from inside to outside from corresponding chamber respectively.
According to some embodiments of the present invention, first control valve and second control valve are integrated in described turn to and moved
On power cylinder.
According to some embodiments of the present invention, first control valve and second control valve become one.
According to the vehicle of embodiment, including unmanned steering system according to a further aspect of the invention, the unmanned steering system
The unmanned steering system for vehicle of the above embodiment of the present invention.
Brief description of the drawings
Schematic diagram when Fig. 1 is unmanned steering system straight trip according to embodiments of the present invention；
Fig. 2 is schematic diagram when unmanned steering system according to embodiments of the present invention is in manual left-hand rotation operating mode；
Fig. 3 is schematic diagram when unmanned steering system according to embodiments of the present invention is in manual right-hand rotation operating mode；
Fig. 4 is schematic diagram when unmanned steering system according to embodiments of the present invention is in remote control left-hand rotation operating mode；
Fig. 5 is schematic diagram when unmanned steering system according to embodiments of the present invention is in remote control right-hand rotation operating mode；
Fig. 6 is the schematic diagram of unmanned steering system according to embodiments of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of
The description present invention and simplified description, rather than indicate or imply that the device or element of meaning must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not direct contact but by it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " fisrt feature that includes are immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
The unmanned steering system for vehicle according to embodiments of the present invention is described in detail below with reference to Fig. 1-Fig. 6.Wherein,
Fig. 1 is the schematic diagram when vehicle is kept straight on according to the unmanned steering system of the embodiment of the present invention, and Fig. 2 is according to the embodiment of the present invention
Unmanned steering system vehicle be in manual left-hand rotation operating mode when schematic diagram, Fig. 3 be according to the remote control of the embodiment of the present invention turn
To schematic diagram of the system when vehicle is in manual right-hand rotation operating mode, Fig. 4 is to be existed according to the unmanned steering system of the embodiment of the present invention
Vehicle is in schematic diagram during remote control left-hand rotation operating mode, and Fig. 5 is to be according to the unmanned steering system of the embodiment of the present invention in vehicle
Schematic diagram during remote control right-hand rotation operating mode.And it should be noted that in Fig. 1-Fig. 5 example, between two different parts
The arrow that solid line can be represented on pipeline, solid line schematically shows the void between the flow direction of fluid, two different parts
Line can represent that the arrow on electrical connection, dotted line schematically shows the transmission of signal.
As Figure 1-Figure 5, unmanned steering system according to embodiments of the present invention can include power cylinder 1, rotary valve
2nd, the first control valve 31, the second control valve 32, the 3rd control valve 33 and oil pump 4.
Being provided with shown in reference picture 1- Fig. 5, in power cylinder 1 is used for the internal insulation of power cylinder 1 into left part chamber
14 and the power cylinder piston 12 of right part chamber 15.Specifically, power cylinder 1 can be the hydraulic jack of elongated shape column,
Power cylinder piston 12 is provided with power cylinder 1, power cylinder piston 12 is sealingly fitted in power cylinder 1 to turn to
The inner space of power cylinder 1 is isolated into left part chamber 14 and right part chamber 15, and left part chamber 14 and right part chamber 15 are independent of one another, mutually
Do not interfere, i.e., the hydraulic oil in the hydraulic oil and right part chamber 15 in left part chamber 14 can not pass through phase at power cylinder piston 12
Mutually circulation.
Power cylinder piston 12 can be moved back and forth along the axial direction of power cylinder 1 in power cylinder 1, thus left part chamber
14 and the volume of right part chamber 15 can also be change, such as power cylinder piston 12 is to left movement（Reference picture 3 and Fig. 5 institutes
Show）, then the volume of left part chamber 14 diminish, the volume of right part chamber 15 becomes big, and and for example power cylinder piston 12 is moved right（Reference
Shown in Fig. 2 and Fig. 4）, then the volume of right part chamber 15 diminish, the volume of left part chamber 14 is mutually strained greatly.
According to one embodiment of present invention, piston rod 13 is respectively arranged with the two sides of power cylinder piston 12, changes speech
It, piston rod 13 is provided with the left surface and right flank of power cylinder piston 12.Piston rod 13 per side is respectively from corresponding
Chamber extend the knuckle for being suitable for driving the vehicle side from inside to outside, that is to say, that the piston rod 13 in left side is from left part chamber
Power cylinder 1 is extended beyond in room 14 to the left, the left end of the piston rod 13 on the left of this is suitable to the knuckle with vehicle left side
Coordinate, to drive the knuckle on the left of this to act.Equally, the piston rod 13 on right side is extended beyond to the right out of right part chamber 15
Power cylinder 1, the right-hand member of the piston rod 13 on the right side of this is suitable to coordinate with the knuckle of vehicle right side, to drive turning on the right side of this
Acted to section.What piston rod 13 can be integrally formed with power cylinder piston 12, certain power cylinder piston 12 and piston rod 13
Can be that then Split type structure is assembled together.
Shown in reference picture 1- Fig. 5, rotary valve 2 has oil inlet 21, oil return opening 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24, turns
The left part hydraulic fluid port 23 of valve 2 is connected by the first control valve 31 with left part chamber 14, and the right part hydraulic fluid port 24 of rotary valve 2 passes through the second control
Valve 32 is connected with right part chamber 15.In other words, rotary valve 2 is not joined directly together with left part chamber 14 and right part chamber 15, but logical
Corresponding control valve is crossed to be indirectly connected to.
It should be appreciated that the specific configuration and operation principle of rotary valve 2 have been prior art, and it is the common skill of this area
Known to art personnel.Specifically, rotary valve 2（That is rotary valve type）Valve core rotatable around its axis can control fluid
Flow, rotary valve 2 has the oil inlet 21, oil return opening 22, left part hydraulic fluid port 23 and the right part hydraulic fluid port 24 that interconnect, left part hydraulic fluid port 23
Suitable for being connected with left part chamber 14, right part hydraulic fluid port 24 is suitable to connect with right part chamber 15, when valve core turns over a very little clockwise
Angle when, can be supplied to right part hydraulic fluid port 24 from the pressure oil of oil pump 4 through oil inlet 21（It is schematically illustrate）, now left part hydraulic fluid port 23
Separated.When valve core turns over the angle of very little counterclockwise, left part is can be supplied to from the pressure oil of oil pump 4 through oil inlet 21
Hydraulic fluid port 23（It is schematically illustrate）, now right part hydraulic fluid port 24 separated.In other words, rotary valve 2 be in neutral position when, oil inlet 21, return
Hydraulic fluid port 22, left part hydraulic fluid port 23 and right part hydraulic fluid port 24 are interconnected, and the angle of very little is turned over along a direction in the valve core of rotary valve 2
Afterwards, oil inlet 21 connects left part hydraulic fluid port 23 simultaneously with right part hydraulic fluid port 24 and connected with oil return opening 22 or oil inlet 21 and left part oil
Right part hydraulic fluid port 24 is connected the connection of mouth 23 with oil return opening 22 simultaneously.
According to some embodiments of the present invention, the assembling mode of rotary valve 2 can use assembling mode same as the prior art,
For example so that steering gear is pinion and-rack manual steering gear as an example（Not limited to this）, the pinion and-rack manual steering gear, steering
Power cylinder 1 and rotary valve 2 can make into a single integrated structure, constitute in-line power steering, but the present invention is not limited thereto.Power
Cylinder piston 12 can be formed integrally with steering rack, and the front end pin of torsion bar is connected with tooth sector, and rear end is connected with valve core, valve core
It is fixed together again with turning to the tip of the axis, thus steering spindle can drive tooth sector to be driven by torsion bar.
When rotary valve 2 is in neutral position, 15 liang of chambers of left part chamber 14 and right part chamber are communicated（Rotary valve 2 is in neutral position
When putting, each hydraulic fluid port intercommunication of rotary valve 2, therefore left part chamber 14 and right part chamber 15 are the intercommunications by rotary valve 2）, fluid
Fuel tank is flowed back to by oil return opening 22, therefore power cylinder 1 does not work completely, now vehicle is in straight trip operating mode, reference picture 1
It is shown.When clockwise together with valve core upon starting rotation steering wheel, steering spindle（It is schematically illustrate）During rotation, because being turned to
The road surface steering drag that joint arm is transmitted, power cylinder piston 12 and steering rack can not temporarily be moved, therefore tooth sector is temporarily
Can not be with steering axes.
So, the torque for passing to tooth sector by steering spindle can only make torsion bar produce a little torsional deflection, make steering spindle（I.e.
Valve core）It is able to relative tooth sector（That is valve pocket）Little angle is turned over, so that rotary valve 2 makes the right part chamber of power cylinder 1
15 turn into the oil suction chamber of high pressure, and left part chamber 14 turns into the oil back chamber of low pressure.Act on hydraulic pressure to the left on power cylinder piston 12
Active force, helps tooth sector to force steering rack to start action, so as to drive knuckle band motor car wheel to deflect to the right.
Meanwhile, tooth sector also begins to rotate in same direction with steering spindle in itself, if steering wheel is rotated further, and turns round torsion of bar and becomes
Shape just exists always, and the right turn position residing for rotary valve 2 is also constant, once steering wheel stops operating, power cylinder 1 is temporarily gone back
Work on, cause tooth sector to be rotated further, reduce the torsional deflection of torsion bar, until torsion bar affranchises state, rotary valve 2
Neutral position is returned to, power cylinder 1 is stopped, now, steering wheel is to be parked in motionless on a certain position, then wheel steering angle
Also it is maintained for certain.
When being rotated counterclockwise for steering wheel, the movement of torsion bar, the rotation direction of the valve core of rotary valve 2 and power cylinder piston 12
Direction is contrary to the above, and deflecting roller is deflected to the left, is not detailed herein.
It should be appreciated that described above is only illustrative, it is impossible to be not understood as the hint to the present invention or limitation.It is right
For those skilled in the art, reading on the basis of specification above disclosure, prior art can be combined
Above-mentioned technical proposal or technical characteristic are replaced and/or changed.
Shown in reference picture 1- Fig. 5, oil pump 4 is connected and by the 3rd by the 3rd control valve 33 with the oil inlet 21 of rotary valve 2
Control valve 33 is connected with the first control valve 31 and the second control valve 32, in other words, and the 3rd control valve 33 is located at the control of oil pump 4 and first
Between valve 31 processed, the second control valve 32 and rotary valve 2, oil pump 4 can be by the 3rd control valve 33 to the fuel feeding of rotary valve 2, or can pass through
3rd control valve 33 is to the first control valve 31 or the fuel feeding of the second control valve 32.
Wherein, unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode.
Specifically, when unmanned steering system is in manual steering operating mode, shown in reference picture 2 and Fig. 3, oil pump 4 leads to successively
The 3rd control valve 33, rotary valve 2, the first control valve 31 fuel feeding into left part chamber 14 are crossed, or passes through the 3rd control valve 33, rotary valve
2nd, the second control valve 32 fuel feeding into right part chamber 15.Shown in reference picture 4- Fig. 5, unmanned steering work is in unmanned steering system
During condition, oil pump 4 is by the 3rd control valve 33, the first control valve 31 fuel feeding into left part chamber 14, or passes through the 3rd control valve
33rd, the second control valve 32 fuel feeding into right part chamber 15.
More specifically, shown in reference picture 2, when unmanned steering system is in manual operating mode, turning if driver turns left
To disk, fluid pump is given the 3rd control valve 33 by oil pump 4, and the 3rd control valve 33 exports oil to rotary valve 2, and rotary valve 2 passes through left part oil
Mouth 23 exports fluid to the first control valve 31, and fluid after the first control valve 31 by entering in left part chamber 14, left part chamber
Oil pressure increases in room 14, so that propulsion power cylinder piston 12 moves right, power cylinder piston 12 is turned by the driving of piston rod 13
Acted to section, wheel is turned left.Now, because right part chamber 15 is compressed by power cylinder piston 12, in right part chamber 15
Fluid from the oil return opening 22 of rotary valve 2 after the second control valve 32, rotary valve 2 by being back to fuel tank.
Equally, shown in reference picture 3, when unmanned steering system is in manual operating mode, the steering wheel if driver turns right,
Fluid pump is given the 3rd control valve 33 by oil pump 4, and the 3rd control valve 33 exports oil to rotary valve 2, and rotary valve 2 will by right part hydraulic fluid port 24
Fluid is exported to the second control valve 32, and fluid after the second control valve 32 by entering in right part chamber 15, in right part chamber 15
Oil pressure increases, so that propulsion power cylinder piston 12 is moved to the left, power cylinder piston 12 drives knuckle to move by piston rod 13
Make, wheel is turned right.Now, because left part chamber 14 is compressed by power cylinder piston 12, the fluid in left part chamber 14 leads to
Cross the backflow fuel tank of oil return opening 22 from rotary valve 2 after the first control valve 31, rotary valve 2.
Shown in reference picture 4, when unmanned steering system is in unmanned steering operating mode, the remote-controlled wheel steering system of driver
Work, if driver's control pivoted wheels on vehicle turns left, fluid pump is given the 3rd control valve 33, the 3rd control valve by oil pump 4
33 again export fluid to the first control valve 31, and fluid is entered in left part chamber 14 by the first control valve 31, left part chamber
Oil pressure increases in 14, so that propulsion power cylinder piston 12 moves right, power cylinder piston 12 is driven by piston rod 13 and turned to
Section is acted, and wheel is turned left.Now, because right part chamber 15 is compressed by power cylinder piston 12, the oil in right part chamber 15
Liquid passes through the backflow fuel tank of oil return opening 22 after the second control valve 32, rotary valve 2 from rotary valve 2.
Shown in reference picture 5, when unmanned steering system is in unmanned steering operating mode, the remote-controlled wheel steering system of driver
Work, if driver's Remote Control Vehicle deflecting roller turns right, fluid pump is given the 3rd control valve 33, the 3rd control valve by oil pump 4
33 again export fluid to the second control valve 32, and fluid is entered in right part chamber 15 by the second control valve 32, right part chamber
Oil pressure increases in 15, so that propulsion power cylinder piston 12 is moved to the left, power cylinder piston 12 is driven by piston rod 13 and turned to
Section is acted, and wheel is turned right.Now, because left part chamber 14 is compressed by power cylinder piston 12, the oil in left part chamber 14
Liquid passes through the backflow fuel tank of oil return opening 22 after the first control valve 31, rotary valve 2 from rotary valve 2.
Thus, unmanned steering system according to embodiments of the present invention has manual steering operating mode and unmanned steering operating mode,
During normal vehicle operation, driver is manually operable steering wheel so as to control vehicle to turn to the left, turn to the right or keep straight on, and is needing
When wanting the steering of driver's Remote Control Vehicle, such as in vehicle automatic parking, driver easily Remote Control Vehicle can turn to the left or to the right
It is dynamic, now driver can in the car, certainly also can the remote control outside car, easy to operate, control is simple.
It should be appreciated that during the steering of driver's Remote Control Vehicle, RPB can be arranged on the control of vehicle centre console
It on panel, may alternatively be integrated within certainly on car key, facilitate user's remote control outside car, certain RPB can also be provided separately within one
On individual portable steering remote control.
According to some embodiments of the present invention, the 3rd control valve 33 is the control valve with flow regulating function, in other words,
The flow of the adjustable hydraulic oil for flowing through the 3rd control valve 33 of 3rd control valve 33.In some embodiments, the first control valve
31 and second control valve 32 be solenoid directional control valve, the 3rd control valve 33 is electromagnetic proportional valve.
Thus, by controlling the aperture of the 3rd control valve 33, so that controllable flow flows to first to rotary valve 2 and rotary valve 2
Fluid flow in the unit interval of 31 or second control valve of control valve 32, can also control the 3rd control valve 33 to directly feed first
Fluid flow in the unit interval of 31 or second control valve of control valve 32, and then realize the control to the responsiveness of power cylinder piston 12
System, makes wheel steering response and turning velocity controllable within the specific limits.
According to other embodiments of the present invention, the first control valve 31 and the second control valve 32 are with Flow-rate adjustment work(
The control valve of energy.In some embodiments, the first control valve 31 and the second control valve 32 are electromagnetic proportional valve, the 3rd control
Valve 33 is solenoid directional control valve.So, by the regulation to the first control valve 31 and the aperture of the second control valve 32, car equally can be achieved
Take turns the control of steering response and turning velocity.
According to the still other embodiments of the present invention, the first control valve 31, the second control valve 32 and the 3rd control valve 33 are
Control valve with flow regulating function.In some embodiments, the first control valve 31, the second control valve 32 and the 3rd control
Valve 33 is electromagnetic proportional valve.The unmanned steering system of some embodiments equally can be achieved wheel steering response and turn to speed
The control of degree.
It should be noted that in the above-described embodiment, due to the first control valve 31, the second control valve 32 and the 3rd control
Valve 33 is electrically-controlled valve, with commutation and/or flow regulating function, therefore passes through controller（That is, ECU）Come control switching this three
The upper electricity and power-down state of individual valve can realize the switching of different operating modes.Because the vehicle plenty of time is in manually operated shape
State, it is preferred that when controller controls three valves to be in power-down state, unmanned steering system can be at manual steering work
Condition, and in controller controls three valves when being partially in power-up state, unmanned steering system can be at unmanned steering work
Condition, so not only saves energy consumption, while easy to control.
According to some embodiments of the present invention, the first control valve 31 has the first normally open 311, the and of the second normally open 312
Normally closed port 313.Second control valve 32 has the first normally open 321, the second normally open 322 and normally closed port 323.3rd control valve 33
With the first normally open 331, the second normally open 332 and normally closed port 333.
Shown in reference picture 1, the first normally open 311 of the first control valve 31 is connected with left part hydraulic fluid port 23, the first control valve 31
The second normally open 312 be connected with left part chamber 14.First normally open 321 of the second control valve 32 is connected with right part hydraulic fluid port 24,
Second normally open 322 of the second control valve 32 is connected with right part chamber 15.The first normally open 331 and oil pump of 3rd control valve 33
4 are connected, and the second normally open 332 of the 3rd control valve 33 is connected with the oil inlet 21 of rotary valve 2, the normally closed port of the 3rd control valve 33
333 normally closed port 323 respectively with the control valve 32 of normally closed port 313 and second of the first control valve 31 is connected.
Be below solenoid directional control valve with the first control valve 31 and the second control valve 32, the 3rd control valve 33 be electromagnetic proportional valve
Exemplified by, the operation principle of unmanned steering system according to embodiments of the present invention is briefly described.
When vehicle is in straight trip, as shown in figure 1, controller can control the first control valve 31, the and of the second control valve 32
3rd control valve 33 all no powers, three valves are all in initial position, and fluid is from oil pump 4 after the 3rd control valve 33 and rotary valve 2
Flow back to fuel tank.
When unmanned steering system is in manual steering operating mode：As shown in figure 3, controller can control the first control valve
31st, the second control valve 32 and the 3rd control valve 33 all no powers, three valves are all in initial position, and fluid is from oil pump 4 through the 3rd
Enter rotary valve 2 after the first normally open 331 and the second normally open 332 of control valve 33, rotate clockwise steering wheel manually, fluid from
The right part hydraulic fluid port 24 of rotary valve 2 flows out, and is entered after the first normally open 321 and the second normally open 322 by the second control valve 32
In the right part chamber 15 of power cylinder 1, power cylinder piston 12 to left movement with pass through knuckle drive pivoted wheels on vehicle turn right.
Meanwhile, the fluid in left part chamber 14 pass sequentially through the second normally open 312 of the first control valve 31, the first normally open 311 and
Enter rotary valve 2 after left part hydraulic fluid port 23, then fuel tank is back to from the oil return opening 22 of rotary valve 2.
As shown in Fig. 2 when rotating counterclockwise steering disk manually, pivoted wheels on vehicle will turn left, its principle with it is above-mentioned big
Cause is identical, refer to above description, no longer describes in detail here.
When unmanned steering system is in unmanned steering operating mode：As shown in figure 5, controller can control the 3rd control valve 33
The aperture of the second normally open 332 be gradually reduced, and the aperture of the normally closed port 333 of the 3rd control valve 33 of control gradually increases, together
When control the no power of the first control valve 31 be in initial position, and control the second control valve 32 be powered commutation so that second control
The normally open 322 of normally closed port 323 and second of valve 32 is turned on, fluid through oil pump 4 pass sequentially through the 3rd control valve 33 it is first normally opened
Flowed out after mouth 331 and normally closed port 333, then the normally open 322 of normally closed port 323 and second Jing Guo the second control valve 32 enters right part
In chamber 15, propulsion power cylinder piston 12 is moved to the left, so that deflecting roller is turned to the right.Now the first control valve 31 is still in disconnected
Fluid in electricity condition, left part chamber 14 pass sequentially through the second normally open 312 of the first control valve 31, the first normally open 311 with
And enter rotary valve 2 after left part hydraulic fluid port 23, then fuel tank is back to from the oil return opening 22 of rotary valve 2, realize turning right under remote control mode
To.
Equally, shown in reference picture 4, when being turned to the left under remote control mode, the first control valve 31 is powered, the second control valve 32
Power-off, its principle is roughly the same with above description, repeats no more here.
It should be appreciated that under unmanned steering operating mode, controller can control the second normally open of the 3rd control valve 33
332 aperture is gradually reduced, but the present invention is not limited thereto.Second normally open 332 of the 3rd control valve 33 can also be closed completely
Close, for a person skilled in the art, can flexibly set according to actual needs.
Further, shown in reference picture 1- Fig. 5, the normally closed port of the control valve 32 of normally closed port 313 and second of the first control valve 31
323 are connected by the 4th control valve 34 with the normally closed port 333 of the 3rd control valve 33, and the 4th control valve 34 is used to prevent left part chamber
14 or right part chamber 15 in fluid inversely flow back to the 3rd control valve 33.Thus, it is redirect in unmanned steering system remote control a certain
After angle, the 4th control valve 34 can lock the fluid in power cylinder 1 so that vehicle is kept at an angle not when travelling
Become.Alternatively, the 4th control valve 34 is check valve.Thus, simple in construction, cost is low.
Further, according to one embodiment of present invention, unmanned steering system also includes safety valve 35, and safety valve 35 is set
Between the 4th control valve 34 and the normally closed port 333 of the 3rd control valve 33.Safety valve 35 can be overflow valve, for preventing remote control
Oil pressure is excessive and damage system during steering, increases the reliability of system.
According to one embodiment of present invention, the first control valve 31 and the second control valve 32 can be integrated in power cylinder
On 1, so that unmanned steering system architecture is compacter, while convenient arrangement.
But, the present invention is not limited thereto, in another embodiment of the present invention, the first control valve 31 and the second control
Valve 32 can become one.Or, the first control valve 31 and the second control valve 32 may alternatively be integrated within steering gear, by pipeline with
Power cylinder 1 is connected, or the first control valve 31 and the second control valve 32 also can be independent mutually, are connected to each other by pipeline.
Furthermore, the first control valve 31, the second control valve 32 and the 3rd control valve 33 can be fabricated to an integrated valve block structure, be installed on
On existing hydraulic steering gear, oil pipe is reduced, cost is reduced.
In short, those skilled in the art is being read on the basis of specification disclosure, with reference to hydraulic pressure
The ABC in field, can be to arrangement form, the assembling side of the first control valve 31, the second control valve 32 and the 3rd control valve 33
Formula is improved, and to cause unmanned steering system according to embodiments of the present invention to be adapted to different automobile types, is made according to the present invention
The unmanned steering system architecture of embodiment is compacter, simple, and cost is lower, and the scope of application is wider.
According to some embodiments of the present invention, oil pump 4 can be directly driven by the engine of vehicle, due to the rotating speed of engine
Moment is becoming, therefore the oil pump 4 can have flow control device and overflow mechanism, and the flow of the oil pump 4 output can be controlled
In a less mobility scale, maximum oil pressure is constant, that is to say, that those skilled in the art can be according to unmanned steering
The output flow and maximum oil pressure of the requirement setting oil pump 4 of system.
But, the present invention is not limited thereto, in other embodiments of the present invention, and oil pump 4 also can be directly by individually electricity
Machine is driven, i.e., oil pump 4 is not directly driven by engine.In such an embodiment, it is preferable the output speed of oil pump 4 is adjustable, example
As that can set speed adjusting gear between oil pump 4 and motor, speed adjusting gear can be single-row single-stage planetary gear train and/or single
Double pinions mechanism and/or ravigneaux planetary gear mechanism, such oil pump 4 are driven by single motor, and are set up
Speed adjusting gear, so that the output speed of oil pump 4 is adjustable, such control valve 32 of first control valve 31 and second and the 3rd control
Valve 33 can be solenoid directional control valve, and response speed and the steering of Vehicular turn can be controlled by adjusting the pump oil amount of oil pump 4
Speed.Moreover, by setting single motor and speed adjusting gear, motor can be set and export oil-feed pump 4 by speed adjusting gear
Maximum (top) speed so that oil pump 4 can be at declared working condition under the maximum (top) speed, can so cancel overflow mechanism, reduce cost.
But, the present invention is not limited thereto.
In addition, it is necessary to illustrate a bit, according to some embodiments of the present invention, the first control valve 31, the and of the second control valve 32
3rd control valve 33 can be magnetic valve, and for example upper electricity of its specific works state and power-down state can accordingly be controlled by controller
System, this should all will be appreciated that for a person skilled in the art.
Vehicle according to embodiments of the present invention is briefly described below.
Vehicle according to embodiments of the present invention, including the unmanned steering system according to described in the above embodiment of the present invention.
Vehicle according to some embodiments of the invention can be car, car, truck, lorry, SUV etc..
It should be noted that the other structures of vehicle according to embodiments of the present invention such as speed changer, differential mechanism, decelerator
Deng being prior art, and it is well known for ordinary skill in the art, therefore be no longer described in detail one by one here.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
What combined in an appropriate manner in one or more embodiments or example.In addition, those skilled in the art can say this
Not be the same as Example or example described in bright book are engaged and combined.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (13)
1. a kind of unmanned steering system for vehicle, it is characterised in that including：
Power cylinder, being provided with the power cylinder is used for the power cylinder internal insulation into left part chamber and the right side
The power cylinder piston of portion's chamber；
Rotary valve, the rotary valve has oil inlet, oil return opening, left part hydraulic fluid port and right part hydraulic fluid port, and the left part hydraulic fluid port of the rotary valve passes through
First control valve is connected with the left part chamber, and the right part hydraulic fluid port of the rotary valve passes through the second control valve and the right part chamber phase
Even；And
Oil pump, the oil pump is connected by the 3rd control valve with the oil inlet and by the 3rd control valve and described first
Control valve is connected with second control valve；
Wherein, the unmanned steering system has manual steering operating mode and unmanned steering operating mode：
The unmanned steering system be in the manual steering operating mode when, the oil pump pass sequentially through the 3rd control valve,
The rotary valve, first control valve fuel feeding into the left part chamber, or by the 3rd control valve, the rotary valve,
Second control valve fuel feeding into the right part chamber；
When the unmanned steering system is in the unmanned steering operating mode, the oil pump passes through the 3rd control valve and described
First control valve fuel feeding into the left part chamber, or by the 3rd control valve and second control valve to the right side
Fuel feeding in portion's chamber；
Each in first control valve, second control valve and the 3rd control valve be respectively provided with the first normally open,
Second normally open and normally closed port, wherein
First normally open of first control valve is connected with the left part hydraulic fluid port, the second normally open of first control valve with
The left part chamber is connected；
First normally open of second control valve is connected with the right part hydraulic fluid port, the second normally open of second control valve with
The right part chamber is connected；
First normally open of the 3rd control valve is connected with the oil pump, the second normally open of the 3rd control valve with it is described
Oil inlet is connected, and the normally closed port of the 3rd control valve is controlled with the normally closed port of first control valve and described second respectively
The normally closed port of valve is connected；
3rd control valve is the control valve with flow regulating function；
First control valve and second control valve are solenoid directional control valve, and the 3rd control valve is electromagnetic proportional valve.
2. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first control valve and institute
It is the control valve with flow regulating function to state the second control valve.
3. the unmanned steering system according to claim 2 for vehicle, it is characterised in that first control valve and institute
It is electromagnetic proportional valve to state the second control valve, and the 3rd control valve is solenoid directional control valve.
4. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first control valve, institute
It is the control valve with flow regulating function to state the second control valve and the 3rd control valve.
5. the unmanned steering system according to claim 4 for vehicle, it is characterised in that first control valve, institute
It is electromagnetic proportional valve to state the second control valve and the 3rd control valve.
6. the unmanned steering system according to claim 1 for vehicle, it is characterised in that the oil pump is driven by motor
It is dynamic, it is provided with speed adjusting gear between the motor and the oil pump.
7. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first control valve it is normal
Remain silent and be connected with the normally closed port of second control valve by the 4th control valve with the normally closed port of the 3rd control valve, described
Four control valves are used to prevent the hydraulic oil in the left part chamber or the right part chamber from inversely flowing back to the 3rd control valve.
8. the unmanned steering system according to claim 7 for vehicle, it is characterised in that the 4th control valve is single
To valve.
9. the unmanned steering system according to claim 7 for vehicle, it is characterised in that also include：Safety valve, it is described
Safety valve is located between the 4th control valve and the normally closed port of the 3rd control valve.
10. the unmanned steering system according to claim 1 for vehicle, it is characterised in that the power cylinder piston
Piston rod is respectively arranged with two sides, the piston rod per side extends from inside to outside from corresponding chamber respectively to be suitable for
Drive the knuckle of the vehicle side.
11. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first control valve and
Second control valve is integrated on the power cylinder.
12. the unmanned steering system according to claim 1 for vehicle, it is characterised in that first control valve and
Second control valve becomes one.
13. a kind of vehicle, it is characterised in that including unmanned steering system, the unmanned steering system is according to claim 1-
Unmanned steering system any one of 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310627772.3A CN104670309B (en) | 2013-11-29 | 2013-11-29 | For the unmanned steering system of vehicle and the vehicle with the unmanned steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310627772.3A CN104670309B (en) | 2013-11-29 | 2013-11-29 | For the unmanned steering system of vehicle and the vehicle with the unmanned steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104670309A CN104670309A (en) | 2015-06-03 |
| CN104670309B true CN104670309B (en) | 2017-08-22 |
Family
ID=53306038
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310627772.3A Active CN104670309B (en) | 2013-11-29 | 2013-11-29 | For the unmanned steering system of vehicle and the vehicle with the unmanned steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104670309B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3412642B2 (en) * | 1993-11-08 | 2003-06-03 | マツダ株式会社 | Automotive steering control device |
| JP3731956B2 (en) * | 1996-12-02 | 2006-01-05 | 光洋精工株式会社 | Steering device |
| JP4247986B2 (en) * | 2003-12-10 | 2009-04-02 | 株式会社小松製作所 | Vehicle steering control device |
| FR2955305A1 (en) * | 2010-01-20 | 2011-07-22 | Mauguin Citagri | Device for aligning wheels assembled on mobile axle of e.g. agricultural machinery with tractor, has automatic pressure regulating system provided with aligning pressure regulation mechanism connected to hydraulic transmission system |
| CN202827716U (en) * | 2012-09-12 | 2013-03-27 | 上海宝冶集团有限公司 | Steering electro-hydraulic control system for remote-control loader |
-
2013
- 2013-11-29 CN CN201310627772.3A patent/CN104670309B/en active Active
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| Publication number | Publication date |
|---|---|
| CN104670309A (en) | 2015-06-03 |
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