CN115626215B - Novel double-axle steering system - Google Patents
Novel double-axle steering system Download PDFInfo
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- CN115626215B CN115626215B CN202211472026.7A CN202211472026A CN115626215B CN 115626215 B CN115626215 B CN 115626215B CN 202211472026 A CN202211472026 A CN 202211472026A CN 115626215 B CN115626215 B CN 115626215B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1554—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles
- B62D7/1572—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
本发明公开了一种新型双桥转向系统，包括有一桥电液循环球转向器、二桥电液循环球转向器、转向液压油箱、双源电动转向泵、整车控制器和多合一控制器，其中一桥电液循环球转向器连接有一桥线控转向控制系统，二桥电液循环球转向器连接有二桥线控转向控制系统，一桥线控转向控制系统和二桥线控转向控制系统之间为通讯连接，一桥线控转向控制系统还与整车控制器进行通讯连接，一桥电液循环球转向器和二桥电液循环球转向器通过管路分别与转向液压油箱相连接，有益效果：具有控制器双核芯片互为冗余，转向器自带转角传感器与车桥转角传感器采集信号互为冗余，流量、压力、油温、液位监测冗余。
The invention discloses a novel double-bridge steering system, comprising a first-bridge electro-hydraulic circulating ball steering gear, a second-bridge electro-hydraulic circulating ball steering gear, a steering hydraulic oil tank, a dual-source electric steering pump, a whole vehicle controller and an all-in-one controller, wherein the first-bridge electro-hydraulic circulating ball steering gear is connected to the first-bridge wire-controlled steering control system, the second-bridge electro-hydraulic circulating ball steering gear is connected to the second-bridge wire-controlled steering control system, the first-bridge wire-controlled steering control system and the second-bridge wire-controlled steering control system are connected for communication, the first-bridge wire-controlled steering control system is also connected for communication with the whole vehicle controller, the first-bridge electro-hydraulic circulating ball steering gear and the second-bridge electro-hydraulic circulating ball steering gear are respectively connected to the steering hydraulic oil tank through pipelines, and the beneficial effects are as follows: the dual-core chips of the controller are mutually redundant, the steering gear's own steering angle sensor and the axle angle sensor collect signals mutually redundantly, and the flow, pressure, oil temperature and liquid level monitoring are redundant.
Description
技术领域Technical Field
本发明涉及一种转向系统，特别涉及一种新型双桥转向系统。The invention relates to a steering system, in particular to a novel double-bridge steering system.
背景技术Background Art
转向系统是用来改变或保持汽车行驶或倒退方向的一系列装置，转向系统是汽车上的重要组成之一。转向系统根据转向轴的数量可分为单桥转向，双桥转向，多桥转向等，在长期的发展过程中，双桥转向系统中一二桥转角大部分采用杆系联动实现。当汽车转向时由转向器带动一桥转向，通过联接在转向器垂臂上的过渡拉杆、中间摇臂、二桥助力油缸或随动器、二桥直拉杆、带动二桥实现同步转向。该种双桥转向系统优点：成本较低，结构可靠。缺点：受转向器及杆系布置影响，该种机构车架纵梁占用空间大；受传统转向器输出力矩限制，大吨位车桥无法直接使用。The steering system is a series of devices used to change or maintain the direction of the car's driving or reverse direction. The steering system is one of the important components of the car. The steering system can be divided into single-bridge steering, double-bridge steering, multi-bridge steering, etc. according to the number of steering shafts. In the long-term development process, most of the turning angles of the first and second bridges in the double-bridge steering system are realized by the linkage of the rod system. When the car turns, the steering gear drives the first bridge to turn, and the transition rod, intermediate rocker arm, second-bridge power cylinder or follower, and second-bridge straight rod connected to the vertical arm of the steering gear drive the second bridge to achieve synchronous steering. Advantages of this double-bridge steering system: low cost and reliable structure. Disadvantages: Affected by the layout of the steering gear and the rod system, the frame longitudinal beam of this mechanism occupies a large space; due to the output torque limitation of the traditional steering gear, large-tonnage axles cannot be used directly.
传统的双桥转向系统由于普遍采用传统循环球转向器，在未来自动驾驶需求上无法实现车道保持，自动泊车等功能，并且一二桥通过杆系的刚性连接，一二桥转角关系为固定，无法实现蟹行功能。Traditional double-axle steering systems generally use traditional recirculating ball steering gears, so they cannot achieve functions such as lane keeping and automatic parking in the future autonomous driving needs. In addition, the first and second bridges are rigidly connected through a rod system, and the turning angle relationship between the first and second bridges is fixed, which cannot achieve the crab steering function.
发明内容Summary of the invention
本发明的目的是为了解决现有双桥转向系统存在的布置困难、应用吨位较小以及功能拓展性差的问题，而提供的一种新型双桥转向系统。The purpose of the present invention is to solve the problems of difficult layout, small application tonnage and poor functional expandability of the existing double-bridge steering system, and to provide a new double-bridge steering system.
本发明提供的新型双桥转向系统包括有一桥电液循环球转向器、二桥电液循环球转向器、转向液压油箱、双源电动转向泵、整车控制器和多合一控制器，其中一桥电液循环球转向器连接有一桥线控转向控制系统，二桥电液循环球转向器连接有二桥线控转向控制系统，一桥线控转向控制系统和二桥线控转向控制系统之间为通讯连接，一桥线控转向控制系统还与整车控制器进行通讯连接，一桥电液循环球转向器和二桥电液循环球转向器通过管路分别与转向液压油箱相连接，转向液压油箱通过管路与双源电动转向泵相连接，双源电动转向泵通过双管路分别与一桥电液循环球转向器和二桥电液循环球转向器相连接，双源电动转向泵能够把转向液压油箱内的液压油分别输送到一桥电液循环球转向器和二桥电液循环球转向器内，双源电动转向泵与多合一控制器相连接，多合一控制器与整车控制器之间进行通讯连接。The novel double-bridge steering system provided by the present invention comprises a first-bridge electro-hydraulic circulating ball steering gear, a second-bridge electro-hydraulic circulating ball steering gear, a steering hydraulic oil tank, a dual-source electric steering pump, a vehicle controller and an all-in-one controller, wherein the first-bridge electro-hydraulic circulating ball steering gear is connected to the first-bridge wire-controlled steering control system, the second-bridge electro-hydraulic circulating ball steering gear is connected to the second-bridge wire-controlled steering control system, the first-bridge wire-controlled steering control system and the second-bridge wire-controlled steering control system are connected for communication, the first-bridge wire-controlled steering control system is also connected for communication with the vehicle controller, and the first-bridge electro-hydraulic circulating ball steering gear is connected to the first-bridge wire-controlled steering control system. The device and the second-bridge electro-hydraulic circulating ball steering gear are connected to the steering hydraulic oil tank through pipelines respectively, the steering hydraulic oil tank is connected to the dual-source electric steering pump through pipelines, the dual-source electric steering pump is connected to the first-bridge electro-hydraulic circulating ball steering gear and the second-bridge electro-hydraulic circulating ball steering gear through dual pipelines respectively, the dual-source electric steering pump can transport the hydraulic oil in the steering hydraulic oil tank to the first-bridge electro-hydraulic circulating ball steering gear and the second-bridge electro-hydraulic circulating ball steering gear respectively, the dual-source electric steering pump is connected to the all-in-one controller, and the all-in-one controller is communicated with the vehicle controller.
一桥电液循环球转向器上端通过转向管柱与方向盘相连接。The upper end of the first-bridge electro-hydraulic circulating ball steering gear is connected to the steering wheel through a steering column.
转向液压油箱内部集成有液位温度传感器，液位温度传感器与整车控制器相连接，液位温度传感器能够把采集的数据实时传输给整车控制器，转向液压油箱通过油泵进油管与双源电动转向泵相连接，双源电动转向泵通过出油管连接有三通，三通上的另两个支管分别与一桥电液循环球转向器和二桥电液循环球转向器相连接，转向液压油箱内的液压油通过双源电动转向泵、出油管、三通和两个支管分别被输送到一桥电液循环球转向器和二桥电液循环球转向器内，出油管和三通的连接处装配有压力、流量计，压力、流量计与整车控制器相连接，压力、流量计能够把采集的数据实时传输给整车控制器，整车控制器接收到液位温度传感器和压力、流量计的数据后通过多合一控制器控制双源电动转向泵的工作。A liquid level temperature sensor is integrated inside the steering hydraulic oil tank, which is connected to the vehicle controller. The liquid level temperature sensor can transmit the collected data to the vehicle controller in real time. The steering hydraulic oil tank is connected to the dual-source electric steering pump through the oil pump inlet pipe, and the dual-source electric steering pump is connected to a tee through the oil outlet pipe. The other two branches on the tee are respectively connected to the first-bridge electro-hydraulic circulating ball steering gear and the second-bridge electro-hydraulic circulating ball steering gear. The hydraulic oil in the steering hydraulic oil tank is respectively transported to the first-bridge electro-hydraulic circulating ball steering gear and the second-bridge electro-hydraulic circulating ball steering gear through the dual-source electric steering pump, the oil outlet pipe, the tee and the two branches. A pressure and flow meter are installed at the connection between the oil outlet pipe and the tee. The pressure and flow meter are connected to the vehicle controller. The pressure and flow meter can transmit the collected data to the vehicle controller in real time. After receiving the data from the liquid level temperature sensor and the pressure and flow meter, the vehicle controller controls the operation of the dual-source electric steering pump through the all-in-one controller.
一桥电液循环球转向器通过进油管和出油管连接有一桥转向助力油缸，一桥转向助力油缸与一桥转向右节臂相连接，一桥转向右节臂与一桥右轮相连接，一桥电液循环球转向器通过一桥转向直拉杆与一桥转向左节臂相连接，一桥转向左节臂还与一桥左轮相连接，一桥转向右节臂和一桥转向左节臂之间通过一桥横拉杆相连接，一桥转向左节臂内装配有转角传感器，转角传感器与整车控制器相连接，转角传感器能够把采集的数据实时传输给整车控制器。A bridge electro-hydraulic circulating ball steering gear is connected to a bridge steering power cylinder through an oil inlet pipe and an oil outlet pipe. The bridge steering power cylinder is connected to a bridge steering right knuckle arm. The bridge steering right knuckle arm is connected to a bridge right wheel. A bridge electro-hydraulic circulating ball steering gear is connected to a bridge steering left knuckle arm through a bridge steering straight tie rod. The bridge steering left knuckle arm is also connected to a bridge left wheel. The bridge steering right knuckle arm and the bridge steering left knuckle arm are connected through a bridge transverse tie rod. A steering left knuckle arm is equipped with an angle sensor. The angle sensor is connected to a vehicle controller. The angle sensor can transmit the collected data to the vehicle controller in real time.
二桥电液循环球转向器通过进油管和出油管连接有二桥转向助力油缸，二桥转向助力油缸与二桥转向右节臂相连接，二桥转向右节臂与二桥右轮相连接，二桥电液循环球转向器通过二桥转向直拉杆与二桥转向左节臂相连接，二桥转向左节臂还与二桥左轮相连接，二桥转向右节臂和二桥转向左节臂之间通过二桥横拉杆相连接，二桥转向左节臂内装配有转角传感器，转角传感器与整车控制器相连接，转角传感器能够把采集的数据实时传输给整车控制器。The second axle electro-hydraulic circulating ball steering gear is connected to the second axle steering power cylinder through the oil inlet pipe and the oil outlet pipe. The second axle steering power cylinder is connected to the second axle steering right knuckle arm. The second axle steering right knuckle arm is connected to the second axle right wheel. The second axle electro-hydraulic circulating ball steering gear is connected to the second axle steering left knuckle arm through the second axle steering straight tie rod. The second axle steering left knuckle arm is also connected to the second axle left wheel. The second axle steering right knuckle arm and the second axle steering left knuckle arm are connected through the second axle transverse tie rod. The second axle steering left knuckle arm is equipped with an angle sensor. The angle sensor is connected to the vehicle controller. The angle sensor can transmit the collected data to the vehicle controller in real time.
一桥电液循环球转向器的回油口通过一桥液压回油管路与转向液压油箱相连接，二桥电液循环球转向器的回油口通过二桥液压回油管路与转向液压油箱相连接，一桥电液循环球转向器和二桥电液循环球转向器的液压油分别通过一桥液压回油管路和二桥液压回油管路回流到转向液压油箱内，一桥液压回油管路和二桥液压回油管路均为盘管结构。The oil return port of the first-bridge electro-hydraulic circulating ball steering gear is connected to the steering hydraulic oil tank through the first-bridge hydraulic oil return pipeline, and the oil return port of the second-bridge electro-hydraulic circulating ball steering gear is connected to the steering hydraulic oil tank through the second-bridge hydraulic oil return pipeline. The hydraulic oil of the first-bridge electro-hydraulic circulating ball steering gear and the second-bridge electro-hydraulic circulating ball steering gear respectively flows back to the steering hydraulic oil tank through the first-bridge hydraulic oil return pipeline and the second-bridge hydraulic oil return pipeline. Both the first-bridge hydraulic oil return pipeline and the second-bridge hydraulic oil return pipeline are coil structures.
上述的一桥电液循环球转向器、二桥电液循环球转向器、转向液压油箱、双源电动转向泵、整车控制器、多合一控制器、一桥线控转向控制系统、二桥线控转向控制系统、液位温度传感器和压力、流量计以及一桥转向助力油缸、转角传感器和二桥转向助力油缸均为现有设备的组装，因此，具体型号和规格没有进行赘述。The above-mentioned first-bridge electro-hydraulic circulating ball steering gear, second-bridge electro-hydraulic circulating ball steering gear, steering hydraulic oil tank, dual-source electric steering pump, vehicle controller, all-in-one controller, first-bridge wire-controlled steering control system, second-bridge wire-controlled steering control system, liquid level temperature sensor and pressure, flow meter as well as first-bridge steering power cylinder, angle sensor and second-bridge steering power cylinder are all assemblies of existing equipment, so the specific models and specifications are not repeated.
本发明的工作原理如下所述：The working principle of the present invention is as follows:
本发明提供的新型双桥转向系统在常规的双桥转向上将一二桥杆系取消，一个车桥上安装一个转向器+助力缸结构(可实现20T单桥转向)，通过两个电液循环球转向器内部控制程序，实现一二桥的转角协调关系，能够实现变道、最小转弯半径以及正常的双桥转向功能，具体原理如下所述：The novel double-bridge steering system provided by the present invention cancels the first and second bridge rod systems in the conventional double-bridge steering, and installs a steering gear + booster cylinder structure on one axle (which can realize 20T single-bridge steering). Through the internal control program of two electro-hydraulic circulating ball steering gears, the first and second bridges are coordinated, and lane change, minimum turning radius and normal double-bridge steering functions can be realized. The specific principle is as follows:
采用电液循环球转向器+直拉杆+液压油缸(安装车桥转向节上)；电控液压转向泵给电液循环球转向器提供液压助力，当一桥电液循环球转向器的控制器接收到方向盘或者自动驾驶给的转角输入值时，电控转向器控制器通过提前设定的驾驶模式(蟹行或者最小转弯半径行驶)自动计算出一二轴的转角关系，通过内部CAN网，将一二轴需要达到转角发送到一二轴转向器控制器上，控制器再驱动转向器上电机带动转向器输出轴转动，进而带动垂臂及直拉杆助力缸运动，车轮到达设定转角后会通过车桥上转角传感器反馈到转向器控制器上。It adopts an electro-hydraulic circulating ball steering gear + straight tie rod + hydraulic cylinder (installed on the steering knuckle of the axle); the electronically controlled hydraulic steering pump provides hydraulic assistance to the electro-hydraulic circulating ball steering gear. When the controller of the electro-hydraulic circulating ball steering gear on one bridge receives the steering angle input value from the steering wheel or automatic driving, the electronically controlled steering gear controller automatically calculates the steering angle relationship between the first and second axes through the driving mode set in advance (crab driving or minimum turning radius driving), and sends the steering angle required by the first and second axes to the steering gear controllers of the first and second axes through the internal CAN network. The controller then drives the motor on the steering gear to drive the steering gear output shaft to rotate, and then drives the vertical arm and straight tie rod power cylinder to move. After the wheel reaches the set angle, it will be fed back to the steering gear controller through the angle sensor on the axle.
由于常规双桥转向只有一个转向器，并且一二桥转角关系由于杆系原因是固定的，比如一桥内轮转角40度时二桥内轮转角只能固定26度。Since conventional double-axle steering has only one steering gear, and the turning angle relationship between the first and second axles is fixed due to the rod system, for example, when the turning angle of the inner wheel of the first axle is 40 degrees, the turning angle of the inner wheel of the second axle can only be fixed at 26 degrees.
随着电控转向器的逐渐应用，一桥、二桥能够单独采用一个转向器转向，并提供足够大助力，并且通过电控转向器内部控制程序实现不同转角关系的转向。With the gradual application of electronically controlled steering gears, the first and second bridges can be steered by a single steering gear, providing sufficiently large power assistance, and steering with different turning angle relationships can be achieved through the internal control program of the electronically controlled steering gear.
本发明的有益效果：Beneficial effects of the present invention:
本发明提供的新型双桥转向系统采用电液循环球转向器加转向油缸设计，车架纵梁上无需安装中间传动机构，空间利用率高，便于整车布置。本发明除了由直拉杆与车桥连接还采用转向器助力油缸与液压油缸连接推动车桥转向，与传统双桥转向系统车型相比，能够适用大吨位车桥，传统双桥转向系统由于采用单个转向器，转向器缸径受限，无法满足大吨位车型转向需求。本发明一二桥转向系统为独立单元，一二桥转角关系能够灵活变化，能够完全满足阿克曼转角，并且在车辆轴距不同时仅对转角算法进行调整即可，并且可实现“蟹行”功能。本发明采用电液循环球转向器，人工驾驶时具有车道保持，随速转向，主动回正功能，并且能够实现无人驾驶和自动泊车功能。本发明采用多种安全冗余设计，具有控制器双核芯片互为冗余，转向器自带转角传感器与车桥转角传感器采集信号互为冗余，流量、压力、油温、液位监测冗余。本发明采用多种散热设计，采用专用降温翅片回油管，转向液压油箱带散热片，增加转向泵怠速降频控制策略降低油温，转向电机高温报警等设计。The novel double-axle steering system provided by the present invention adopts an electro-hydraulic circulating ball steering gear plus a steering cylinder design. There is no need to install an intermediate transmission mechanism on the frame longitudinal beam, the space utilization rate is high, and the whole vehicle layout is convenient. In addition to the straight pull rod connecting the axle, the present invention also adopts a steering gear booster cylinder connected to the hydraulic cylinder to promote the steering of the axle. Compared with the traditional double-axle steering system model, it can be suitable for large-tonnage axles. The traditional double-axle steering system adopts a single steering gear, and the steering gear cylinder diameter is limited, which cannot meet the steering requirements of large-tonnage models. The one-axle and two-axle steering system of the present invention is an independent unit, and the relationship between the one-axle and two-axle turning angles can be flexibly changed, which can fully meet the Ackerman turning angle, and when the vehicle wheelbase is different, only the turning angle algorithm needs to be adjusted, and the "crab walking" function can be realized. The present invention adopts an electro-hydraulic circulating ball steering gear, which has lane keeping, speed-dependent steering, and active self-centering functions during manual driving, and can realize unmanned driving and automatic parking functions. The present invention adopts multiple safety redundant designs, with dual-core controller chips being mutually redundant, the steering gear's built-in angle sensor and the axle angle sensor collecting signals being mutually redundant, and flow, pressure, oil temperature, and liquid level monitoring being redundant. The present invention adopts multiple heat dissipation designs, including a dedicated cooling fin oil return pipe, a steering hydraulic oil tank with a heat sink, an added steering pump idle speed reduction control strategy to reduce oil temperature, and a steering motor high temperature alarm.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明所述的新型双桥转向系统立体结构示意图。FIG1 is a schematic diagram of the three-dimensional structure of the novel double-bridge steering system according to the present invention.
图2为本发明所述的新型双桥转向系统结构框图。FIG. 2 is a structural block diagram of the novel double-bridge steering system according to the present invention.
图3为本发明所述的新型双桥转向系统原理结构示意图。FIG3 is a schematic diagram of the principle structure of the novel double-bridge steering system according to the present invention.
上图中的标注如下：The annotations in the above figure are as follows:
1、一桥电液循环球转向器2、二桥电液循环球转向器3、转向液压油箱1. Electro-hydraulic circulating ball steering gear for the first bridge 2. Electro-hydraulic circulating ball steering gear for the second bridge 3. Steering hydraulic oil tank
4、双源电动转向泵5、整车控制器6、多合一控制器4. Dual-source electric steering pump 5. Vehicle controller 6. All-in-one controller
7、一桥线控转向控制系统8、二桥线控转向控制系统9、转向管柱7. First bridge wire steering control system 8. Second bridge wire steering control system 9. Steering column
10、方向盘11、三通12、一桥转向助力油缸13、一桥转向右节臂10. Steering wheel 11. Tee 12. First bridge steering power cylinder 13. First bridge steering right knuckle arm
14、一桥右轮15、一桥转向直拉杆16、一桥转向左节臂17、一桥左轮14. Right wheel of bridge 15. Straight tie rod of bridge 16. Left knuckle arm of bridge 17. Left wheel of bridge
18、一桥横拉杆19、二桥转向助力油缸20、二桥转向右节臂18. First bridge tie rod 19. Second bridge steering power cylinder 20. Second bridge steering right knuckle arm
21、二桥右轮22、二桥转向直拉杆23、二桥转向左节臂21. Second bridge right wheel 22. Second bridge steering straight tie rod 23. Second bridge steering left knuckle arm
24、二桥左轮25、二桥横拉杆26、一桥液压回油管路24. Second bridge left wheel 25. Second bridge tie rod 26. First bridge hydraulic oil return line
27、二桥液压回油管路。27. Second bridge hydraulic oil return pipeline.
具体实施方式DETAILED DESCRIPTION
请参阅图1至图3所示：Please refer to Figures 1 to 3:
本发明提供的新型双桥转向系统包括有一桥电液循环球转向器1、二桥电液循环球转向器2、转向液压油箱3、双源电动转向泵4、整车控制器5和多合一控制器6，其中一桥电液循环球转向器1连接有一桥线控转向控制系统7，二桥电液循环球转向器2连接有二桥线控转向控制系统8，一桥线控转向控制系统7和二桥线控转向控制系统8之间为通讯连接，一桥线控转向控制系统7还与整车控制器5进行通讯连接，一桥电液循环球转向器1和二桥电液循环球转向器2通过管路分别与转向液压油箱3相连接，转向液压油箱3通过管路与双源电动转向泵4相连接，双源电动转向泵4通过双管路分别与一桥电液循环球转向器1和二桥电液循环球转向器2相连接，双源电动转向泵4能够把转向液压油箱3内的液压油分别输送到一桥电液循环球转向器1和二桥电液循环球转向器2内，双源电动转向泵4与多合一控制器6相连接，多合一控制器6与整车控制器5之间进行通讯连接。The novel double-bridge steering system provided by the present invention comprises a first-bridge electro-hydraulic circulating ball steering gear 1, a second-bridge electro-hydraulic circulating ball steering gear 2, a steering hydraulic oil tank 3, a dual-source electric steering pump 4, a vehicle controller 5 and an all-in-one controller 6, wherein the first-bridge electro-hydraulic circulating ball steering gear 1 is connected to a first-bridge wire-controlled steering control system 7, the second-bridge electro-hydraulic circulating ball steering gear 2 is connected to a second-bridge wire-controlled steering control system 8, the first-bridge wire-controlled steering control system 7 and the second-bridge wire-controlled steering control system 8 are connected in communication, the first-bridge wire-controlled steering control system 7 is also connected in communication with the vehicle controller 5, and ... and the second-bridge wire-controlled steering control system 8 is connected in communication. 1 and the second-bridge electro-hydraulic circulating ball steering gear 2 are respectively connected to the steering hydraulic oil tank 3 through pipelines, the steering hydraulic oil tank 3 is connected to the dual-source electric steering pump 4 through pipelines, the dual-source electric steering pump 4 is respectively connected to the first-bridge electro-hydraulic circulating ball steering gear 1 and the second-bridge electro-hydraulic circulating ball steering gear 2 through dual pipelines, the dual-source electric steering pump 4 can transport the hydraulic oil in the steering hydraulic oil tank 3 to the first-bridge electro-hydraulic circulating ball steering gear 1 and the second-bridge electro-hydraulic circulating ball steering gear 2 respectively, the dual-source electric steering pump 4 is connected to the all-in-one controller 6, and the all-in-one controller 6 is connected to the vehicle controller 5 for communication.
一桥电液循环球转向器1上端通过转向管柱9与方向盘10相连接。The upper end of the first-bridge electro-hydraulic circulating ball steering gear 1 is connected to the steering wheel 10 through a steering column 9.
转向液压油箱3内部集成有液位温度传感器，液位温度传感器与整车控制器5相连接，液位温度传感器能够把采集的数据实时传输给整车控制器5，转向液压油箱3通过油泵进油管与双源电动转向泵4相连接，双源电动转向泵4通过出油管连接有三通11，三通11上的另两个支管分别与一桥电液循环球转向器1和二桥电液循环球转向器2相连接，转向液压油箱3内的液压油通过双源电动转向泵4、出油管、三通11和两个支管分别被输送到一桥电液循环球转向器1和二桥电液循环球转向器2内，出油管和三通11的连接处装配有压力、流量计，压力、流量计与整车控制器5相连接，压力、流量计能够把采集的数据实时传输给整车控制器5，整车控制器5接收到液位温度传感器和压力、流量计的数据后通过多合一控制器6控制双源电动转向泵4的工作。A liquid level temperature sensor is integrated inside the steering hydraulic oil tank 3, and the liquid level temperature sensor is connected to the vehicle controller 5. The liquid level temperature sensor can transmit the collected data to the vehicle controller 5 in real time. The steering hydraulic oil tank 3 is connected to the dual-source electric steering pump 4 through the oil pump inlet pipe, and the dual-source electric steering pump 4 is connected to the tee 11 through the oil outlet pipe. The other two branches on the tee 11 are respectively connected to the first-bridge electro-hydraulic circulating ball steering gear 1 and the second-bridge electro-hydraulic circulating ball steering gear 2. The hydraulic oil in the steering hydraulic oil tank 3 is respectively transported to the first-bridge electro-hydraulic circulating ball steering gear 1 and the second-bridge electro-hydraulic circulating ball steering gear 2 through the dual-source electric steering pump 4, the oil outlet pipe, the tee 11 and the two branches. A pressure and flow meter are installed at the connection between the oil outlet pipe and the tee 11. The pressure and flow meter are connected to the vehicle controller 5. The pressure and flow meter can transmit the collected data to the vehicle controller 5 in real time. After receiving the data from the liquid level temperature sensor and the pressure and flow meter, the vehicle controller 5 controls the operation of the dual-source electric steering pump 4 through the all-in-one controller 6.
一桥电液循环球转向器1通过进油管和出油管连接有一桥转向助力油缸12，一桥转向助力油缸12与一桥转向右节臂13相连接，一桥转向右节臂13与一桥右轮14相连接，一桥电液循环球转向器1通过一桥转向直拉杆15与一桥转向左节臂16相连接，一桥转向左节臂16还与一桥左轮17相连接，一桥转向右节臂13和一桥转向左节臂16之间通过一桥横拉杆18相连接，一桥转向左节臂16内装配有转角传感器，转角传感器与整车控制器5相连接，转角传感器能够把采集的数据实时传输给整车控制器5。The first-bridge electro-hydraulic circulating ball steering gear 1 is connected to the first-bridge steering power cylinder 12 through an oil inlet pipe and an oil outlet pipe. The first-bridge steering power cylinder 12 is connected to the first-bridge steering right joint arm 13. The first-bridge steering right joint arm 13 is connected to the first-bridge right wheel 14. The first-bridge electro-hydraulic circulating ball steering gear 1 is connected to the first-bridge steering left joint arm 16 through the first-bridge steering straight tie rod 15. The first-bridge steering left joint arm 16 is also connected to the first-bridge left wheel 17. The first-bridge steering right joint arm 13 and the first-bridge steering left joint arm 16 are connected through a bridge transverse tie rod 18. A steering angle sensor is installed in the first-bridge steering left joint arm 16. The steering angle sensor is connected to the vehicle controller 5. The steering angle sensor can transmit the collected data to the vehicle controller 5 in real time.
二桥电液循环球转向器2通过进油管和出油管连接有二桥转向助力油缸19，二桥转向助力油缸19与二桥转向右节臂20相连接，二桥转向右节臂20与二桥右轮21相连接，二桥电液循环球转向器2通过二桥转向直拉杆22与二桥转向左节臂23相连接，二桥转向左节臂23还与二桥左轮24相连接，二桥转向右节臂20和二桥转向左节臂23之间通过二桥横拉杆25相连接，二桥转向左节臂23内装配有转角传感器，转角传感器与整车控制器5相连接，转角传感器能够把采集的数据实时传输给整车控制器5。The second bridge electro-hydraulic circulating ball steering gear 2 is connected to the second bridge steering power cylinder 19 through an oil inlet pipe and an oil outlet pipe. The second bridge steering power cylinder 19 is connected to the second bridge steering right knuckle arm 20. The second bridge steering right knuckle arm 20 is connected to the second bridge right wheel 21. The second bridge electro-hydraulic circulating ball steering gear 2 is connected to the second bridge steering left knuckle arm 23 through the second bridge steering straight tie rod 22. The second bridge steering left knuckle arm 23 is also connected to the second bridge left wheel 24. The second bridge steering right knuckle arm 20 and the second bridge steering left knuckle arm 23 are connected through a second bridge transverse tie rod 25. A rotation angle sensor is installed in the second bridge steering left knuckle arm 23. The rotation angle sensor is connected to the vehicle controller 5. The rotation angle sensor can transmit the collected data to the vehicle controller 5 in real time.
一桥电液循环球转向器1的回油口通过一桥液压回油管路26与转向液压油箱3相连接，二桥电液循环球转向器2的回油口通过二桥液压回油管路27与转向液压油箱3相连接，一桥电液循环球转向器1和二桥电液循环球转向器2的液压油分别通过一桥液压回油管路26和二桥液压回油管路27回流到转向液压油箱3内，一桥液压回油管路26和二桥液压回油管路27均为盘管结构。The oil return port of the first-bridge electro-hydraulic circulating ball steering gear 1 is connected to the steering hydraulic oil tank 3 through the first-bridge hydraulic oil return pipeline 26, and the oil return port of the second-bridge electro-hydraulic circulating ball steering gear 2 is connected to the steering hydraulic oil tank 3 through the second-bridge hydraulic oil return pipeline 27. The hydraulic oil of the first-bridge electro-hydraulic circulating ball steering gear 1 and the second-bridge electro-hydraulic circulating ball steering gear 2 are respectively returned to the steering hydraulic oil tank 3 through the first-bridge hydraulic oil return pipeline 26 and the second-bridge hydraulic oil return pipeline 27. Both the first-bridge hydraulic oil return pipeline 26 and the second-bridge hydraulic oil return pipeline 27 are coil structures.
上述的一桥电液循环球转向器1、二桥电液循环球转向器2、转向液压油箱3、双源电动转向泵4、整车控制器5、多合一控制器6、一桥线控转向控制系统7、二桥线控转向控制系统8、液位温度传感器和压力、流量计以及一桥转向助力油缸12、转角传感器和二桥转向助力油缸19均为现有设备的组装，因此，具体型号和规格没有进行赘述。The above-mentioned first-bridge electro-hydraulic circulating ball steering gear 1, second-bridge electro-hydraulic circulating ball steering gear 2, steering hydraulic oil tank 3, dual-source electric steering pump 4, vehicle controller 5, all-in-one controller 6, first-bridge wire-controlled steering control system 7, second-bridge wire-controlled steering control system 8, liquid level temperature sensor and pressure, flow meter, first-bridge steering power cylinder 12, angle sensor and second-bridge steering power cylinder 19 are all assemblies of existing equipment, so the specific models and specifications are not repeated.
本发明的工作原理如下所述：The working principle of the present invention is as follows:
本发明提供的新型双桥转向系统在常规的双桥转向上将一二桥杆系取消，一个车桥上安装一个转向器+助力缸结构(能够实现20T单桥转向)，通过两个电液循环球转向器内部控制程序，实现一二桥的转角协调关系，能够实现变道、最小转弯半径以及正常的双桥转向功能，具体原理如下所述：The novel double-bridge steering system provided by the present invention cancels the first and second bridge rod systems in the conventional double-bridge steering, and installs a steering gear + booster cylinder structure on one axle (capable of realizing 20T single-bridge steering). Through the internal control program of two electro-hydraulic circulating ball steering gears, the first and second bridges are coordinated, and lane change, minimum turning radius and normal double-bridge steering functions can be realized. The specific principle is as follows:
采用电液循环球转向器+直拉杆+液压油缸(安装车桥转向节上)；电控液压转向泵给电控循环球转向器提供液压助力，当一桥电液循环球转向器1的控制器接收到方向盘或者自动驾驶给的转角输入值时，电液循环球转向器控制器通过提前设定的驾驶模式(蟹行或者最小转弯半径行驶)自动计算出一二轴的转角关系，通过内部CAN网，将一二轴需要达到转角发送到一二轴转向器控制器上，控制器再驱动转向器上电机带动转向器输出轴转动，进而带动垂臂及直拉杆助力缸运动，车轮到达设定转角后会通过车桥上转角传感器反馈到转向器控制器上。An electro-hydraulic circulating ball steering gear + straight tie rod + hydraulic cylinder (installed on the steering knuckle of the axle) is used; the electronically controlled hydraulic steering pump provides hydraulic assistance to the electronically controlled circulating ball steering gear. When the controller of the electro-hydraulic circulating ball steering gear 1 of the first bridge receives the angle input value given by the steering wheel or the automatic driving, the electro-hydraulic circulating ball steering gear controller automatically calculates the angle relationship between the first and second axes through the driving mode set in advance (crab driving or minimum turning radius driving), and sends the required angle of the first and second axes to the first and second axis steering gear controllers through the internal CAN network. The controller then drives the motor on the steering gear to drive the steering gear output shaft to rotate, and then drives the vertical arm and the straight tie rod power cylinder to move. After the wheel reaches the set angle, it will be fed back to the steering gear controller through the angle sensor on the axle.
由于常规双桥转向只有一个转向器，并且一二桥转角关系由于杆系原因是固定的，比如一桥内轮转角40度时二桥内轮转角只能固定26度。Since conventional double-axle steering has only one steering gear, and the turning angle relationship between the first and second axles is fixed due to the rod system, for example, when the turning angle of the inner wheel of the first axle is 40 degrees, the turning angle of the inner wheel of the second axle can only be fixed at 26 degrees.
随着电控转向器的逐渐应用，一桥、二桥能够单独采用一个转向器转向，并提供足够大助力，并且通过电控转向器内部控制程序实现不同转角关系的转向。With the gradual application of electronically controlled steering gears, the first and second bridges can be steered by a single steering gear, providing sufficiently large power assistance, and steering with different turning angle relationships can be achieved through the internal control program of the electronically controlled steering gear.
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| CN102442344A (en) * | 2011-12-12 | 2012-05-09 | 江门市兴江转向器有限公司 | Hydraulic power-assisted steering system of circulating ball electric pump |
| CN113212542A (en) * | 2021-06-11 | 2021-08-06 | 南京航空航天大学 | Electro-hydraulic coupling intelligent circulating ball type steer-by-wire system and control method thereof |
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| JPH02227380A (en) * | 1989-02-28 | 1990-09-10 | Mazda Motor Corp | Cooperative controller of rear-wheel steering and power steering for vehicle |
| DE112004001258B4 (en) * | 2003-07-09 | 2012-02-02 | Trw Automotive U.S. Llc | Device for pivoting steerable wheels of a vehicle |
| US8833504B2 (en) * | 2005-12-02 | 2014-09-16 | Trw Automotive U.S. Llc | Steering apparatus |
| CN111619660B (en) * | 2019-04-22 | 2021-08-06 | 中国北方车辆研究所 | Rear axle steering hydraulic cylinder assembly and steering system |
| CN215284966U (en) * | 2021-05-11 | 2021-12-24 | 山西赛坦科技有限公司 | Multi-axle vehicle steering system capable of realizing manual steering and steer-by-wire switching |
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| CN102442344A (en) * | 2011-12-12 | 2012-05-09 | 江门市兴江转向器有限公司 | Hydraulic power-assisted steering system of circulating ball electric pump |
| CN113212542A (en) * | 2021-06-11 | 2021-08-06 | 南京航空航天大学 | Electro-hydraulic coupling intelligent circulating ball type steer-by-wire system and control method thereof |
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