An electro-hydraulic steering system usable for remote-local control

Abstract

The application discloses a kind of electro-hydraulic steering systems for remote-local control, including steering component for steering drive and local operating component and remote operating component for controlling steering component steering, the local operating component and remote operating component are connected by using CAN bus, the application provides a kind of electro-hydraulic steering systems for remote-local control of engineering machinery, with simple structure, can realize accurate steering, with a set of electro-hydraulic steering system with local and remote operation function.Meanwhile, it is considered that there is no network communication signal equipment in normal use during actual construction.When steering, the opening of steering proportional multi-way valve is changed by controller, and the steering cylinder is pushed to achieve the purpose of steering.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle steering system, in particular to an electro-hydraulic steering system for engineering machinery which can be used for remote-local control. BACKGROUND

[0002] The steering system of a vehicle is an important part of the vehicle, and its performance directly affects the technical performance of the vehicle. The vehicle steering system in the prior art mainly has the following types:

[0003] Rack and pinion steering: it mainly consists of pinion, rack, adjusting screw, shell and rack guide block, etc. The pinion at the lower end of the steering spindle is engaged with the steering rack. When the steering wheel is rotated, the pinion in the steering gear rotates to drive the rack in the steering gear to move in the direction of the steering wheel. The action of the steering gear rack is transmitted to the steering knuckle arm through the steering gear rack end and the steering tie rod end, thereby rotating the wheels. This steering method is generally used for vehicles with small weight ratio, and it has certain difficulties for heavy vehicles, especially for engineering machinery.

[0004] Recirculating ball steering: it mainly consists of a screw, a nut, a steering gear housing and many small steel balls. When the screw fixed with the steering column of the steering wheel rotates, the screw drives the nut to move up and down, and the nut drives the steering rocker arm to reciprocate through the gear to realize steering. This steering method is generally used in the field of large and medium-sized commercial vehicles. In many cases, the rocker arm and the steering tie rod cannot be arranged due to structural arrangement problems.

[0005] Full hydraulic steering: full hydraulic steering has many advantages such as easy operation, flexible steering and convenient installation and arrangement. The hydraulic steering system composed of a full hydraulic steering gear, a hydraulic pump and a hydraulic cylinder realizes the power steering of the vehicle and is widely used in the field of engineering machinery. Since this steering method uses full hydraulic control, electrical control is difficult to intervene, and it is difficult to realize the control of the steering in the intelligent, unmanned and remote operation system. SUMMARY

[0006] The purpose of the present application is to provide an electro-hydraulic steering system which can be used for remote-local control to solve the problems in the background art.

[0007] To achieve the above purpose, the present application provides the following technical scheme:

[0008] An electro-hydraulic steering system which can be used for remote-local control, comprising steering components for steering driving, and local operation components and remote operation components for controlling the steering components to steer, the local operation components and the remote operation components are connected by using CAN bus.

[0009] As a further scheme of the present application: the remote operating component includes a remote programmable controller, the remote programmable controller is electrically connected with a second wireless transmission module for wireless transmission, a remote steering wheel assembly for inputting steering signals, a remote operation indicator lamp for displaying whether power is on or not, and a remote selection switch for opening and closing, the remote steering wheel assembly, the remote selection switch, and the remote operation indicator lamp are arranged on a remote operating platform, the remote programmable controller is further electrically connected with a remote second fuse group, a K9 local operation relay, and a K10 remote operation relay, and the remote steering wheel assembly is electrically connected with a K10 relay normally open contact.

[0010] As a further scheme of the present application: the second wireless transmission module is connected in parallel with a second terminal resistor.

[0011] As a further scheme of the present application: the remote selection switch is further connected in parallel with a K9 relay normally closed contact and a K10 relay normally open contact, and the K9 relay normally closed contact and the K10 relay normally open contact are arranged in series.

[0012] As a further scheme of the present application: the local operating component includes a local programmable controller, an input end of the local programmable controller is electrically connected with a local steering wheel for controlling steering, a local selection switch for opening or closing, a local operation indicator lamp for displaying power on, an angle sensor for detecting a steering angle, and a first wireless transmission module for wireless transmission, the local selection switch is arranged on a local operating platform, and the angle sensor is arranged on a steering bridge, and the local programmable controller is further electrically connected with a first fuse, a K8 remote operation relay, a K7 local operation relay, a right-turn proportional valve electromagnet, and a left-turn proportional valve electromagnet.

[0013] As a further scheme of the present application: the first wireless transmission module is connected in parallel with a first terminal resistor.

[0014] As a further scheme of the present application: the local steering wheel is further connected in series with a K7 relay normally open contact.

[0015] As a further scheme of the present application: the right-turn proportional valve electromagnet and the left-turn proportional valve electromagnet are arranged at positions corresponding to the positions of the steering component.

[0016] As a further scheme of the present application: the local selection switch is further connected in parallel with a K8 relay normally closed contact and a K7 relay normally open contact, and the K8 relay normally closed contact and the K7 relay normally open contact are arranged in series.

[0017] As a further scheme of the present application: the steering component includes a cylinder, a hydraulic hose, a steering proportional multi-way valve, a steering pump, and a hydraulic oil tank, the cylinder is communicated with a power oil port of the steering proportional multi-way valve through the hydraulic hose, the oil inlet end of the steering proportional multi-way valve is also connected with the steering pump for providing power, and the steering pump is communicated with the hydraulic oil tank, so that the two cylinders can be driven to perform steering operation through the steering pump cooperating with the steering proportional multi-way valve.

[0018] Compared with the prior art, the present application has the beneficial effects that: the present application provides an electro-hydraulic steering system for engineering machinery which can be used for remote-local control, has a simple structure, can realize accurate steering, and has a set of electro-hydraulic steering system with local and remote operation functions. At the same time, the normal use of network communication signal equipment is considered when actual construction is performed. When steering, the controller changes the opening of the steering proportional multi-way valve to push the steering cylinder to achieve the purpose of steering. At the same time, the angle sensor feeds back in real time to make the steering more accurate and the operation simpler, and the technical level requirement of the driver is lower, thereby improving the work efficiency and the fault tolerance and safety of the system. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the electrical schematic diagram of the present application;

[0020] Figure 2 It is the electrical schematic diagram of the local control part of the present application;

[0021] Figure 3 It is the electrical schematic diagram of the remote control part of the present application;

[0022] Figure 4 It is the hydraulic schematic diagram of the present application.

[0023] Among them: 1-1 is a first fuse, 1-2 is a K7 relay normally open contact, 1-3 is an angle sensor, 1-4 is a local steering wheel, 1-5 is a local programmable controller, 1-6 is a K8 remote operation relay, 1-7 is a K7 local operation relay, 1-8 is a local operation indicator lamp, 1-9 is a right turn proportional valve electromagnet, 1-10 is a left turn proportional valve electromagnet, 1-11 is a K8 relay normally closed contact, 1-12 is a K7 relay normally open contact, 1-13 is a local selection switch, 1-14 is a first terminal resistor, and 1-15 is a first wireless transmission module.

[0024] 2-1 - second fuse group, 2-2 - K10 relay normally open contact, 2-3 - remote steering wheel assembly, 2-4 - remote programmable controller, 2-5 - remote operation indicator light, 2-6 - K9 local operation relay, 2-7 - K10 remote operation relay, 2-8 - K9 relay normally closed contact, 2-9 - K10 relay normally open contact, 2-10 - remote selection switch, 2-11 - second terminal resistor, 2-12 - second wireless transmission module.

[0025] 3-1 - steering cylinder, 3-2 - hydraulic hose, 3-3 - steering proportional multi-way valve, 3-4 - steering pump, 3-5 - hydraulic oil tank. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0027] Embodiment 1

[0028] Please refer to Figures 1-4 In the embodiments of the present application, an electro-hydraulic steering system for remote-local control includes steering components for steering driving, and local operation components and remote operation components for controlling the steering components to steer, the local operation components and the remote operation components are connected by using CAN bus;

[0029] The remote operation components include a remote programmable controller 2-4, the remote programmable controller 2-4 is electrically connected with a second wireless transmission module 2-12 for wireless transmission, a remote steering wheel assembly 2-3 for inputting steering signals, a remote operation indicator light 2-5 for displaying whether power is on or not, and a remote selection switch 2-10 for opening and closing, the remote steering wheel assembly 2-3, the remote selection switch 2-10, and the remote operation indicator light 2-5 are arranged on a remote operation platform, the remote programmable controller 2-4 is further electrically connected with a remote second fuse group 2-1, a K9 local operation relay 2-6, and a K10 remote operation relay 2-7, and the remote steering wheel assembly 2-3 is electrically connected with a K10 relay normally open contact 2-2;

[0030] The second wireless transmission module 2-12 is connected in parallel with a second terminal resistor 2-11;

[0031] The remote selection switch 2-10 position is also connected in parallel with K9 relay normally closed contact 2-8 and K10 relay normally open contact 2-9, and K9 relay normally closed contact 2-8 and K10 relay normally open contact 2-9 are connected in series;

[0032] The local operation component includes a local programmable controller 1-5, an input end of the local programmable controller 1-5 is electrically connected with a local steering wheel 1-4 for controlling steering, a local selection switch 1-13 for opening or closing, a local operation indicator lamp 1-8 for displaying power-on, an angle sensor 1-3 for detecting a steering angle, and a first wireless transmission module 1-15 for wireless transmission, the local selection switch 1-13 is arranged on a local operation platform, and the angle sensor 1-3 is arranged on a steering bridge, the local programmable controller 1-5 is further electrically connected with a first fuse 1-1, a K8 remote operation relay 1-6, a K7 local operation relay 1-7, a right-turn proportional valve electromagnet 1-9, and a left-turn proportional valve electromagnet 1-10;

[0033] The first wireless transmission module 1-15 is connected in parallel with a first terminal resistance 1-14;

[0034] The local steering wheel 1-4 is further connected in series with a K7 relay normally open contact 1-2;

[0035] The right-turn proportional valve electromagnet 1-9 and the left-turn proportional valve electromagnet 1-10 are arranged at positions corresponding to the positions of the steering component;

[0036] The local selection switch 1-13 position is also connected in parallel with K8 relay normally closed contact 1-11 and K7 relay normally open contact 1-12, and the K8 relay normally closed contact 1-11 and the K7 relay normally open contact 1-12 are connected in series

[0037] The remote programmable controller 2-4 only processes signals sent by the remote steering wheel assembly 2-3 and transmitted to the local programmable controller 1-5, and the local programmable controller 1-5 serves as a central controller of the entire steering system, which not only receives and processes signals of the remote programmable controller 2-4, but also processes signals of the local angle sensor 1-3 and controls the size of the current of the right-turn proportional valve electromagnet 1-9 and the left-turn proportional valve electromagnet 1-10;

[0038] The turning component includes a cylinder 3-1, a hydraulic hose 3-2, a turning proportional multi-way valve 3-3, a turning pump 3-4, and a hydraulic oil tank 3-5, the cylinder 3-1 is communicated with a power oil port of the turning proportional multi-way valve 3-3 through the hydraulic hose 3-2, the oil inlet end of the turning proportional multi-way valve 3-3 is also connected with the turning pump 3-4 for providing power, and the turning pump 3-4 is communicated with the hydraulic oil tank 3-5, so that the two cylinders 3-1 can be driven to perform turning operation through the turning pump 3-4 cooperating with the turning proportional multi-way valve 3-3.

[0039] The working principle of the present application is as follows: when remote operation, the remote operation selection switch 2-10 is pressed, at this time, the remote programmable controller 2-4 receives the remote operation signal, and outputs the electric signal to the K10 remote operation relay 2-7 and the remote operation indicator 2-5, at this time, the remote operation indicator 2-5 is bright for prompting the connection of the remote signal, the K10 relay normally open contact 2-2 is closed, the remote steering wheel assembly 2-3 is powered, through rotating the steering wheel, the steering wheel sends the turning angle signal to the remote programmable controller 2-4; at the same time, the remote control signal is transmitted to the local programmable controller 1-5 through CAN and the second wireless transmission module 2-12, the local programmable controller 1-5 compares the actual angle fed back by the angle sensor 1-3, and then outputs the electric current of corresponding size to the turning proportional valve electromagnet 1-9 and 1-10, the proportional multi-way valve 3-3 outputs the corresponding pressure oil to push the turning cylinder 3-1 to move, so as to realize the left and right turning of the vehicle under remote control.

[0040] When local operation, the remote operation selection switch 1-13 is pressed, at this time, the local programmable controller 1-5 receives the remote operation signal, and outputs the electric signal to the K7 local operation relay 1-7 and the local operation indicator 1-8, at this time, the local operation indicator 1-8 is bright for prompting the connection of the local signal, the K7 relay normally open contact 1-12 is closed, the local steering wheel assembly 1-4 is powered, through rotating the steering wheel, the steering wheel sends the turning angle signal to the remote programmable controller 1-5; the local programmable controller 1-5 compares the actual angle fed back by the angle sensor 1-3, and then outputs the electric current of corresponding size to the turning proportional valve electromagnet 1-9 and 1-10, the proportional multi-way valve 3-3 outputs the corresponding pressure oil to push the turning cylinder 3-1 to move, so as to realize the left and right turning of the vehicle under local control.

[0041] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application.

Claims

1. An electro-hydraulic steering system usable for remote-local control, characterized in that, The steering device comprises a steering component for steering driving, and a local operation component and a remote operation component for controlling the steering component to steer, and the local operation component and the remote operation component are connected through a CAN bus; The remote operation component comprises a remote programmable controller (2-4) electrically connected with a second wireless transmission module (2-12) for wireless transmission, a remote steering wheel assembly (2-3) for inputting a steering signal, a remote operation indicator light (2-5) for displaying whether power is on, and a remote selection switch (2-10) for opening and closing, the remote steering wheel assembly (2-3), the remote selection switch (2-10), and the remote operation indicator light (2-5) are arranged on a remote operation platform, the remote programmable controller (2-4) is further electrically connected with a remote second fuse group (2-1), a K9 local operation relay (2-6), and a K10 remote operation relay (2-7), and the remote steering wheel assembly (2-3) is electrically connected with a K10 relay normally open contact (2-2); The remote selection switch (2-10) is further connected in parallel with a K9 relay normally closed contact (2-8) and a K10 relay normally open contact (2-9), and the K9 relay normally closed contact (2-8) and the K10 relay normally open contact (2-9) are arranged in series; The local operation component comprises a local programmable controller (1-5) having an input end electrically connected with a local steering wheel (1-4) for controlling steering, a local selection switch (1-13) for opening or closing, a local operation indicator light (1-8) for displaying that power is on, an angle sensor (1-3) for detecting a steering angle, and a first wireless transmission module (1-15) for wireless transmission, the local selection switch (1-13) is arranged on a local operation platform, and the angle sensor (1-3) is arranged on a steering bridge, the local programmable controller (1-5) is further electrically connected with a first fuse (1-1), a K8 remote operation relay (1-6), a K7 local operation relay (1-7), a right-turn proportional valve electromagnet (1-9), and a left-turn proportional valve electromagnet (1-10); The local selection switch (1-13) is further connected in parallel with a K8 relay normally closed contact (1-11) and a K7 relay normally open contact (1-12), and the K8 relay normally closed contact (1-11) and the K7 relay normally open contact (1-12) are arranged in series. When remote operation, press remote operation selection switch (2-10), at this time remote programmable controller (2-4) receives remote operation signal, remote programmable controller (2-4) outputs electric signal to K10 remote operation relay (2-7), remote operation indicator light (2-5), at this time remote operation indicator light (2-5) is bright for prompting the turn-on of remote signal, K10 relay normally open contact (2-2) is closed, remote steering wheel assembly (2-3) is powered, by rotating steering wheel, steering wheel sends angle signal to remote programmable controller (2-4), simultaneously by CAN and second wireless transmission module (2-12) the remote control signal is transmitted to local programmable controller (1-5), local programmable controller (1-5) compares with the actual angle of angle sensor (1-3) feedback, then outputs the current of corresponding size to right rotation proportional valve electromagnet (1-9) and left rotation proportional valve electromagnet (1-10), proportional multi-way valve (3-3) outputs corresponding pressure oil to push steering cylinder (3-1) movement, realizes the left and right rotation of remote control vehicle. When local operation, press remote operation selection switch (1-13), at this time local programmable controller (1-5) receives remote operation signal, local programmable controller (1-5) outputs electric signal to K7 local operation relay (1-7), local operation indicator light (1-8), at this time local operation indicator light (1-8) is bright for prompting the turn-on of local signal, K7 relay normally open contact (1-12) is closed, local steering wheel assembly (1-4) is powered, by rotating steering wheel, steering wheel sends angle signal to remote programmable controller (1-5), local programmable controller (1-5) compares with the actual angle of angle sensor (1-3) feedback, then outputs the current of corresponding size to right rotation proportional valve electromagnet (1-9) and left rotation proportional valve electromagnet (1-10), proportional multi-way valve (3-3) outputs corresponding pressure oil to push steering cylinder (3-1) movement, realizes the left and right rotation of local control vehicle.

2. The electro-hydraulic steering system usable for remote-home control according to claim 1, characterized in that, The second wireless transmission module (2-12) is connected in parallel with a second terminal resistor (2-11).

3. The electro-hydraulic steering system usable for remote-home control according to claim 1, characterized in that, The first wireless transmission module (1-15) is connected in parallel with a first terminal resistor (1-14).

4. The electro-hydraulic steering system usable for remote-home control according to claim 1, characterized in that, The local steering wheel (1-4) is further connected in series with a K7 relay normally open contact (1-2).

5. The electro-hydraulic steering system usable for remote-home control according to claim 1, characterized in that, The right rotation proportional valve electromagnet (1-9) and left rotation proportional valve electromagnet (1-10) are installed at positions corresponding to the installation positions of steering components. The right rotation proportional valve electromagnet (1-9) and left rotation proportional valve electromagnet (1-10) are installed at positions corresponding to the installation positions of steering components.

6. The electro-hydraulic steering system usable for remote-home control according to claim 1, characterized in that, The turning component comprises a cylinder (3-1), a hydraulic hose (3-2), a turning proportional multi-way valve (3-3), a turning pump (3-4), and a hydraulic oil tank (3-5), the cylinder (3-1) is communicated with a power oil port of the turning proportional multi-way valve (3-3) through the hydraulic hose (3-2), the oil inlet end of the turning proportional multi-way valve (3-3) is also connected with the turning pump (3-4) for providing power, and the turning pump (3-4) is communicated with the hydraulic oil tank (3-5), so that the two cylinders (3-1) can be driven to perform turning operation through the turning pump (3-4) cooperating with the turning proportional multi-way valve (3-3).

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