CN108749920A - A kind of unmanned framework transport vehicle of heavy type electric drive all-wheel steering a11wheel drive - Google Patents
A kind of unmanned framework transport vehicle of heavy type electric drive all-wheel steering a11wheel drive Download PDFInfo
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- CN108749920A CN108749920A CN201810878931.XA CN201810878931A CN108749920A CN 108749920 A CN108749920 A CN 108749920A CN 201810878931 A CN201810878931 A CN 201810878931A CN 108749920 A CN108749920 A CN 108749920A
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- assembly
- steering structure
- frame
- steering
- transport vehicle
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
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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
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of heavy electric drive a11wheel drive unmanned framework transport vehicle, includes the frame assembly for arrangement of goods, further includes：Turn to assembly, including steering cylinder I, steering cylinder II, frame connecting plate, two active steering structures and the oil cylinder connecting seat for being fixedly installed in the frame assembly；Wherein, the frame connecting plate is rotatablely connected with the frame assembly, the cylinder rod and tail portion of the steering cylinder I and the steering cylinder II are rotatablely connected with the frame connecting plate and the oil cylinder connecting seat respectively, two active steering structures are rotationally connected with the frame assembly respectively, and are rotationally connected with the frame connecting plate both sides by connecting rod I respectively；Driving axis and suspension assembly, the suspension assembly include hanging oil cylinder and counter-jib.The driving wheel that technical scheme of the present invention solves existing heavy type AGV in the prior art cannot rotate, the problem of causing turning operation resistance big abrasion driving tyre.
Description
Technical field
The present invention relates to Industrial Robot Technology fields, specifically, more particularly to a kind of heavy electric drive all-wheel steering
The unmanned framework transport vehicle of a11wheel drive.
Background technology
AGV (Automated Guided Vehicle are implied that " automated guided vehicle ") is that have unmanned to lead automatically
Leading-in device can be travelled along defined guide path, and the transporting equipment with safeguard protection and various transfer functions is industry
One type of robot.The distinguishing feature of AGV be it is unmanned, can be with safeguards system in the case where not needing manual guidance
Automatic running.Flexible, automation and intelligent level are high, moreover it is possible to which self diagnosis investigates failure, reduces maintenance personnel's cost.It is whole
A AGV system can realize intelligent scheduling, remain that the production order is busy orderly, greatly save personal management cost.
Currently, indoor light AGV maturations using more, are generally carried to mostly several tons or so of weight, it is difficult to meet large size
Cargo is carried, and is required for heavy AGV to be used to meet in fields such as heavy manufacture, railway traffic, special trade, harbour airports
It is required that.For outdoor, heavy type AGV, main feature includes complex working condition, multiple degrees of freedom, large scale, high-mechanic, design structure,
Parts composition is totally different from light-duty AGV, and technological difficulties are more, and the prior art is generally difficult to ensure the flat of heavy AGV products
Stability, flexibility ratio and durability, and the driving wheel of existing heavy type AGV is fixed form, cannot be rotated, and causes to transport in vehicle
Turning operation resistance is big when row, and wears driving tyre.
Invention content
Driving wheel according to existing heavy type AGV set forth above is fixed form, cannot be rotated, and causes to run in vehicle
When turning operation resistance it is big, and the technical issues of wear driving tyre, and it is complete to provide a kind of heavy electric drive all-wheel steering
The unmanned framework transport vehicle of wheel drive.The present invention mainly utilize the steering assembly being arranged between frame assembly and driving axis and
Suspension assembly enables transport vehicle to realize that vehicle frame can lift simultaneously for all-wheel steering, full driving traveling, reduce operation to play
Resistance reduces degree of tire abrasion, makes the more smoothly effect of transport vehicle traveling.
The technological means that the present invention uses is as follows：
A kind of unmanned framework transport vehicle of heavy type electric drive a11wheel drive, includes the frame assembly for arrangement of goods, also wraps
It includes：
Turn to assembly, including steering cylinder I, steering cylinder II, frame connecting plate, two active steering structures and fixed peace
Oil cylinder connecting seat loaded on the frame assembly；Wherein, the frame connecting plate is rotatablely connected with the frame assembly, described turn
It is rotated respectively with the frame connecting plate and the oil cylinder connecting seat to the cylinder rod and tail portion of oil cylinder I and the steering cylinder II
Connection, two active steering structures are rotationally connected with the frame assembly respectively, and are rotationally connected with respectively by connecting rod I
The frame connecting plate both sides；
Driving axis, including at least two tires, each described tire assemble a wheel side speed reducer and one
Permanent magnet synchronous motor, the turning end of the wheel side speed reducer be fixed on the tire, fixing end by counter flange with it is described
Permanent magnet synchronous motor is connected, and the corresponding wheel side speed reducer of each described tire is fixedly installed in lower axle housing；
Each described active steering structure assembles a driving axis and a suspension assembly, the suspension
Assembly includes hanging oil cylinder and counter-jib；Wherein, the cylinder rod of the hanging oil cylinder and tail portion respectively with the counter-jib and phase
The corresponding active steering structure rotation connection, the corresponding lower bridge is fixed in described counter-jib one end by baffle
Shell, the other end are rotatablely connected with the corresponding active steering structure.
Further, the frame assembly includes frame body, connecting shaft I and connecting shaft II；The active steering structure
It is rotatablely connected respectively with the frame body by the connecting shaft I and the connecting shaft II with the frame connecting plate.
Further, the steering assembly further includes being tied with the one-to-one driven steering of two active steering structures
Structure I, the active steering structure are rotatablely connected by connecting rod II and the driven steering structure I, each described driven steering
Structure I assembles a driving axis and a suspension assembly；
Wherein, in the suspension assembly corresponding with the driven steering structure I, the cylinder rod and tail of the hanging oil cylinder
Portion is rotatablely connected with the counter-jib and the corresponding driven steering structure I respectively, and described counter-jib one end passes through described
Baffle is fixed on the corresponding lower axle housing, and the other end is rotatablely connected with the corresponding driven steering structure I；
The driven steering structure I is rotationally connected with the frame assembly.
Further, the steering assembly further includes and the one-to-one driven steering of two driven steering structures I
Structure II, the driven steering structure I are rotatablely connected by connecting rod III and the driven steering structure II, each is described driven
Steering structure II assembles a driving axis and a suspension assembly；
Wherein, in the suspension assembly corresponding with the driven steering structure II, the cylinder rod of the hanging oil cylinder and
Tail portion is rotatablely connected with the counter-jib and the corresponding driven steering structure II respectively, and described counter-jib one end passes through institute
It states baffle and is fixed on the corresponding lower axle housing, the other end is rotatablely connected with the corresponding driven steering structure II；
The driven steering structure II is rotationally connected with the frame assembly.
Further, the steering assembly is arranged by axial symmetry of the transversal centerline of the frame connecting plate.
Further, further include that piggyback pod for providing electric power for the driving axis and control transport vehicle work
Electrical equipment；The piggyback pod is electrically connected with the electrical equipment, and the piggyback pod and the electrical equipment are fixedly mounted on institute
It states on frame assembly.
Further, further include be fixed on the navigation system of the frame assembly and be layed in running region for confirming
The Positioning magnetic nail of travel route, the navigation system are electrically connected with the electrical equipment, and the Positioning magnetic nail believes the position
Breath is transmitted to the navigation system, and the electrical equipment controls transport vehicle according to the location information that the navigation system receives
Work.
Further, the navigation system is inertial navigation system.
Compared with the prior art, the present invention has the following advantages：
1, the unmanned framework transport vehicle of heavy electric drive all-wheel steering a11wheel drive provided by the invention, by being arranged for tire
It is corresponding to turn to assembly, so that the tire of transport vehicle is turned to assembly is turned to, realizes all-wheel steering traveling, reduce
Running resistance, transport vehicle operation are more steady.
2, the unmanned framework transport vehicle of heavy electric drive all-wheel steering a11wheel drive provided by the invention, by all tire
The wheel side speed reducer of corresponding motor direct driving is assembled, realizes all-wheel drive vehicles traveling.
3, the unmanned framework transport vehicle of heavy electric drive all-wheel steering a11wheel drive provided by the invention, for transport vehicle at family
The external environment of outer complex road condition is coordinated with electrical equipment by the way that navigation system and Positioning magnetic nail is arranged, is realized to transport vehicle
High accuracy positioning navigates, and the synchronized Coordinative Control of transport vehicle each section is realized by electrical equipment, realizes unmanned framework transport vehicle
All-wheel steering and vehicle frame lifting.
To sum up, applying the technical scheme of the present invention cannot rotate for driving wheel of the existing technology, vehicle operation
When turning operation resistance big abrasion driving tyre the technical issues of the present invention by between frame assembly and driving axis
The steering assembly and suspension assembly of setting enable transport vehicle to realize all-wheel steering, full driving traveling.Therefore, skill of the invention
Art scheme solves the problems, such as that the driving wheel of heavy type AGV in the prior art is fixed form.
The present invention can be widely popularized in fields such as Industrial Robot Technologies based on the above reasons.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without having to pay creative labor, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is transport vehicle overall structure diagram of the present invention.
Fig. 2 is transport vehicle overall structure diagram of the present invention.
Fig. 3 is frame assembly structural schematic diagram of the present invention.
Fig. 4 is driving axis structural schematic diagram of the present invention.
Fig. 5 is steering assembly structure schematic diagram of the present invention.
Fig. 6 is suspension assembly structural schematic diagram of the present invention.
In figure：1, frame assembly；11, frame body；12, connecting shaft I；13, connecting shaft II；2, driving axis；21, it takes turns
Side speed reducer；22, tire；23, lower axle housing；24, counter flange；25, permanent magnet synchronous motor；3, assembly is turned to；31, steering cylinder
Ⅰ；32, steering cylinder II；33, frame connecting plate；34, connecting rod I；35, connecting rod II；36, connecting rod III；37, oil cylinder connecting seat；38,
Active steering structure；39, driven steering structure I；310, driven steering structure II；4, suspension assembly；41, hanging oil cylinder；42, it puts down
Weigh arm；43, baffle；5, navigation system；6, piggyback pod；7, electrical equipment；8, cargo.
Specific implementation mode
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.Below to the description of at least one exemplary embodiment reality
It is merely illustrative on border, never as to the present invention and its application or any restrictions used.Based on the reality in the present invention
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts all belongs to
In the scope of protection of the invention.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to exemplary embodiments of the present invention.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be clear that for ease of description, attached each portion shown in the drawings
The size divided not is to be drawn according to actual proportionate relationship.For the known technology of person of ordinary skill in the relevant, side
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part for book.In shown here and discussion all examples, appointing to occurrence should be construed as merely illustrative, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It need not be further discussed in figure.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, the orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
Signified device or element must have a particular orientation or with specific azimuth configuration and operations with hint, therefore cannot manage
Solution is limiting the scope of the invention：The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under its device or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Furthermore, it is necessary to which explanation, limits parts, it is only for be convenient for using the words such as " first ", " second "
Corresponding parts are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection domain.
Embodiment 1
As shown in figures 1 to 6, the present invention provides a kind of unmanned framework transport vehicles of heavy electric drive a11wheel drive, including are used for
The frame assembly 1 of arrangement of goods further includes：
Turn to assembly 3, including 33, two steering cylinder I 31, steering cylinder II 32, frame connecting plate active steering structures
38 and it is fixedly installed in the oil cylinder connecting seat 37 of the frame assembly 1；Wherein, the frame connecting plate 33 and the frame assembly
1 rotation connection, the cylinder rod and tail portion of the steering cylinder I 31 and the steering cylinder II 32 respectively with the frame connecting plate
33 and the oil cylinder connecting seat 37 be rotatablely connected, two active steering structures 38 are rotationally connected with the frame assembly respectively
1, and 33 both sides of the frame connecting plate are rotationally connected with by connecting rod I 34 respectively；
Driving axis 2, including at least two tires 22, each described tire 22 assemble a wheel side speed reducer 21
With a permanent magnet synchronous motor 25, the turning end of the wheel side speed reducer 21 be fixed on the tire 22, fixing end passed through
It crosses flange 24 with the permanent magnet synchronous motor 25 to be connected, the corresponding wheel side speed reducer 21 of each described tire 22 is solid
Dingan County is loaded on lower axle housing 23；
Each described active steering structure 38 assembles a driving axis 2 and a suspension assembly 4, described
Suspension assembly 4 includes hanging oil cylinder 41 and counter-jib 42；Wherein, the cylinder rod of the hanging oil cylinder 41 and tail portion respectively with it is described
Counter-jib 42 and the corresponding active steering structure 38 are rotatablely connected, and 42 one end of the counter-jib is fixed on by baffle 43
The corresponding lower axle housing 23, the other end are rotatablely connected with the corresponding active steering structure 38.
Preferably, the oil cylinder connecting seat 37 is welded in the frame assembly 1；The steering cylinder I 31 and the steering
The cylinder rod of oil cylinder II 32 and tail portion are connected by axis pin and the frame connecting plate 33 and the rotation of the oil cylinder connecting seat 37 respectively
It connects, I 34 both ends of the connecting rod are rotatablely connected by axis pin and the active steering structure 38 and the frame connecting plate 33 respectively；
Preferably, the cylinder rod of the hanging oil cylinder 41 and tail portion are respectively by axis pin and the counter-jib 42 and corresponding
The active steering structure 38 rotation connection, the corresponding lower bridge is fixed in 42 one end of the counter-jib by baffle 43
Shell 23, the other end are rotatablely connected by axis pin with the corresponding active steering structure 38.
Preferably, the wheel side speed reducer 21, which is bolted, is installed on the lower axle housing 23, the wheel side speed reducer
21 turning end is secured by bolts in and the tire 22.
Further, the frame assembly 1 includes frame body 1, connecting shaft I 12 and connecting shaft II 13；The active turns
Pass through the connecting shaft I 12 and the connecting shaft II 13 and the frame body respectively to structure 1 and the frame connecting plate 33
11 rotation connections.
Further, the steering assembly 3 further includes with two active steering structures 38 correspondingly from turn
To structure I 39, the active steering structure is rotatablely connected by connecting rod II 35 and the driven steering structure I 39, each institute
It states driven steering structure I 39 and assembles a driving axis 2 and a suspension assembly 4；
Wherein, in the suspension assembly corresponding with the driven steering structure I 39 4, the oil cylinder of the hanging oil cylinder 41
Bar and tail portion are rotatablely connected with the counter-jib 42 and the corresponding driven steering structure I 39 respectively, the counter-jib 42
The corresponding lower axle housing 23, the other end and the corresponding driven steering structure are fixed in one end by the baffle 43
I 39 rotation connections；
The driven steering structure I 39 is rotationally connected with the frame assembly 1.
Preferably, the driven steering structure I 39 is rotationally connected with the frame assembly 1 by connecting shaft I 12.
Further, the steering assembly 3 is arranged by axial symmetry of the transversal centerline of the frame connecting plate 33.
Using the present invention of above-mentioned technical proposal, when driving, the driving axis 2 works at the same time transport vehicle, it is described forever
After magnetic-synchro motor 25 is powered on, drives the wheel side speed reducer 21 to rotate, be further driven to the tire 22 and start to rotate
Task driven transport vehicle realizes a11wheel drive traveling.
In driving process when transport vehicle needs to turn to, the cylinder rod elongation steering simultaneously of the steering cylinder I 31
The cylinder rod of oil cylinder II 32 is shunk, and is driven the frame connecting plate 33 to be rotated around the connecting shaft II 13, is passed through the connecting rod I 34
It drives two active steering structures 38 to be rotated rotating around the connecting shaft I 12, while two is driven by the connecting rod II 35
A driven steering structure I 39 is rotated rotating around the connecting shaft I 12, since the steering assembly 3 is connected with the vehicle frame
The transversal centerline of plate 33 be axial symmetry setting, ensure that two active steering structures 38 and it is corresponding two it is described driven
Steering structure I 39 can realize with the same direction and angle and be rotated synchronously, further by with the active steering structure 38 and
The suspension assembly 4 that the driven steering structure I 39 respectively connects drives the corresponding driving axis 2 to realize synchronous turn
To making transport vehicle realize all-wheel steering traveling, reduce running resistance, transport vehicle operation is more steady.
Transport vehicle stops after driving to the position of loading or unloading cargo 8, is stretched by the cylinder rod of the hanging oil cylinder 41
Long or contraction, drives the steering assembly and the frame assembly 1 to rise or fall, and realizes the handling to cargo 8.
Embodiment 2
As shown in figure 5, on the basis of embodiment 1, the steering assembly 3 further includes and two driven steering structures
I 39 one-to-one driven steering structures II 310, the driven steering structure I 39 pass through connecting rod III 36 and the driven steering
Structure II 310 is rotatablely connected, each described driven steering structure II 310 assembles a driving axis 2 and one
The suspension assembly 4；
Wherein, in the suspension assembly corresponding with the driven steering structure II 310 4, the oil of the hanging oil cylinder 41
Cylinder rod and tail portion are rotatablely connected with the counter-jib 42 and the corresponding driven steering structure II 310 respectively, the balance
The corresponding lower axle housing 23, the other end and the corresponding driven steering are fixed in 42 one end of arm by the baffle 43
Structure II 310 is rotatablely connected；
The driven steering structure II 310 is rotationally connected with the frame assembly 1.
Preferably, the driven steering structure II 310 is rotationally connected with the frame assembly 1 by connecting shaft I 12.
In driving process when transport vehicle needs to turn to, the driven steering structure II 310 is tied with the driven steering
The rotation of structure I 39 synchronizes rotation, and the corresponding driving axis 2 is driven by the suspension assembly 4 respectively connected
It realizes synchronous steering, realizes the all-wheel steering traveling of transport vehicle, can make transport by increasing the driven steering structure II 310
Vehicle traveling is more steady.
Embodiment 3
As shown in Figure 1, on the basis of embodiment 1 or embodiment 2, transport vehicle further includes for being the driving axis
2 provide electric power piggyback pod 6 and to the piggyback pod 6, the steering assembly 3, driving axis 2 and the suspension assembly 4 into
The electrical equipment 7 of row synchronous control；The piggyback pod 6 and the electrical equipment 7 are fixedly mounted on the frame assembly 1.
Further, the electrical equipment 7 is used to control startup and closing, the steering cylinder I 31 of the piggyback pod 6
Elongation with the cylinder rod of the steering cylinder II 32 and shortening, the wheel side speed reducer 21 and the permanent magnet synchronous motor 25
Start the elongation and shortening of the cylinder rod with closing and the hanging oil cylinder 41.
Embodiment 4
As shown in Figure 1, on the basis of embodiment 1, embodiment 2 or embodiment 3, transport vehicle further includes being fixed on the vehicle
The navigation system 5 of frame assembly 1 and the Positioning magnetic nail for confirming travel route for being layed in running region, the navigation system 5
It is electrically connected with the electrical equipment 7, the Positioning magnetic nail acquires position information and is transmitted to the location information described
Navigation system 5, the electrical equipment 7 control the work of transport vehicle according to the location information that the navigation system 5 receives.
Further, the navigation system 5 is inertial navigation system.
After confirming travel route, the location information that the Positioning magnetic nail by being layed in transport vehicle running region acquires,
After the navigation system 5 receives information, transport vehicle is controlled by the electrical equipment 7 and makes corresponding actions according to travel route row
It sails, the navigation system 5 can also realize anticollision, path planning, record tracking, failure feedback, station acquisition, automatically walk etc.
Function.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (8)
1. a kind of unmanned framework transport vehicle of heavy type electric drive a11wheel drive, includes the frame assembly for arrangement of goods, feature
It is, further includes：
It turns to assembly, including steering cylinder I, steering cylinder II, frame connecting plate, two active steering structures and is fixedly installed in
The oil cylinder connecting seat of the frame assembly；Wherein, the frame connecting plate is rotatablely connected with the frame assembly, the steering oil
The cylinder rod and tail portion of cylinder I and the steering cylinder II connect with the frame connecting plate and oil cylinder connecting seat rotation respectively
It connects, two active steering structures are rotationally connected with the frame assembly respectively, and are rotationally connected with institute by connecting rod I respectively
State frame connecting plate both sides；
Driving axis, including at least two tires, each described tire assemble a wheel side speed reducer and a permanent magnetism
Synchronous motor, the turning end of the wheel side speed reducer is fixed on passes through counter flange and the permanent magnetism with the tire, fixing end
Synchronous motor is connected, and the corresponding wheel side speed reducer of each described tire is fixedly installed in lower axle housing；
Each described active steering structure assembles a driving axis and a suspension assembly, the suspension assembly
Including hanging oil cylinder and counter-jib；Wherein, the cylinder rod of the hanging oil cylinder and tail portion respectively with the counter-jib and corresponding
Active steering structure rotation connection, described counter-jib one end is fixed on the corresponding lower axle housing by baffle, separately
One end is rotatablely connected with the corresponding active steering structure.
2. the unmanned framework transport vehicle of heavy type electric drive a11wheel drive according to claim 1, which is characterized in that the vehicle frame
Assembly includes frame body, connecting shaft I and connecting shaft II；The active steering structure and the frame connecting plate pass through institute respectively
Connecting shaft I and the connecting shaft II is stated to be rotatablely connected with the frame body.
3. the unmanned framework transport vehicle of heavy type electric drive a11wheel drive according to claim 1, which is characterized in that the steering
Assembly further includes that driven steering structure I, the active steering structure pass through correspondingly with two active steering structures
Connecting rod II is rotatablely connected with the driven steering structure I, each described driven steering structure I assembles a drive axle
Assembly and a suspension assembly；
Wherein, in the suspension assembly corresponding with the driven steering structure I, the cylinder rod and portion of the hanging oil cylinder
It is not rotatablely connected with the counter-jib and the corresponding driven steering structure I, described counter-jib one end passes through the baffle
It is fixed on the corresponding lower axle housing, the other end is rotatablely connected with the corresponding driven steering structure I；
The driven steering structure I is rotationally connected with the frame assembly.
4. the unmanned framework transport vehicle of heavy type electric drive a11wheel drive according to claim 3, which is characterized in that the steering
Assembly further includes leading to the one-to-one driven steering structure II of two driven steering structures I, the driven steering structure I
It crosses connecting rod III to be rotatablely connected with the driven steering structure II, each described driven steering structure II assembles a drive
Dynamic axle assembly and a suspension assembly；
Wherein, in the suspension assembly corresponding with the driven steering structure II, the cylinder rod of the hanging oil cylinder and tail portion
It is rotatablely connected respectively with the counter-jib and the corresponding driven steering structure II, described counter-jib one end passes through the gear
Plate is fixed on the corresponding lower axle housing, and the other end is rotatablely connected with the corresponding driven steering structure II；
The driven steering structure II is rotationally connected with the frame assembly.
5. the heavy unmanned framework transport vehicle of electric drive a11wheel drive according to any one of claim 1-4 claims,
It is characterized in that, the steering assembly is arranged by axial symmetry of the transversal centerline of the frame connecting plate.
6. the unmanned framework transport vehicle of heavy type electric drive a11wheel drive according to claim 1, which is characterized in that further include using
In the electrical equipment of the piggyback pod and control transport vehicle work that provide electric power for the driving axis；The piggyback pod with it is described
Electrical equipment is electrically connected, and the piggyback pod and the electrical equipment are fixedly mounted on the frame assembly.
7. the unmanned framework transport vehicle of heavy type electric drive a11wheel drive according to claim 6, which is characterized in that further include solid
Due to the frame assembly navigation system and be layed in running region for confirming the Positioning magnetic nail of travel route, it is described to lead
Boat system is electrically connected with the electrical equipment, and the location information is transmitted to the navigation system by the Positioning magnetic nail, described
Electrical equipment controls the work of transport vehicle according to the location information that the navigation system receives.
8. the unmanned framework transport vehicle of heavy type electric drive a11wheel drive according to claim 7, which is characterized in that the navigation
System is inertial navigation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810878931.XA CN108749920B (en) | 2018-08-03 | 2018-08-03 | Heavy type electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN110395201A (en) * | 2019-08-07 | 2019-11-01 | 大连华锐重工焦炉车辆设备有限公司 | A kind of entire car controller software development methodology of the unmanned chassis of distribution combination drive |
| CN112776536A (en) * | 2019-11-08 | 2021-05-11 | 中冶宝钢技术服务有限公司 | Electrically-driven axle device and electrically-driven transport vehicle |
| CN113716490A (en) * | 2020-12-21 | 2021-11-30 | 武汉智为物流装备技术有限公司 | Extra-heavy type electric AGV |
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