A wireless remote control automatic steering device for a fire truck

Abstract

The present invention discloses a wireless remote control automatic steering device for a fire truck, which relates to the technical field of wireless remote control automatic steering. For a wireless remote control automatic steering device of a fire truck, its two-position four-way electromagnetic reversing valve connects oil passage I with oil passage II when its solenoid valve Y1 is not powered, and connects oil passage I with oil passage V when its solenoid valve Y1 is powered; solenoid valve Y4 is used to control the opening and closing of oil passage III; solenoid valve Y5 is used to control the opening and closing of oil passage IV; the three-position four-way electromagnetic reversing valve connects oil passage V with oil passage IV-I and oil passage III-I with oil passage VI when solenoid valve Y2 is powered, and connects oil passage V with oil passage III-I and oil passage IV-I with oil passage VI when solenoid valve Y3 is powered; oil passage VI is connected with oil passage II. The present invention can achieve the dual modes of personnel steering wheel steering and remote control steering only by being embedded into the existing steering system of the fire truck, without the need to replace the entire steering system of the fire truck, and has very high economic benefits.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless remote control automatic steering, and particularly to a wireless remote control automatic steering device for a fire truck. Background Art

[0002] When a fire truck faces some complex or dangerous environments, there are great limitations in human driving, and it is impossible to make the fire truck drive smoothly. Therefore, some newly introduced fire trucks are currently equipped with the function of wireless remote control driving. The function of wireless remote control driving enables the forward and backward movement of the vehicle to be remotely controlled when the vehicle moves at a low speed. Moreover, the core lies in being able to remotely control the steering of the vehicle. Patents such as those with publication numbers CN203078587U and CN203511758U can all remotely control the driving of the vehicle.

[0003] However, at present, most ordinary fire trucks do not have the function of wireless remote control driving. The steering systems of existing vehicles with the function of wireless remote control driving are initially designed based on the dual modes of wireless remote control driving and human driving. Its wireless remote control driving module cannot be separately detached for use on ordinary fire trucks, and the cost of replacing the entire steering system of ordinary fire trucks is extremely high. Summary of the Invention

[0004] The purpose of the present invention is to provide a wireless remote control automatic steering device for a fire truck to solve the deficiencies in the above-mentioned prior art.

[0005] To achieve the above object, the present invention provides the following technical solution: A wireless remote control automatic steering device for a fire truck, which is connected to the steering system of the fire truck. The steering system includes a fuel tank, an oil pump, a steering gear, and an oil cylinder. An oil passage 1 and an oil passage 2 are respectively provided between the fuel tank and the steering gear. The oil pump is arranged on the oil passage 1. Oil passages 3 and 4 are respectively provided between the two oil chambers of the oil cylinder and the steering gear; The wireless remote control automatic steering device for a fire truck includes: A two-position four-way electromagnetic reversing valve, which is arranged on the oil passage 1 and divides the oil passage 1 into two sections: an oil passage 1Ⅰ connecting the oil pump and an oil passage 1Ⅱ connecting the steering gear. When it is in position 1 in the state where its solenoid valve Y1 is not powered on, it connects the oil passage 1Ⅰ and the oil passage 1Ⅱ. When it is in position 2 in the state where its solenoid valve Y1 is powered on, it connects the oil passage 1Ⅰ and the oil passage 5; A solenoid valve Y4, which is arranged on the oil passage 3 and divides the oil passage 3 into two sections: an oil passage 3Ⅰ connecting the oil cylinder and an oil passage 3Ⅱ connecting the steering gear, and is used to control the opening and closing of the oil passage 3; A solenoid valve Y5, which is arranged on the oil passage 4 and divides the oil passage 4 into two sections: an oil passage 4Ⅰ connecting the oil cylinder and an oil passage 4Ⅱ connecting the oil cylinder, and is used to control the opening and closing of the oil passage 4; A three-position four-way electromagnetic reversing valve, which includes solenoid valves Y2 and Y3. When it is in the middle position in the state where both solenoid valves Y2 and Y3 are not powered on, it only connects the oil passage 5 and the oil passage 6. When it is in position 3 in the state where only the solenoid valve Y2 is powered on, it connects the oil passage 5 and the oil passage 4Ⅰ and connects the oil passage 3Ⅰ and the oil passage 6. When it is in position 4 in the state where only the solenoid valve Y3 is powered on, it connects the oil passage 5 and the oil passage 3Ⅰ and connects the oil passage 4Ⅰ and the oil passage 6; The oil passage 6 is connected to the oil passage 2.

[0006] Further, both the solenoid valve Y4 and the solenoid valve Y5 are normally open solenoid valves.

[0007] Further, a speed control valve 1 is provided on the oil passage 3Ⅰ, and a speed control valve 2 is provided on the oil passage 4Ⅰ.

[0008] Further, when the three-position four-way electromagnetic reversing valve is in position 4, only the speed control valve 1 operates; when the three-position four-way electromagnetic reversing valve is in position 3, only the speed control valve 2 operates.

[0009] Further, when the two-position four-way electromagnetic reversing valve is in position 1, it also connects the oil passage 5 and the oil passage 6; when the two-position four-way electromagnetic reversing valve is in position 2, it also connects the oil passage 1Ⅱ and the oil passage 6.

[0010] Further, a normally closed safety valve is provided between the oil passage 1Ⅰ and the oil passage 6, which automatically opens when the oil pressure in the oil passage 1Ⅰ exceeds the threshold value, and connects the oil passage 1Ⅰ and the oil passage 6.

[0011] In the above technical solution, a wireless remote control automatic steering device for a fire truck provided by the present invention is specifically developed for an ordinary fire truck that does not have the function of remote control driving. Only by embedding this wireless remote control automatic steering device of the fire truck into the hydraulic power steering system of the existing fire truck can the dual modes of manual steering wheel steering and remote control steering be realized, without the need to replace the entire steering system of the fire truck, which has very high economic benefits. When driving manually, all solenoid valves Y1, Y2, Y3, Y4, and Y5 are not powered, and the vehicle can be steered through the vehicle's own steering system controlled by the steering wheel; when turning left without a driver, solenoid valves Y1, Y2, Y4, and Y5 are powered; when turning right without a driver, solenoid valves Y1, Y3, Y4, and Y5 are powered; solenoid valve Y1 is used for the switching between manual / automatic steering. Description of the Drawings

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0013] Figure 1 Schematic diagram of the steering system of a traditional fire truck without the function of wireless remote control driving;

[0014] Figure 2 Schematic diagram of the structure when driving manually provided by the embodiment of the present invention;

[0015] Figure 3 Schematic diagram of the structure when driving straight without a driver provided by the embodiment of the present invention;

[0016] Figure 4 Schematic diagram of the structure when turning left without a driver provided by the embodiment of the present invention;

[0017] Figure 5 Schematic diagram of the structure when turning right without a driver provided by the embodiment of the present invention.

[0018] Description of the reference numerals in the drawings:

[0019] 1′, fuel tank; 2′, oil pump; 3′, steering gear; 4′, oil cylinder; 5′, oil circuit one; 5.1′, oil circuit one I; 5.2′, oil circuit one II; 6′, oil circuit two; 7′, oil circuit three; 7.1′, oil circuit three I; 7.2′, oil circuit three II; 8′, oil circuit four; 8.1′, oil circuit four I; 8.2′, oil circuit four II;

[0020] 1. Two-position four-way solenoid directional control valve; 2. Three-position four-way solenoid directional control valve; 3. Oil circuit five; 4. Oil circuit six; 5. Flow control valve one; 6. Flow control valve two; 7. Safety valve. Detailed implementation manner

[0021] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further introduced in detail below with reference to the accompanying drawings.

[0022] Please refer to Figures 1-5 , a wireless remote control automatic steering device for a fire truck provided by an embodiment of the present invention is connected to the steering system of the fire truck. The steering system includes a fuel tank 1′, an oil pump 2′, a steering gear 3′, and an oil cylinder 4′. An oil circuit one 5′ and an oil circuit two 6′ are respectively provided between the fuel tank 1′ and the steering gear 3′. The oil pump 2′ is arranged on the oil circuit one 5′. An oil circuit three 7′ and an oil circuit four 8′ are respectively provided between the two oil chambers of the oil cylinder 4′ and the steering gear 3′, as Figure 1; The wireless remote control automatic steering device of the fire truck includes: a two-position four-way electromagnetic directional valve 1, a solenoid valve Y4, a solenoid valve Y5, a three-position four-way electromagnetic directional valve 2, an oil circuit five 3, and an oil circuit six 4; among them, the two-position four-way electromagnetic directional valve 1 is arranged on the oil circuit one 5' to cut the oil circuit one 5' into two sections, namely, an oil circuit one I 5.1' connected to the oil pump 2' and an oil circuit one II 5.2' connected to the steering gear 3'. When the solenoid valve Y1 of the two-position four-way electromagnetic directional valve 1 is not powered on and in the first working position, the oil circuit one I 5.1' is connected to the oil circuit one II 5.2'; when the solenoid valve Y1 of the two-position four-way electromagnetic directional valve 1 is powered on and in the second working position, the oil circuit one I 5.1' is connected to the oil circuit five 3; the solenoid valve Y4 is arranged on the oil circuit three 7' to cut the oil circuit three 7' into two sections, namely, an oil circuit three I 7.1' connected to the oil cylinder 4' and an oil circuit three II 7.2' connected to the steering gear 3', and is used to control the opening and closing of the oil circuit three 7'; the solenoid valve Y5 is arranged on the oil circuit four 8' to cut the oil circuit four 8' into two sections, namely, an oil circuit four I 8.1' connected to the oil cylinder 4' and an oil circuit four II 8.2' connected to the oil cylinder 4', and is used to control the opening and closing of the oil circuit four 8'; specifically, both the solenoid valve Y4 and the solenoid valve Y5 are normally open solenoid valves, that is: when the solenoid valve Y4 is not powered on, the elastic force of its spring keeps it in the open state, and the oil circuit three I 7.1' is connected to the oil circuit three II 7.2'; when the solenoid valve Y5 is not powered on, the elastic force of its spring keeps it in the open state, and the oil circuit four I 8.1' is connected to the oil circuit four II 8.2'. The three-position four-way electromagnetic directional valve 2 has a solenoid valve Y2 and a solenoid valve Y3. When the solenoid valve Y2 and the solenoid valve Y3 of the three-position four-way electromagnetic directional valve 2 are both not powered on and in the middle position, only the oil circuit five 3 is connected to the oil circuit six 4; when only the solenoid valve Y2 is powered on and in its third working position, the oil circuit five 3 is connected to the oil circuit four I 8.1' and the oil circuit three I 7.1' is connected to the oil circuit six 4; when only the solenoid valve Y3 is powered on and in its fourth working position, the oil circuit five 3 is connected to the oil circuit three I 7.1' and the oil circuit four I 8.1' is connected to the oil circuit six 4; the oil circuit six 4 is connected to the oil circuit two 6'.

[0023] Specifically, the two-position four-way electromagnetic directional valve 1 has four oil ports and two working positions. Its first oil port is connected to the oil circuit one I 5.1', its second oil port is connected to the oil circuit five 3, its third oil port is connected to the oil circuit six 4, and its fourth oil port is connected to the oil circuit one II 5.2'; the solenoid valve Y4 has two oil ports. Its first oil port is connected to the oil circuit three I 7.1', and its second oil port is connected to the oil circuit three II 7.2'; the solenoid valve Y5 has two oil ports. Its first oil port is connected to the oil circuit four I 8.1', and its second oil port is connected to the oil circuit four II 8.2'; the three-position four-way electromagnetic directional valve 2 has four oil ports and three working positions. Its first oil port is connected to the oil circuit five 3, its second oil port is connected to the oil circuit six 4, its third oil port is connected to the oil circuit three I 7.1', and its fourth oil port is connected to the oil circuit four I 8.1'.

[0024] When the person is driving, refer to Figure 2 , all solenoid valves Y1, Y2, Y3, Y4 and Y5 are not powered. At this time, the wireless remote control automatic steering device of the fire truck does not interfere with the steering operation of the steering system of the fire truck, and the vehicle can be steered by the steering system of the vehicle controlled by the steering wheel. The steering gear 3' connects the oil circuit 1 5' with the oil circuit 4 8' and the oil circuit 2 6' with the oil circuit 3 7' for the personnel to drive left turn. The steering gear 3' connects the oil circuit 1 5' with the oil circuit 3 7' and the oil circuit 2 6' with the oil circuit 4 8' for the personnel to drive left turn. It can be understood that the steering gear 3' also includes a three-position four-way solenoid reversing valve 2. The steering gear 3' of the vehicle steering system is a very mature existing technology and will not be described in detail here.

[0025] Solenoid valve Y1 is used to switch between manual and automatic steering. When only solenoid valve Y1 is energized, the two-position four-way solenoid reversing valve 1 is in position 2, and oil circuit 1Ⅰ5.1′ is connected to oil circuit 53. The fire truck switches from the human-driven steering mode to the unmanned remote control steering mode. The hydraulic oil in the oil tank 1′ is pumped into the oil circuit 1Ⅰ5.1′ by the oil pump 2′, and flows through the oil circuit 53, the oil circuit 64 and the oil circuit 26′ in turn back to the oil tank 1′. At this time, the direction of the vehicle is in a straight state, such as Figure 3 In the straight driving state, the oil pump 2' still keeps running and the hydraulic oil flows, which can make the response speed faster and the steering accuracy higher when switching between left turn and right turn.

[0026] When the solenoid valves Y1, Y2, Y4 and Y5 are powered and the solenoid valve Y3 is not powered, the two-position four-way solenoid reversing valve 1 is in position two, and the oil circuit one Ⅰ5.1' is connected with the oil circuit five 3, the three-position four-way valve is in position three, and the oil circuit five 3 is connected with the oil circuit four Ⅰ8.1', and the oil circuit three Ⅰ7.1' is connected with the oil circuit six 4, the solenoid valve Y4 disconnects the oil circuit three Ⅰ7.1' from the oil circuit three Ⅱ7.2', and the solenoid valve Y5 disconnects the oil circuit four Ⅰ8.1' The hydraulic oil in the oil tank 1' is disconnected from the oil circuit 4 II 8.2', and the hydraulic oil in the oil tank 1' is pumped into the oil circuit 1 I 5.1' by the oil pump 2', and flows through the oil circuit 5 3 and the oil circuit 4 I 8.1' in turn into the right oil chamber of the oil cylinder 4', so that the piston of the oil cylinder 4' moves and the vehicle turns left. The movement of the piston causes the hydraulic oil in the left oil chamber of the oil cylinder 4' to flow back to the oil tank 1' through the oil circuit 3 I 7.1', the oil circuit 6 4 and the oil circuit 2 6' in turn. At this time, the vehicle is in a left turn state. Figure 4 .

[0027] When the solenoid valves Y1, Y3, Y4, and Y5 are energized and the solenoid valve Y2 is de-energized, the two-position four-way solenoid directional valve 1 is in working position two. The oil passage I 5.1' of the first oil circuit is connected to the fifth oil circuit 3. The three-position four-way valve is in working position four. The fifth oil circuit 3 is connected to the oil passage I 7.1' of the third oil circuit. The oil passage I 8.1' of the fourth oil circuit is connected to the sixth oil circuit 4. The solenoid valve Y4 disconnects the oil passage I 7.1' of the third oil circuit from the oil passage II 7.2' of the third oil circuit. The solenoid valve Y5 disconnects the oil passage I 8.1' of the fourth oil circuit from the oil passage II 8.2' of the fourth oil circuit. The hydraulic oil in the oil tank 1' is pumped into the oil passage I 5.1' of the first oil circuit by the oil pump 2', and successively flows through the fifth oil circuit 3 and the oil passage I 7.1' of the third oil circuit into the left oil cavity of the oil cylinder 4', causing the piston of the oil cylinder 4' to move and thus making the vehicle turn right. The movement of the piston causes the hydraulic oil in the right oil cavity of the oil cylinder 4' to flow back to the oil tank 1' successively through the oil passage I 8.1' of the fourth oil circuit, the sixth oil circuit 4, and the second oil circuit 6'. At this time, the vehicle is in a right-turning state, as Figure 5 。

[0028] A wireless remote control automatic steering device for a fire truck provided by the present invention is specifically developed for existing ordinary fire trucks without remote control driving functions. Only by embedding this wireless remote control automatic steering device of the fire truck into the hydraulic power-assisted steering system of the existing fire truck can the dual modes of manual steering wheel steering and remote control steering be realized, without the need to replace the entire steering system of the fire truck, which has very high economic benefits.

[0029] As a preferred technical solution of the present invention, a speed control valve I 5 is provided on the oil passage I 7.1' of the third oil circuit, and a speed control valve II 6 is provided on the oil passage I 8.1' of the fourth oil circuit. Further, when the three-position four-way solenoid directional valve 2 is in working position four, only the speed control valve I 5 operates; when the three-position four-way solenoid directional valve 2 is in working position three, only the speed control valve II 6 operates; that is, the speed control valve in the oil circuit for oil return operates, which is beneficial to improving the stability of the oil cylinder 4' and having strong anti-load change ability.

[0030] As a preferred technical solution of the present invention, when the two-position four-way solenoid directional valve 1 is in working position one, the fifth oil circuit 3 is also connected to the sixth oil circuit 4; when the two-position four-way solenoid directional valve 1 is in working position two, the oil passage II 5.2' of the first oil circuit is also connected to the sixth oil circuit 4. In this way, the pressure difference impact on the corresponding oil passages when the two-position four-way solenoid directional valve 1 switches working positions can be greatly alleviated or eliminated, and the steering response speed and steering accuracy can be significantly improved.

[0031] As a preferred technical solution of the present invention, a normally closed safety valve 7 is provided between the first oil circuit I 5.1' and the sixth oil circuit 4, which automatically opens when the oil pressure in the first oil circuit I 5.1' exceeds the threshold value, so that the first oil circuit I 5.1' is communicated with the sixth oil circuit 4. Thus, when the wireless remote control automatic steering device of the fire truck embedded fails, or the oil cylinder 4' fails, or the steering wheel of the fire truck is blocked from turning, when the pressure of the first oil circuit I 5.1' exceeds the threshold value, the safety valve 7 actively opens or is passively opened, and the hydraulic oil in the first oil circuit I 5.1' flows back to the fuel tank 1' through the sixth oil circuit 4 and the second oil circuit 6', playing a protective role for the oil pump 2' and each oil circuit. Specifically, the safety valve 7 is active. A pressure sensor is provided on the first oil circuit I 5.1'. When the pressure sensor detects that the pressure in the first oil circuit I 5.1' is greater than the threshold value, it triggers the safety valve 7 to actively open. Preferably, the safety valve 7 is passive. It includes a valve body, a spring and a valve plug. The valve body has a valve cavity and two oil ports communicating with the valve cavity. One of the oil ports is communicated with the first oil circuit I 5.1', and the other oil port is communicated with the sixth oil circuit 4. The valve plug is located in the valve cavity and closes the oil port communicating with the first oil circuit I 5.1' under the elastic force of the spring. When the oil pressure in the first oil circuit I 5.1' exceeds the threshold value, the hydraulic oil overcomes the elastic force of the spring and squeezes the valve plug away from the oil port communicating with the first oil circuit I 5.1', thereby relieving the pressure of the first oil circuit I 5.1'.

[0032] Only some exemplary embodiments of the present invention have been described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present invention, the described embodiments can be modified in various different ways. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A wireless remote control automatic steering device for a fire truck, which is connected to the steering system of the fire truck. The steering system includes an oil tank, an oil pump, a steering gear, and an oil cylinder. An oil passage 1 and an oil passage 2 are respectively provided between the oil tank and the steering gear. The oil pump is arranged on the oil passage 1. Oil passages 3 and 4 are respectively provided between the two oil chambers of the oil cylinder and the steering gear; It is characterized in that it includes: A two-position four-way electromagnetic directional valve, which is arranged on the oil passage 1 and divides the oil passage 1 into two sections: an oil passage 1Ⅰ connecting the oil pump and an oil passage 1Ⅱ connecting the steering gear. When it is in position 1 in the state where its solenoid valve Y1 is not powered, it connects the oil passage 1Ⅰ and the oil passage 1Ⅱ. When it is in position 2 in the state where its solenoid valve Y1 is powered, it connects the oil passage 1Ⅰ and the oil passage 5; Solenoid valve Y4, which is arranged on the oil passage 3 and divides the oil passage 3 into two sections: an oil passage 3Ⅰ connecting the oil cylinder and an oil passage 3Ⅱ connecting the steering gear, and is used to control the opening and closing of the oil passage 3; Solenoid valve Y5, which is arranged on the oil passage 4 and divides the oil passage 4 into two sections: an oil passage 4Ⅰ connecting the oil cylinder and an oil passage 4Ⅱ connecting the oil cylinder, and is used to control the opening and closing of the oil passage 4; A three-position four-way electromagnetic directional valve, which includes solenoid valves Y2 and Y3. When it is in the middle position in the state where both solenoid valves Y2 and Y3 are not powered, it only connects the oil passage 5 and the oil passage 6. When it is in its position 3 in the state where only solenoid valve Y2 is powered, it connects the oil passage 5 and the oil passage 4Ⅰ and connects the oil passage 3Ⅰ and the oil passage 6. When it is in its position 4 in the state where only solenoid valve Y3 is powered, it connects the oil passage 5 and the oil passage 3Ⅰ and connects the oil passage 4Ⅰ and the oil passage 6; The oil passage 6 is connected to the oil passage 2.

2. The wireless remote control automatic steering device for a fire truck according to claim 1, It is characterized in that both the solenoid valve Y4 and the solenoid valve Y5 are normally open solenoid valves.

3. The wireless remote control automatic steering device for a fire truck according to claim 1, It is characterized in that a speed control valve 1 is provided on the oil passage 3Ⅰ, and a speed control valve 2 is provided on the oil passage 4Ⅰ.

4. The wireless remote control automatic steering device for a fire truck according to claim 1, It is characterized in that when the three-position four-way electromagnetic directional valve is in position 4, only the speed control valve 1 operates; when the three-position four-way electromagnetic directional valve is in position 3, only the speed control valve 2 operates.

5. The wireless remote control automatic steering device for a fire truck according to claim 1, It is characterized in that when the two-position four-way electromagnetic directional valve is in position 1, it also connects the oil passage 5 and the oil passage 6; when the two-position four-way electromagnetic directional valve is in position 2, it also connects the oil passage 1Ⅱ and the oil passage 6.

6. The wireless remote control automatic steering device for a fire truck according to claim 1, It is characterized in that a normally closed safety valve is provided between the oil passage 1Ⅰ and the oil passage 6, which automatically opens when the oil pressure in the oil passage 1Ⅰ exceeds the threshold value, and connects the oil passage 1Ⅰ and the oil passage 6.

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