CN108749920B - Heavy type electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle - Google Patents

Heavy type electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle Download PDF

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Publication number
CN108749920B
CN108749920B CN201810878931.XA CN201810878931A CN108749920B CN 108749920 B CN108749920 B CN 108749920B CN 201810878931 A CN201810878931 A CN 201810878931A CN 108749920 B CN108749920 B CN 108749920B
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China
Prior art keywords
steering
oil cylinder
frame
assembly
driven
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CN201810878931.XA
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CN108749920A (en
Inventor
韩勇涛
王志伟
任柏青
孙元华
刘晓东
常胜
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DALIAN HUARUI HEAVY INDUSTRY COKE OVEN VEHICLE EQUIPMENT CO LTD
Dalian Huarui Heavy Industry Group Co Ltd
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DALIAN HUARUI HEAVY INDUSTRY COKE OVEN VEHICLE EQUIPMENT CO LTD
Dalian Huarui Heavy Industry Group Co Ltd
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Priority to CN201810878931.XA priority Critical patent/CN108749920B/en
Publication of CN108749920A publication Critical patent/CN108749920A/en
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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
    • 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
    • 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
    • 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 invention provides a heavy electric drive all-wheel drive unmanned frame transport vehicle, which comprises a frame assembly for placing goods, and further comprises: the steering assembly comprises a steering oil cylinder I, a steering oil cylinder II, a frame connecting plate, two driving steering structures and an oil cylinder connecting seat fixedly arranged on the frame assembly; the steering device comprises a frame connecting plate, a steering oil cylinder I, an oil cylinder II, an oil cylinder rod, an oil cylinder connecting seat, a driving steering structure, a connecting rod I, a steering oil cylinder II, a steering oil cylinder rod and a steering oil cylinder connecting seat, wherein the frame connecting plate is in rotary connection with the frame assembly; the suspension assembly comprises a suspension oil cylinder and a balance arm. The technical scheme of the invention solves the problem that the driving wheel of the existing heavy AGV in the prior art cannot rotate, so that steering running resistance is high, and the tire of the driving wheel is worn.

Description

Heavy type electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle
Technical Field
The invention relates to the technical field of industrial robots, in particular to a heavy-duty electrically-driven all-wheel steering all-wheel driving unmanned frame transport vehicle.
Background
An AGV (Automated Guided Vehicle, i.e., an "automated guided vehicle") is a type of transportation equipment having an unmanned automated guided device, capable of traveling along a predetermined guide path, safety protection, and various transfer functions, and is an industrial robot. The AGV has the remarkable characteristics of no driving, and can ensure that the system automatically runs without manual navigation. The flexibility is good, the automation and intelligent level is high, the fault can be diagnosed and checked by self, and the cost of maintenance personnel is reduced. The whole AGV system can realize intelligent scheduling, and the production order is always kept busy and orderly, so that the personnel management cost is greatly saved.
At present, the indoor light AGVs are mature and applied more, generally carry the weight of at most about several tons, and hardly meet the large-scale cargo carrying, and heavy AGVs are required to meet the use requirements in the fields of heavy manufacturing, railway traffic, special industries, port airports and the like. To outdoor, heavy AGV, main characteristics include complicated operating mode, multi freedom, jumbo size, high bearing, its project organization, and spare part constitution is different from light-duty AGV completely, and technical difficulty is more, and the prior art generally is difficult to guarantee the stationarity, flexibility ratio and the durability of heavy AGV product, and current heavy AGV's drive wheel is fixed form, can not rotate, causes when the vehicle is running to turn to running resistance big to wearing and tearing action wheel tire.
Disclosure of Invention
According to the technical problems that the driving wheels of the existing heavy AGV are fixed and cannot rotate, so that steering running resistance is high and the tires of the driving wheels are worn when the vehicle runs, the heavy electric driving all-wheel steering all-wheel driving unmanned frame transport vehicle is provided. The invention mainly utilizes the steering assembly and the suspension assembly which are arranged between the frame assembly and the drive axle assembly, so that the transport vehicle can realize all-wheel steering and all-drive running, and the frame can be lifted at the same time, thereby playing the roles of reducing running resistance, reducing the abrasion degree of tires and enabling the transport vehicle to run more stably.
The invention adopts the following technical means:
a heavy electrically driven all-wheel drive unmanned frame transporter comprising a frame assembly for placing cargo, further comprising:
the steering assembly comprises a steering oil cylinder I, a steering oil cylinder II, a frame connecting plate, two driving steering structures and an oil cylinder connecting seat fixedly arranged on the frame assembly; the steering device comprises a frame connecting plate, a steering oil cylinder I, an oil cylinder II, an oil cylinder rod, an oil cylinder connecting seat, a driving steering structure, a connecting rod I, a steering oil cylinder II, a steering oil cylinder rod and a steering oil cylinder connecting seat, wherein the frame connecting plate is in rotary connection with the frame assembly;
the driving axle assembly comprises at least two tires, each tire is provided with a wheel edge speed reducer and a permanent magnet synchronous motor, the rotating end of each wheel edge speed reducer is fixedly connected with the tire, the fixed end is connected with the permanent magnet synchronous motor through a transition flange, and each wheel edge speed reducer corresponding to each tire is fixedly arranged on a lower axle housing;
each active steering structure is provided with one driving axle assembly and one suspension assembly, and the suspension assembly comprises a suspension oil cylinder and a balance arm; the oil cylinder rod and the tail part of the suspension oil cylinder are respectively connected with the balance arm and the corresponding active steering structure in a rotating way, one end of the balance arm is fixed on the corresponding lower axle housing through a baffle, and the other end of the balance arm is connected with the corresponding active steering structure in a rotating way.
Further, the frame assembly comprises a frame body, a connecting shaft I and a connecting shaft II; the active steering structure and the frame connecting plate are respectively connected with the frame body in a rotating way through the connecting shaft I and the connecting shaft II.
Further, the steering assembly further comprises driven steering structures I which are in one-to-one correspondence with the two driving steering structures, the driving steering structures are in rotary connection with the driven steering structures I through connecting rods II, and each driven steering structure I is provided with one driving axle assembly and one suspension assembly;
in the suspension assembly corresponding to the driven steering structure I, an oil cylinder rod and a tail part of the suspension oil cylinder are respectively in rotary connection with the balance arm and the corresponding driven steering structure I, one end of the balance arm is fixed on the corresponding lower axle housing through the baffle plate, and the other end of the balance arm is in rotary connection with the corresponding driven steering structure I;
the driven steering structure I is rotatably connected to the frame assembly.
Further, the steering assembly further comprises driven steering structures II which are in one-to-one correspondence with the two driven steering structures I, the driven steering structures I are in rotary connection with the driven steering structures II through connecting rods III, and each driven steering structure II is provided with one driving axle assembly and one suspension assembly;
in the suspension assembly corresponding to the driven steering structure II, an oil cylinder rod and a tail part of the suspension oil cylinder are respectively in rotary connection with the balance arm and the corresponding driven steering structure II, one end of the balance arm is fixed on the corresponding lower axle housing through the baffle plate, and the other end of the balance arm is in rotary connection with the corresponding driven steering structure II;
the driven steering structure II is rotatably connected to the frame assembly.
Further, the steering assembly is arranged in an axisymmetric manner by taking the transverse center line of the frame connecting plate as an axis.
Further, the motor vehicle further comprises a power cabin for providing power for the drive axle assembly and electrical equipment for controlling the operation of the transport vehicle; the power cabin is electrically connected with the electrical equipment, and the power cabin and the electrical equipment are fixedly arranged on the frame assembly.
Further, the vehicle frame assembly comprises a navigation system fixed on the vehicle frame assembly and a positioning magnetic nail paved in a driving area and used for confirming a driving route, the navigation system is electrically connected with the electric equipment, the positioning magnetic nail transmits the position information to the navigation system, and the electric equipment controls the operation of the transport vehicle according to the position information received by the navigation system.
Further, the navigation system is an inertial navigation system.
Compared with the prior art, the invention has the following advantages:
1. according to the heavy type electric drive all-wheel steering unmanned frame transport vehicle, the corresponding steering assembly is arranged for the tires, so that the tires of the transport vehicle can steer along with the steering assembly, all-wheel steering running is realized, running resistance is reduced, and the transport vehicle runs more stably.
2. The heavy electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle provided by the invention realizes the running of the all-wheel drive vehicle by assembling the corresponding motor direct-drive wheel-side speed reducers on all tires.
3. According to the heavy type electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle, the high-precision positioning navigation of the transport vehicle is realized by arranging the navigation system and the positioning magnetic nails to be matched with electric equipment aiming at the external environment of the transport vehicle in the outdoor complex road condition, and the synchronous coordination control of all-wheel steering and lifting of a frame of the unmanned frame transport vehicle is realized by the electric equipment.
In summary, the technical scheme of the invention aims at solving the technical problems that the driving wheel can not rotate, and the steering running resistance greatly wears the tire of the driving wheel when the vehicle runs in the prior art. Therefore, the technical scheme of the invention solves the problem that the driving wheel of the heavy AGV in the prior art is in a fixed form.
For the reasons, the invention can be widely popularized in the fields of industrial robot technology and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of the transport vehicle according to the present invention.
Fig. 2 is a schematic diagram of the overall structure of the transport vehicle according to the present invention.
FIG. 3 is a schematic view of the frame assembly according to the present invention.
FIG. 4 is a schematic diagram of a drive axle assembly according to the present invention.
FIG. 5 is a schematic view of a steering assembly according to the present invention.
FIG. 6 is a schematic view of a suspension assembly according to the present invention.
In the figure: 1. a frame assembly; 11. a frame body; 12. a connecting shaft I; 13. a connecting shaft II; 2. a drive axle assembly; 21. a wheel-side speed reducer; 22. a tire; 23. a lower axle housing; 24. a transition flange; 25. a permanent magnet synchronous motor; 3. a steering assembly; 31. a steering cylinder I; 32. a steering cylinder II; 33. a frame connecting plate; 34. a connecting rod I; 35. a connecting rod II; 36. a connecting rod III; 37. an oil cylinder connecting seat; 38. an active steering structure; 39. a driven steering structure I; 310. a driven steering structure II; 4. a suspension assembly; 41. a suspension cylinder; 42. a balance arm; 43. a baffle; 5. a navigation system; 6. a power cabin; 7. an electrical device; 8. and (5) cargo.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
Example 1
As shown in fig. 1-6, the present invention provides a heavy-duty electrically-driven all-wheel-drive unmanned frame vehicle comprising a frame assembly 1 for placing cargo, further comprising:
the steering assembly 3 comprises a steering oil cylinder I31, a steering oil cylinder II 32, a frame connecting plate 33, two driving steering structures 38 and an oil cylinder connecting seat 37 fixedly arranged on the frame assembly 1; the frame connecting plate 33 is rotatably connected with the frame assembly 1, the cylinder rods and the tail parts of the steering cylinder I31 and the steering cylinder II 32 are respectively rotatably connected with the frame connecting plate 33 and the cylinder connecting seat 37, and the two active steering structures 38 are respectively rotatably connected with the frame assembly 1 and are respectively rotatably connected with two sides of the frame connecting plate 33 through connecting rods I34;
the driving axle assembly 2 comprises at least two tires 22, wherein each tire 22 is provided with a wheel-side speed reducer 21 and a permanent magnet synchronous motor 25, the rotating end of the wheel-side speed reducer 21 is fixed with the tire 22, the fixed end is connected with the permanent magnet synchronous motor 25 through a transition flange 24, and the wheel-side speed reducer 21 corresponding to each tire 22 is fixedly arranged on a lower axle housing 23;
each of the active steering structures 38 is equipped with one of the drive axle assemblies 2 and one of the suspension assemblies 4, the suspension assemblies 4 including a suspension ram 41 and a balance arm 42; the cylinder rod and the tail of the suspension cylinder 41 are respectively connected with the balance arm 42 and the corresponding active steering structure 38 in a rotating way, one end of the balance arm 42 is fixed to the corresponding lower axle housing 23 through a baffle 43, and the other end of the balance arm 42 is connected with the corresponding active steering structure 38 in a rotating way.
Preferably, the cylinder connecting seat 37 is welded to the frame assembly 1; the oil cylinder rods and the tail parts of the steering oil cylinder I31 and the steering oil cylinder II 32 are respectively in rotary connection with the frame connecting plate 33 and the oil cylinder connecting seat 37 through pin shafts, and two ends of the connecting rod I34 are respectively in rotary connection with the active steering structure 38 and the frame connecting plate 33 through pin shafts;
preferably, the cylinder rod and the tail of the suspension cylinder 41 are respectively connected with the balance arm 42 and the corresponding active steering structure 38 in a rotating manner through a pin shaft, one end of the balance arm 42 is fixed to the corresponding lower axle housing 23 through a baffle 43, and the other end of the balance arm 42 is connected with the corresponding active steering structure 38 in a rotating manner through a pin shaft.
Preferably, the hub reduction gear 21 is fixedly mounted to the lower axle housing 23 by bolts, and the rotating end of the hub reduction gear 21 is fixedly connected to the tire 22 by bolts.
Further, the frame assembly 1 comprises a frame body 1, a connecting shaft I12 and a connecting shaft II 13; the active steering structure 1 and the frame connecting plate 33 are respectively connected with the frame body 11 in a rotating way through the connecting shaft I12 and the connecting shaft II 13.
Further, the steering assembly 3 further comprises driven steering structures I39 which are in one-to-one correspondence with the two driving steering structures 38, the driving steering structures are rotationally connected with the driven steering structures I39 through connecting rods II 35, and each driven steering structure I39 is provided with one driving axle assembly 2 and one suspension assembly 4;
in the suspension assembly 4 corresponding to the driven steering structure i 39, an oil cylinder rod and a tail of the suspension oil cylinder 41 are respectively and rotatably connected with the balance arm 42 and the corresponding driven steering structure i 39, one end of the balance arm 42 is fixed to the corresponding lower axle housing 23 through the baffle plate 43, and the other end of the balance arm 42 is rotatably connected with the corresponding driven steering structure i 39;
the driven steering structure I39 is rotatably connected to the frame assembly 1.
Preferably, the driven steering structure I39 is rotatably connected to the frame assembly 1 via a connecting shaft I12.
Further, the steering assemblies 3 are axially symmetrically arranged with respect to a transverse center line of the frame connecting plate 33.
According to the invention adopting the technical scheme, when the transport vehicle runs, the drive axle assembly 2 works simultaneously, and after the permanent magnet synchronous motor 25 is electrified to work, the wheel-side speed reducer 21 is driven to rotate, and the tire 22 is further driven to start to rotate to drive the transport vehicle to run in an all-wheel driving way.
When the transport vehicle needs to turn during running, the cylinder rod of the steering cylinder I31 stretches and the cylinder rod of the steering cylinder II 32 contracts to drive the frame connecting plate 33 to rotate around the connecting shaft II 13, the connecting rod I34 drives the two driving steering structures 38 to rotate around the connecting shaft I12 respectively, and the connecting rod II 35 drives the two driven steering structures I39 to rotate around the connecting shaft I12 respectively, so that the steering assembly 3 is symmetrically arranged by taking the transverse center line of the frame connecting plate 33 as an axis, synchronous rotation of the two driving steering structures 38 and the corresponding two driven steering structures I39 can be realized in the same direction and at the same angle, and the suspension assembly 4 connected with the driving steering structures 38 and the driven steering structures I39 drives the corresponding driving axle assembly 2 to realize synchronous steering, so that the transport vehicle realizes all-wheel steering running, reduces running resistance, and the transport vehicle runs more stably.
After the transport vehicle runs to a position for loading or unloading the goods 8, the transport vehicle stops, and the steering assembly and the frame assembly 1 are driven to ascend or descend through the extension or contraction of the oil cylinder rod of the suspension oil cylinder 41, so that the goods 8 are loaded and unloaded.
Example 2
As shown in fig. 5, on the basis of embodiment 1, the steering assembly 3 further includes a driven steering structure ii 310 corresponding to two driven steering structures i 39 one by one, the driven steering structure i 39 is rotatably connected to the driven steering structure ii 310 through a link iii 36, and each driven steering structure ii 310 is equipped with one of the drive axle assemblies 2 and one of the suspension assemblies 4;
in the suspension assembly 4 corresponding to the driven steering structure ii 310, an oil cylinder rod and a tail of the suspension oil cylinder 41 are respectively connected with the balance arm 42 and the corresponding driven steering structure ii 310 in a rotating manner, one end of the balance arm 42 is fixed to the corresponding lower axle housing 23 through the baffle 43, and the other end of the balance arm 42 is connected with the corresponding driven steering structure ii 310 in a rotating manner;
the driven steering structure II 310 is rotatably connected to the frame assembly 1.
Preferably, the driven steering structure ii 310 is rotatably connected to the frame assembly 1 via a connecting shaft i 12.
When the transport vehicle needs to turn in the running process, the driven steering structure II 310 synchronously rotates along with the rotation of the driven steering structure I39, and the suspension assemblies 4 connected with the driven steering structure II drive the corresponding drive axle assemblies 2 to realize synchronous steering, so that all-wheel steering running of the transport vehicle is realized, and the transport vehicle can run more stably by adding the driven steering structure II 310.
Example 3
As shown in fig. 1, on the basis of embodiment 1 or embodiment 2, the transport vehicle further includes a power cabin 6 for supplying electric power to the drive axle assembly 2, and an electric device 7 for synchronously controlling the power cabin 6, the steering assembly 3, the drive axle assembly 2, and the suspension assembly 4; the power compartment 6 and the electrical equipment 7 are fixedly mounted on the frame assembly 1.
Further, the electric device 7 is used for controlling the start and close of the power cabin 6, the extension and shortening of the cylinder rods of the steering cylinder i 31 and the steering cylinder ii 32, the start and close of the wheel-side speed reducer 21 and the permanent magnet synchronous motor 25, and the extension and shortening of the cylinder rods of the suspension cylinder 41.
Example 4
As shown in fig. 1, on the basis of embodiment 1, embodiment 2 or embodiment 3, the transport vehicle further comprises a navigation system 5 fixed on the frame assembly 1 and a positioning magnetic nail paved on a driving area for confirming a driving route, the navigation system 5 is electrically connected with the electric device 7, the positioning magnetic nail collects position information and transmits the position information to the navigation system 5, and the electric device 7 controls the operation of the transport vehicle according to the position information received by the navigation system 5.
Further, the navigation system 5 is an inertial navigation system.
After confirming the driving route, the navigation system 5 receives the information through the position information collected by the positioning magnetic nails paved in the driving area of the transport vehicle, and controls the transport vehicle to make corresponding actions to drive according to the driving route through the electrical equipment 7, and the navigation system 5 can also realize the functions of anti-collision, path planning, record tracking, fault feedback, position collection, automatic walking and the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (8)

1. The utility model provides a heavy electrically driven all-wheel drive unmanned frame transport vechicle, includes the frame assembly that is used for placing the goods, its characterized in that still includes:
the steering assembly comprises a steering oil cylinder I, a steering oil cylinder II, a frame connecting plate, two driving steering structures and an oil cylinder connecting seat fixedly arranged on the frame assembly; the steering device comprises a frame connecting plate, a steering oil cylinder I, an oil cylinder II, an oil cylinder rod, an oil cylinder connecting seat, a driving steering structure, a connecting rod I, a steering oil cylinder II, a steering oil cylinder rod and a steering oil cylinder connecting seat, wherein the frame connecting plate is in rotary connection with the frame assembly;
the driving axle assembly comprises at least two tires, each tire is provided with a wheel edge speed reducer and a permanent magnet synchronous motor, the rotating end of each wheel edge speed reducer is fixedly connected with the tire, the fixed end is connected with the permanent magnet synchronous motor through a transition flange, and each wheel edge speed reducer corresponding to each tire is fixedly arranged on a lower axle housing;
each active steering structure is provided with one driving axle assembly and one suspension assembly, and the suspension assembly comprises a suspension oil cylinder and a balance arm; the oil cylinder rod and the tail part of the suspension oil cylinder are respectively connected with the balance arm and the corresponding active steering structure in a rotating way, one end of the balance arm is fixed on the corresponding lower axle housing through a baffle, and the other end of the balance arm is connected with the corresponding active steering structure in a rotating way.
2. The heavy duty, electrically driven, all-wheel drive unmanned frame transport vehicle of claim 1, wherein the frame assembly comprises a frame body, a connecting axle i, and a connecting axle ii; the active steering structure and the frame connecting plate are respectively connected with the frame body in a rotating way through the connecting shaft I and the connecting shaft II.
3. The heavy duty electrically driven all wheel drive unmanned frame vehicle of claim 1, wherein said steering assembly further comprises driven steering structures i in one-to-one correspondence with two of said driving steering structures, said driving steering structures being rotatably connected to said driven steering structures i by links ii, each of said driven steering structures i being fitted with one of said drive axle assemblies and one of said suspension assemblies;
in the suspension assembly corresponding to the driven steering structure I, an oil cylinder rod and a tail part of the suspension oil cylinder are respectively in rotary connection with the balance arm and the corresponding driven steering structure I, one end of the balance arm is fixed on the corresponding lower axle housing through the baffle plate, and the other end of the balance arm is in rotary connection with the corresponding driven steering structure I;
the driven steering structure I is rotatably connected to the frame assembly.
4. A heavy duty electrically driven all wheel drive unmanned frame vehicle as claimed in claim 3, wherein said steering assembly further comprises driven steering structures ii in one-to-one correspondence with two of said driven steering structures i, said driven steering structures i being rotatably connected to said driven steering structures ii by links iii, each of said driven steering structures ii being fitted with one of said drive axle assemblies and one of said suspension assemblies;
in the suspension assembly corresponding to the driven steering structure II, an oil cylinder rod and a tail part of the suspension oil cylinder are respectively in rotary connection with the balance arm and the corresponding driven steering structure II, one end of the balance arm is fixed on the corresponding lower axle housing through the baffle plate, and the other end of the balance arm is in rotary connection with the corresponding driven steering structure II;
the driven steering structure II is rotatably connected to the frame assembly.
5. The heavy duty, electrically driven, all-wheel drive unmanned frame vehicle of any of claims 1 to 4, wherein the steering assemblies are axisymmetrically disposed about a transverse centerline of the frame connecting plate.
6. The heavy duty, electrically driven, all-wheel drive unmanned frame vehicle of claim 1, further comprising a power compartment for providing power to the drive axle assembly and electrical equipment for controlling operation of the vehicle; the power cabin is electrically connected with the electrical equipment, and the power cabin and the electrical equipment are fixedly arranged on the frame assembly.
7. The heavy duty, electrically driven, all-wheel drive, unmanned, frame transport vehicle of claim 6, further comprising a navigation system secured to said frame assembly and a positioning magnetic peg disposed in the travel area for confirming the travel route, said navigation system being electrically connected to said electrical device, said positioning magnetic peg transmitting said positional information to said navigation system, said electrical device controlling operation of the transport vehicle based on said positional information received by said navigation system.
8. The heavy duty, electrically driven, all-wheel drive unmanned frame vehicle of claim 7, wherein the navigation system is an inertial navigation system.
CN201810878931.XA 2018-08-03 2018-08-03 Heavy type electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle Active CN108749920B (en)

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CN201810878931.XA CN108749920B (en) 2018-08-03 2018-08-03 Heavy type electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle

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