CN109050379A - A kind of unmanned logistic car and its vehicle group - Google Patents
A kind of unmanned logistic car and its vehicle group Download PDFInfo
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- CN109050379A CN109050379A CN201810729968.6A CN201810729968A CN109050379A CN 109050379 A CN109050379 A CN 109050379A CN 201810729968 A CN201810729968 A CN 201810729968A CN 109050379 A CN109050379 A CN 109050379A
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- Prior art keywords
- assembly
- chassis
- logistic car
- chassis body
- bracket
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
Abstract
The present embodiments relate to a kind of unmanned logistic car and its vehicle group, unmanned logistic car includes chassis assembly, counter assembly, frame assembly and body assembly；Chassis assembly includes chassis body, steering system, two wheel speed devices and braking driving system；Steering system is connected with the front vehicle wheel of chassis body；Two wheel speed devices are sheathed on the hind axle both ends of chassis body respectively；Counter assembly includes shelf, multiple containers, chamber door, door closer-holder and electronics springlock；Frame assembly includes preceding holder assembly, rear holder assembly, preceding laser radar bracket and charging seat support；Preceding holder assembly is mounted on chassis body, and front end is equipped with LED display；Holder assembly is mounted on the rear end of chassis body afterwards, and is set up in counter assembly；Preceding laser radar branch is set up in chassis body front end；The seat support that charges is set to the rear end of chassis body；Body assembly is connected on frame assembly, and is buckled in chassis assembly.
Description
Technical field
The present invention relates to logistics transportation technical field of tools more particularly to a kind of unmanned logistic car and its vehicle groups.
Background technique
With the continuous development of vehicle technology and computer technology, automatic Pilot technology is increasingly mature, is increasingly becoming the country
The hot spot of outer numerous scholar's researchs.In history of the twentieth century about the existing many decades of research and development of automatic Pilot technology, drive automatically
It sails technology and shows the trend close to functionization in earlier 2000s, filled by artificial intelligence, vision calculating, radar, monitoring
Set with global positioning system cooperative cooperating, computer can be operated to automatic safe under the operation of nobody class active
Motor vehicles, for example, Google's autonomous driving vehicle obtains the first automatic driving vehicle licensing in the U.S. in May, 2012.So
And although automatic Pilot technology is quickly grown, the specific implementation on passenger car is still seldom, only in the small-sized logistic car in part
On applied.
Meanwhile logistics is cargo from supply into the physical flow process for receiving ground, according to actual needs, will transport,
The functions such as storage, handling, packaging, circulation and process, dispatching, information processing, which combine, realizes the mistake of user's requirement
Journey.In recent years, with the development of electric business and shopping online, more and more people select shopping on the web.Simultaneously as information
The acceleration of exchange and cargo movement, more and more file transmitting and commodity circulation are also increasingly dependent on and are transported by logistics
It is defeated.Therefore, the work of logistics first-line staff is increasing.Often there is the event of some violence express deliveries, caused people couple
In the discontented of logistic industry especially courier even logistic industry.It therefore, will using the small-sized logistic car of automatic Pilot technology
Gradually instead of artificial logistics.
But to there is perception in logistic car in the prior art investigative range is small, it is big that there are blind areas on vehicle body periphery, positions not smart
Really or without positioning device, the problem of poor so as to cause safety of vehicle during automatic running, higher cost, this
Outside, in the prior art also that for express box designed by unmanned logistic car, it is impossible to meet unmanned logistic cars
Demand.Therefore, it is badly in need of designing a kind of unmanned logistic car for meeting above-mentioned requirements and its vehicle group.
Summary of the invention
In response to the problems existing in the prior art, the purpose of the present invention is to provide a kind of unmanned logistic car and its vehicle group,
Using reasonable vehicle frame and body structure, suitable installation site is provided for relevant electronic device, reasonable disposition plays
The effect of anti-rollover, and electric power steering system is used, steering precision is improved, and vehicle is improved under the premise of light-weighted
Whole strength and stiffness, reduce costs, and vehicle body lines are succinct smooth graceful, can be effectively in vehicle travel process
The air-flow around vehicle body is guided, to reduce air drag and electric quantity consumption.Meanwhile the traction by being set to chassis rear and front end
Bar realizes the connection between vehicle, and structure is simple, convenient disassembly.
To achieve the above object, in a first aspect, the present invention provides a kind of unmanned logistic car, the unmanned object
Flowing vehicle includes chassis assembly, counter assembly, frame assembly and body assembly；
The chassis assembly includes chassis body, steering system, two wheel speed devices and braking driving system；Wherein, described
Steering system is installed in the chassis body, is connected with the front vehicle wheel of the chassis body, for controlling the front vehicle wheel
Steering operation；Two wheel speed devices are sheathed on the both ends of the hind axle of the chassis body respectively；The braking driving system
Including driving motor and electromagnetic brake, output shaft one end of the driving motor is connected with the hind axle of the chassis body,
The other end is connected with the electromagnetic brake；
The counter assembly includes shelf, multiple containers, chamber door, door closer-holder and electronics springlock；Wherein, the shelf
It is mounted in the chassis body；Multiple containers are installed respectively on the shelf；At the access section of each container
One chamber door of axis connection；The door closer-holder is installed on the container and the chamber door, to control the chamber door certainly
It is dynamic to close；The electronics springlock is also installed on the container and the chamber door, is automatically turned on to control the chamber door；
The frame assembly includes preceding holder assembly, rear holder assembly, preceding laser radar bracket and charging seat support；It is described
Preceding holder assembly is mounted in the chassis body, and the top of the preceding holder assembly is equipped with the first differential satellite positioning day
The front end of line, the preceding holder assembly is equipped with LED display；After holder assembly is mounted on the chassis body after described
End, and be set up on the counter assembly；The preceding laser radar bracket is set to the front end of the chassis body；The charging
Seat support is set to the rear end of the chassis body, is equipped with cradle in the charging seat support；
The body assembly is connected on the frame assembly, and is buckled in the chassis assembly；The body assembly
Front end, rear end and two sides be mounted on multiple cameras and multiple ultrasonic radars；Under the top of the body assembly
The second differential satellite positioning antenna is installed on surface；The top of the body assembly is equipped with top laser radar；The vehicle body
The fore device of assembly has preceding laser radar, and the preceding laser radar is installed on the preceding laser radar bracket.
Preferably, the steering system includes steering mechanism, electric power steering EPS system and EPS system controller；
The steering mechanism includes steering mechanism's main body and steering universal joint；The steering universal joint and the steering mechanism
Main body is connected；
The EPS system is mounted in the chassis assembly；The output shaft of the EPS system wears the chassis assembly,
It is connected with the steering universal joint；
The EPS system controller is installed in the chassis assembly；The EPS system controller and the EPS system
It is electrically connected.
It is further preferred that the EPS system includes EPS motor, angular transducer and torque sensor；The EPS electricity
The output shaft of machine is connected with the steering universal joint；The EPS motor, angular transducer and torque sensor respectively with it is described
EPS system is electrically connected.
Preferably, the preceding holder assembly include front deck main support, preceding apparatus mounting plate, equipment mounting frame, preceding platen bracket,
Optional equipment mounting plate, preceding differential satellite position antenna holder；
The longitudinal section of the front deck main support is n font；The bottom end of two vertical portions of the front deck main support is fixed to be connected
It is connected in the chassis body；
The preceding apparatus mounting plate is installed in two vertical portions of the front deck main support, on the preceding apparatus mounting plate
Control unit for vehicle is installed；
The equipment mounting frame is mounted in the chassis body, and the equipment mounting frame and the front deck main support are solid
Fixed connection；
The front end of the equipment mounting frame is arranged in the preceding platen bracket, to install the LED display；
The optional equipment mounting plate is placed in the front end of the equipment mounting frame, and the optional equipment mounting plate is located at
The lower section of the preceding platen bracket；
The preceding differential satellite positioning antenna holder is mounted on the top of the equipment mounting frame；The preceding differential satellite is fixed
One end of position antenna holder is connect with the horizontal component of the front deck main support.
It is further preferred that the equipment mounting frame include two front deck side stays, front deck upper beam and multiple front decks under
Crossbeam；
Two front deck side stays are respectively fixedly connected in two vertical portions of the front deck main support, and described in two
The bottom end of front deck side stay is fixedly mounted in the chassis body；
The both ends of the front deck upper beam are separately mounted in two front deck side stays；The preceding differential satellite positions day
The other end of line bracket is mounted on the front deck upper beam；
The both ends of lower beam are respectively fixedly connected in two front deck side stays in multiple front decks；Screen branch before described
Frame is mounted in the front deck upper beam and one of them described front deck on lower beam；The optional equipment mounting plate is mounted on it
In in two front decks on lower beam.
It is further preferred that holder assembly includes two rear deck brackets, multiple rear deck crossbeams, rear platen bracket and two after described
A side skirt supporting plate；
The longitudinal section of the rear deck bracket is inversed l-shaped；The horizontal component of two rear deck brackets be mounted on it is described before
The horizontal component of cabin main support；The vertical portion of two rear deck brackets is mounted in the chassis body；
Multiple rear deck crossbeams are installed respectively between two rear deck brackets；
Platen bracket is installed on the rear deck crossbeam in the vertical portion of two rear deck brackets after described；After described
Touch screen is installed on platen bracket；
Two side skirt supporting plates are separately mounted to the left and right sides of the chassis body.
Preferably, the unmanned logistic car further includes collision prevention device；Distinguish the rear and front end of the chassis body
One collision prevention device is installed, and the collision prevention device wears the body assembly；The collision prevention device includes cross
Frame, spring spool, guide rod, spring, collision prevention girders strut, collision prevention girders, impact switch and mounting bracket；
One side surface left and right ends of the crossbearer have a through-hole；Another side surface of the crossbearer or so two
End has a mounting hole, the position one-to-one correspondence of the position of the through-hole and the mounting hole；
The spring spool is worn in each through-hole；The spring spool is fixedly connected by clamping screw
On the crossbearer；
The guide rod wears the spring spool, and one end of the guide rod is protruded into the crossbearer；
The spring pocket is set on the guide rod；The spring retention is in the spring spool；
One end of the collision prevention girders strut is fixedly connected with the other end of the guide rod, and the collision prevention girders strut is worn
The body assembly；
The both ends of the collision prevention girders are connected with the other end of two collision prevention girders struts respectively；
The impact switch is respectively mounted in each mounting hole；The triggering end of the impact switch is set to described
In crossbearer, and the position of the triggering end of the impact switch is corresponding with the position of the other end of the guide rod；
The top end face left and right ends of the crossbearer are respectively fixedly connected with the mounting bracket, the mounting bracket installation
In the chassis body.
Preferably, adaptation mouth is provided on the front end face of the body assembly, the preceding laser radar is worn by adapter rack
The adaptation mouth, the adapter rack are mounted on the preceding laser radar bracket.
Second aspect, the embodiment of the invention provides a kind of unmanned logistic car group, the unmanned logistic car group
Before including: multiple unmanned logistic cars described in above-mentioned first aspect and being set to each unmanned logistic car
The draw bar at both ends afterwards；
The unmanned logistic car passes through the draw bar between any two and connects.
Preferably, the draw bar includes fixed part and traction interconnecting piece；The fixed part be threaded in it is described nobody
In the chassis assembly for driving logistic car；The traction interconnecting piece and the fixed part integrally connected.
Unmanned logistic car provided in an embodiment of the present invention and its vehicle group are using reasonable vehicle frame and body structure
Relevant electronic device provides suitable installation site, and reasonable disposition is played the role of anti-rollover, and turned using electric power
To system, steering precision is improved, and improves the strength and stiffness of vehicle entirety under the premise of light-weighted, is reduced into
This, and vehicle body lines are succinct smooth graceful, and the air-flow around vehicle body can be effectively guided in vehicle travel process, to reduce
Air drag and electric quantity consumption.Meanwhile the draw bar by being set to chassis rear and front end realizes the connection between vehicle, knot
Structure is simple, convenient disassembly.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of unmanned logistic car provided in an embodiment of the present invention and its vehicle group；
Fig. 2 is the structural schematic diagram of the chassis assembly of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
One；
Fig. 3 is the structural schematic diagram of the chassis assembly of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Two；
Fig. 4 is the structural block diagram of unmanned logistic car provided in an embodiment of the present invention and its vehicle group；
Fig. 5 is the part-structure signal of the steering system of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Figure；
Fig. 6 is the structural schematic diagram one of the container of unmanned logistic car provided in an embodiment of the present invention and its vehicle group；
Fig. 7 is the structural schematic diagram two of the container of unmanned logistic car provided in an embodiment of the present invention and its vehicle group；
Fig. 8 is the structural schematic diagram of the frame assembly of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
One；
Fig. 9 is the structural schematic diagram of the frame assembly of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Two；
Figure 10 is the structural representation of the preceding holder assembly of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Figure；
Figure 11 is the structural representation of the collision prevention device of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Figure one；
Figure 12 is the structural representation of the collision prevention device of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Figure two；
Figure 13 is the structural representation of the collision prevention device of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Figure three；
Figure 14 is the partial enlargement of the collision prevention device of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Figure；
Figure 15 is the partial cross of the collision prevention device of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Figure.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The present embodiments relate to the unmanned logistic car of offer and its vehicle groups, using reasonable vehicle frame and vehicle body knot
Structure provides suitable installation site for relevant electronic device, and reasonable disposition plays the role of anti-rollover, and using electricity
Power steering system improves steering precision, and the strength and stiffness of vehicle entirety are improved under the premise of light-weighted, reduces
Cost, and vehicle body lines are succinct smooth graceful, can effectively guide the air-flow around vehicle body in vehicle travel process, with
Reduce air drag and electric quantity consumption.Meanwhile the draw bar by being set to chassis rear and front end realizes the company between vehicle
It connects, structure is simple, convenient disassembly.
Fig. 1 is the structural schematic diagram of unmanned logistic car provided in an embodiment of the present invention and its vehicle group.Below with reference to Fig. 1
It is shown, unmanned logistic car is introduced.
Unmanned logistic car the present embodiments relate to offer includes chassis assembly 1, counter assembly 2, frame assembly
3, body assembly 4 and collision prevention device 5.Wherein, frame assembly 3 and counter assembly 2 are installed in chassis assembly 1, and vehicle body
Assembly 4 is installed on frame assembly 3, and is sleeved on counter assembly 2, and the rear and front end of chassis assembly 1 is mounted on anti-collision
Collision device 5.
As shown in Figure 1, the overall construction of the unmanned logistic car of the embodiment of the present invention.It is right below with reference to Fig. 2-Figure 15
Each component part of unmanned logistic car is introduced.
Fig. 2, Fig. 3, Fig. 4 and Fig. 5 are respectively the chassis of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
The structural schematic diagram one of assembly, the structural schematic diagram two of chassis assembly, structural block diagram and steering system partial structure diagram.
Below with reference to shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, describe in detail to the chassis assembly of unmanned logistic car.
Chassis assembly 1 include chassis body 11,12, two wheel speed devices 13 of steering system and braking driving system (in figure not
It shows).Wherein, steering system 12 is installed in chassis body 11, is connected with the front vehicle wheel 15 of chassis body 11, before controlling
The steering operation of wheel 15.Two wheel speed devices 13 are sheathed on the both ends of the hind axle 16 of chassis body 11 respectively, after detection
The revolving speed of the rear wheel 17 at 16 both ends of wheel shaft.Braking driving system includes that driving motor 14 and electromagnetic brake (do not show in figure
Out), output shaft one end of driving motor 14 is connected with the hind axle 16 of the chassis body 11, the other end and electromagnetic brake phase
Even, to drive rear wheel 17 to rotate and be braked, to drive vehicle driving.
Further, steering system 12 includes steering mechanism 12121, electric power steering system (Electric Power
Steering, EPS) 122 and EPS system controller 123.Steering mechanism 12121 is the main execution of Vehicular steering control apparatus
Mechanism, steering mechanism 12121 include steering mechanism's main body 1211 and steering universal joint 121212, steering universal joint 121212 with turn
It is connected to mechanism body 1211, steering universal joint 121212 is the connector of steering mechanism's main body 1211 and course changing control mechanism.
Preferably, steering mechanism's main body 1211 include steering drive axle 12111, diverter 12112, left steering section 12113,
Track rod 12114 and right turn section 12115.Wherein, steering drive axle 12111 and steering universal joint 1212 are connected with each other,
Steering drive axle 12111 is for transmitting the steering angle that steering universal joint 1212 is inputted.Diverter 12112 is turned to for increasing
The direction of transfer of power and change power that universal joint 1212 is transmitted, is most important component, diverter in steering mechanism 121
12112 input terminal is connected with steering drive axle 12111, and the output end of diverter 12112 is connected with left steering section 12113, is
Guarantee the fastness and stability connected between diverter 12112 and left steering section 12113, and guarantees transmission between the two
Precision is connected between diverter 12112 and left steering section 12113 by pitman arm 12116 and knuckle arm 12117.In addition,
Left steering section 12113 is connected with right turn section 12115 by track rod 12114.Left steering section 12113 and right turn section
Be respectively mounted a front vehicle wheel 15 on 12115, two front vehicle wheels 15 respectively by left steering section 12113 and right turn section 12115 into
Row steering operation.
EPS system 122 is the course changing control mechanism of Vehicular steering control apparatus, eliminates the design of automobile turning wheel, letter
The structure for having changed vehicle directly carries out steering operation by EPS system 122 by disturbance of intelligence object and road Identification function, real
Show full automation to drive, saves human resources.EPS system 122 is mounted in chassis assembly 1, EPS system 122 it is defeated
Shaft wears chassis assembly 1, is connected with steering universal joint 121212.EPS system controller 123 is installed in chassis assembly 1,
EPS system controller 123 and EPS system 122 are electrically connected.
Wherein, EPS system 122 includes EPS motor 1221, angular transducer 1222 and torque sensor 1223, EPS motor
1221 output shaft is connected with steering universal joint 121212, EPS motor 1221, angular transducer 1222 and torque sensor 1223
It is electrically connected respectively with EPS system 122.EPS system controller 123 is the control unit of EPS system 122, for obtaining vehicle
Control unit for vehicle 317 transmitted by course changing control instruction, and according to course changing control order-driven EPS motor 1221 work.
EPS motor 1221 is the execution unit of EPS system 122, for exporting steering moment and steering angle.1222 He of angular transducer
Torque sensor 1223 is the signal feedback element of EPS system 122, so that EPS system 122 has the function of self diagnosis,
Detailed so as to be adjusted automatically, angular transducer 1222 is used to monitor the actual steering angle of front vehicle wheel 15, and will
Actual steering angle feeds back to EPS system controller 123, and EPS system controller 123 is according to default steering angle and feedback
Actual steering angle carries out the operation judges of next step, so that the steering angle of real-time control front vehicle wheel 15, ensure that wheel turns
To the control precision of angle；Torque sensor 1223 is used to monitor the output torque of EPS motor 1221, and feeds back to EPS system
Controller 123.
In addition, being additionally provided with the wheel speed device for measuring rear wheel 17 to guarantee traffic safety of the vehicle in steering procedure
13.Specifically, the hind axle 16 for installing rear wheel 17 is installed on the rear end of chassis body 11, at the both ends of hind axle 16
A rear wheel 17 is assembled respectively.Two wheel speed devices 13 measure the wheel speed of two rear wheels 17 respectively, and two wheel speed devices 13 pass through
Wheel axle sleeve (not shown) is sheathed on the both ends of hind axle 16 respectively, and wheel speed device 13 is fixedly connected with chassis body 11.
Detailed, the inner ring of wheel speed device 13 is connect with wheel axle sleeve interference, and the outer ring of wheel speed device 13 is fixedly connected with chassis body 11.
Since wheel axle sleeve is fixedly connected with hind axle 16, and the inner ring of wheel speed device 13 is fastenedly connected with axletree set, and
The outer ring of wheel speed device 13 is fixedly connected in chassis body 11, therefore, when the vehicle is running, the outer ring relative vehicle of wheel speed device 13
Static, the inner ring of wheel speed device 13 is rotated with the rotation of the rear wheel 17 and hind axle 16 of vehicle, to measure the wheel of vehicle
Speed.
In addition, unmanned logistic car provided in this embodiment is rear wheel drive, therefore the driving motor 14 on the device is set
It sets on hind axle 16, and the output shaft of driving motor 14 is connected with hind axle 16, to be driven by the work of driving motor 14
Hind axle 16 rotates.For convenience of controlling driving motor 14, electric machine controller 141 is also arranged in chassis body 11, electricity
Machine controller 141 and driving motor 14 are electrically connected.Preferably, the model C01-9816-800-24- of the driving motor 14
5000。
And control unit for vehicle 317 be vehicle master control unit, the input terminal of control unit for vehicle 317 respectively with EPS system
The output end of system controller 123 and two wheel speed devices 13 is electrically connected；The output end of control unit for vehicle 317 respectively with EPS system
The input terminal of system controller 123 and electric machine controller 141 is electrically connected.
Fig. 6 and Fig. 7 is respectively that the structure of the container of unmanned logistic car provided in an embodiment of the present invention and its vehicle group is shown
It is intended to the structural schematic diagram two of one and container.It is total to the counter of unmanned logistic car below with reference to shown in Fig. 1, Fig. 6 and Fig. 7
At describing in detail.
Counter assembly 2 includes shelf 21, multiple containers 22, chamber door 23, door closer-holder 24 and electronics springlock 25.Wherein,
Shelf 21 are mounted in chassis body 11, and multiple containers 22 are installed respectively on shelf 21, axis at the access section of each container 22
A chamber door 23 is connected, door closer-holder 24 is installed on container 22 and chamber door 23, is automatically closed to control chamber door 23.Electronic bomb
Spring lock 25 is also installed on container 22 and chamber door 23, is automatically turned on to control chamber door 23.
Container 22 is the main part of intelligent picking case, wherein access section (figure is provided on the rear and front end face of container 22
In be not shown), correspondingly, the inside of container 22 is equipped with cargo accommodating chamber 27, and cargo accommodating chamber 27 is built-in is equipped with partition 26, from
And the front and back of container 22 is divided into two cargo accommodating chambers 27, the number of cargo memory space is increased, material cost is reduced,
With more practicability.Former and later two access sections are connected with the cargo accommodating chamber 27 of 26 two sides of partition respectively, and the cargo of storage is put
It is placed in cargo accommodating chamber 27, and carries out the access of cargo by access section.
Two chamber doors 23 distinguish axis connection at former and later two access sections of container 22, and the shape size and goods of chamber door 23
The shape size of the access section of case 22 matches, for opening or closing for cargo accommodating chamber 27.For the intelligence for realizing chamber door 23
Open function is closed, door closer-holder 24 and electronics springlock 25 are additionally provided with, wherein door closer-holder 24 realizes that the intelligence of chamber door 23 is closed
Function is closed, electronics springlock 25 realizes the intelligent opening function of chamber door 23.
Door closer-holder 24 includes torsion bar motor 241 and torsional spring 242, and torsion bar motor 241 is the driving part of door closer-holder 24,
Torsional spring 242 is the execution unit of door closer-holder 24.Detailed, torsion bar motor 241 is installed on the inner surface of chamber door 23, torsional spring
242 one end is connected with the output end of torsion bar motor 241, and the other end of torsional spring 242 is connected on the access section of container 22.Together
When, the input terminal of torsion bar motor 241 and the output end of control unit for vehicle 317 are electrically connected, when control unit for vehicle 317 judges
When needing to carry out 23 closing motion of chamber door, the generation of control unit for vehicle 317, which is closed, to be instructed and is sent to torsion bar motor 241, torsion bar
Motor 241 starts according to an instruction is closed, and the rotation of torsional spring 242 is pulled to close chamber door 23.
Electronics springlock 25 includes spring lock body 251 and tapered end 252, and spring lock body 251 is electronics springlock 25
Main part, when tapered end 252 is lock on spring lock body 251, electronics springlock 25 is locked, and chamber door 23 is in closed state；
When tapered end 252 pops up spring lock body 251, electronics springlock 25 is unlocked, and chamber door 23 is in open state.It is detailed, springlock
Ontology 251 is mounted on the outer surface of container 22, and tapered end 252 is mounted on the inner surface of chamber door 23, and the position of tapered end 252
It sets corresponding with the fore shaft position of spring lock body 251.
To prevent electronics springlock 25 from interfering during the installation process with the other component of logistic car, it is easily installed, incites somebody to action
Two spring lock bodies 251 are installed in the springlock mounting groove 28 of the outer surface of container 22.It is detailed, the outside of container 22
Springlock mounting groove 28 is provided on surface, two spring lock bodies 251 are separately mounted to the both ends in springlock mounting groove 28.This
Outside, spring lock body 251 is mounted in springlock mounting groove 28 by springlock mounting rack 253, and tapered end 252 preferably through
Support frame 255 is mounted on the inner surface of chamber door 2.Since spring lock body 251 is mounted in springlock mounting groove 28, because
This, to guarantee that tapered end 252 can be normally inserted into the fore shaft of spring lock body 251, springlock mounting rack 253 is equipped with opening
254, opening 254 is connected with access section and cargo accommodating chamber 27, and be open 254 position and the fore shaft of spring lock body 251
Position it is corresponding, when chamber door 23 be closed when, tapered end 252 by opening 254 insertion spring lock bodies 251 fore shaft in.
In addition, counter assembly 2 further includes two chamber door state detector (not shown)s, wherein chamber door state-detection
Device is the intellectual status detection device of chamber door 23, for detecting the closing open state of corresponding chamber door 23, vehicle control list
Member 317 is for receiving detection signal and generating corresponding control instruction.Detailed, two chamber door state detectors are installed in respectively
On container 22, and corresponding with former and later two chamber doors 23 respectively, control unit for vehicle 317 respectively with two torsion bar motors 241, two
A electronics springlock 25 and the electrical connection of two chamber door state detectors, specifically, the input terminal of control unit for vehicle 317 respectively with
The output end of two chamber door state detectors is electrically connected, the output end of control unit for vehicle 317 respectively with two torsion bar motors
241 and the input terminals of two electronics springlocks 25 be electrically connected.
Fig. 8, Fig. 9, Figure 10 are respectively the frame assembly of unmanned logistic car provided in an embodiment of the present invention and its vehicle group
Structural schematic diagram one, the structural schematic diagram two of frame assembly and the structural schematic diagram of preceding holder assembly.Below with reference to Fig. 8, Fig. 9
With shown in Figure 10, describe in detail to the frame assembly of unmanned logistic car.
Frame assembly 3 includes preceding holder assembly 31, rear holder assembly 32, preceding laser radar bracket 33 and charging seat support
34.Wherein, preceding holder assembly 31 is mounted in chassis body 11, and it is fixed that the top of preceding holder assembly 31 is equipped with the first differential satellite
Position antenna 35, the front end of preceding holder assembly 31 is equipped with LED display 36；After holder assembly 32 is mounted on chassis body 11 afterwards
End, and be set up on counter assembly 2；Preceding laser radar bracket 33 is set to the front end of chassis body 11；Charging seat support 34 is set
It is placed in the rear end of chassis body 11, cradle 37 is installed in the seat support 34 that charges.
Preceding holder assembly 31 includes front deck main support 311, preceding apparatus mounting plate 312, equipment mounting frame 313, preceding platen bracket
314, optional equipment mounting plate 315, preceding differential satellite position antenna holder 316.The longitudinal section of front deck main support 311 is n font；
The bottom end of two vertical portions of front deck main support 311 is fixedly connected in chassis body 11.Preceding apparatus mounting plate 312 is installed in preceding
In two vertical portions of cabin main support 311, control unit for vehicle 317 is installed on preceding apparatus mounting plate 312.Equipment mounting frame
313 are mounted in chassis body 11, and equipment mounting frame 313 is fixedly connected with front deck main support 311.Preceding platen bracket 314 is arranged
In the front end of equipment mounting frame 313, to install LED display 36, and multiple pressures being fixedly mounted on body assembly 4 are used
Screen board 318 carries out pressing fastening to LED display 36, so that the fixation of LED display 36 is stronger, in vehicle travel process
It is not easy to loosen.Before optional equipment mounting plate 315 is placed in the front end of equipment mounting frame 313, and optional equipment mounting plate 315 is located at
The lower section of platen bracket 314.Preceding differential satellite positioning antenna holder 316 is mounted on the top of equipment mounting frame 313；Preceding differential satellite
One end of positioning antenna holder 316 is connect with the horizontal component of front deck main support 311.
Specifically, equipment mounting frame 313 include two front deck side stays 3131, front deck upper beam 3132 and multiple front decks under
Crossbeam 3133.Two front deck side stays 3131 are respectively fixedly connected in two vertical portions of front deck main support 311, and two front decks
The bottom end of side stay 3131 is fixedly mounted in chassis body 11.The both ends of front deck upper beam 3132 are separately mounted to two front deck sides
In support 3131, the other end of preceding differential satellite positioning antenna holder 316 is mounted on front deck upper beam 3132.Under in multiple front decks
The both ends of crossbeam 3133 are respectively fixedly connected in two front deck side stays 3131, and preceding platen bracket 314 is mounted on front deck upper beam
3132 and one of front deck on lower beam 3133, optional equipment mounting plate 315 is installed therein lower beam in two front decks
On 3133.
Holder assembly 32 includes two rear deck brackets 321, multiple rear deck crossbeams 322, rear platen bracket 323 and two side skirts afterwards
Supporting plate 324.The longitudinal section of rear deck bracket 321 is inversed l-shaped, and the horizontal component of two rear deck brackets 321 is mounted on the main branch of front deck
The horizontal component of frame 311, the vertical portion of two rear deck brackets 321 are mounted in chassis body 11.Multiple rear deck crossbeams 322 divide
It does not install between two rear deck brackets 321.After platen bracket 323 is installed in the vertical portion of two rear deck brackets 321 afterwards
On cabin crossbeam 322；Touch screen 325 is installed on platen bracket 323 afterwards.Two side skirt supporting plates 324 are separately mounted to chassis body 11
The left and right sides.
In addition, rear holder assembly 32 further includes rear deck crossed beam trunking 326 for the arrangement convenient for electric wire in vehicle, it is used for phase
The harness of pass is passed through out of rear deck crossed beam trunking 326.Specifically, rear deck crossed beam trunking 326 is mounted on two rear deck brackets 321
Multiple wear is provided on the rear deck crossbeam 322 of horizontal component, and in the both side surface of rear deck crossed beam trunking 326 to penetrate slot and (do not show in figure
Out), harness is facilitated to pass through.
Again as shown in Figure 1, body assembly 4 is connected on frame assembly 3, and it is buckled in chassis assembly 1.Body assembly 4
Front end, rear end and two sides be mounted on multiple cameras 47 and multiple ultrasonic radars 41.Under the top of body assembly 4
The second differential satellite positioning antenna 42 is installed on surface, the top of body assembly 4 is equipped with top laser radar 43, body assembly
4 fore device has preceding laser radar 44, and preceding laser radar 44 is installed on preceding laser radar bracket 33.
In addition, being provided with adaptation mouth 45 on the front end face of body assembly 4, preceding laser radar 44 wears adaptation by adapter rack 46
Mouth 45, before adapter rack 46 is mounted on laser radar bracket 33.Therefore, the model for the preceding laser radar 44 which is installed is not
It is restricted, only need to accordingly change adapter rack 46.
Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15 are respectively unmanned logistic car and its vehicle provided in an embodiment of the present invention
Group the structural schematic diagram one of collision prevention device, the structural schematic diagram two of collision prevention device, collision prevention device structural schematic diagram
Three, the partial sectional view of the partial enlarged view of collision prevention device and collision prevention device.Below with reference to Figure 11, Figure 12, Figure 13, Figure 14
With shown in Figure 15, describe in detail to the collision prevention device of unmanned logistic car.
Unmanned logistic car further includes collision prevention device 5.The rear and front end of chassis body 11 is installed by one anti-collision respectively
Collision device 5, and collision prevention device 5 wears body assembly 4, collision prevention device 5 include crossbearer 51, spring spool 52, guide rod 53,
Spring 54, collision prevention girders strut 555, collision prevention girders 56, impact switch 57 and mounting bracket 58.
Specifically, a side surface left and right ends of crossbearer 51 have a through-hole 511, another side surface of crossbearer 51
Left and right ends have a mounting hole 512, and the position of through-hole 511 and the position of mounting hole 512 correspond.Each through-hole
A spring spool 52 is worn in 511, spring spool 52 is fixedly connected on crossbearer 51 by clamping screw 521.Guide rod
53 wear spring spool 52, and one end of guide rod 53 is protruded into crossbearer 51.Spring 54 is sheathed on guide rod 53, and spring 54 holds
It is placed in spring spool 52.One end of collision prevention girders strut 555 is fixedly connected with the other end of guide rod 53, and collision prevention girders strut
555 wear body assembly 4.The both ends of collision prevention girders 56 are connected with the other end of two collision prevention girders struts 555 respectively.Each mounting hole
An impact switch 57 is respectively mounted in 512；The triggering end of impact switch 57 is set in crossbearer 51, and the triggering of impact switch 57
The position at end is corresponding with the position of the other end of guide rod 53.The top end face left and right ends of crossbearer 51 are respectively fixedly connected with one
Mounting bracket 58, mounting bracket 58 are mounted in chassis body 11.
Specifically, crossbearer 51 is main mounting rack, for installing relevant electronic device, and for the collision prevention device with
Connection between chassis body.One side surface left and right ends of crossbearer 51 have a through-hole 511, right by through-hole 511
Spring spool 52 is supported connection, in addition, another side surface left and right ends of crossbearer 51 have a mounting hole 512,
Connection is supported to impact switch 57 by mounting hole 512, to make when collision prevention girders 56 collide barrier, guide rod 53
Impact switch 57 can be triggered, the position of through-hole 511 need to be corresponded with the position of mounting hole 512, so that the center of through-hole 511
Axis is overlapped with the central axis of mounting hole 512.
A spring spool 52 is worn in each through-hole 511, spring spool 52 is fixedly connected on by clamping screw 521
On crossbearer 51.In a specific embodiment, spring spool 52 includes sleeve part 522 and mounting portion 523, wherein mounting portion 523
Spring spool 52 is fixedly mounted on cross for spring spool 52 to be worn to the through-hole 511 of crossbearer 51, and by clamping screw 521
On frame 51, cunning of the sleeve part 522 between spring spool 52 and guide rod 53 sets connection.It is detailed, sleeve part 522 and installation
523 integrally connected of portion, mounting portion 523 wears through-hole 511, and sleeve part 522 is fixed on crossbearer 51 by clamping screw 521
On.To play the role of connecting and fixing, and do not influence the connection between guide rod 53 and spring spool 52, sleeve part 522 it is interior
Diameter is identical as the interior diameter of mounting portion 523, and the overall diameter of sleeve part 522 is greater than the overall diameter of mounting portion 523, sleeve part
522 are connected on the outer surface of crossbearer 51 just with the interconnecting piece of mounting portion 523, play the fixed effect of limit.
Guide rod 53 wears spring spool 52, and one end of guide rod 53 is protruded into crossbearer 51, and is consolidated by stove bolt 535
Fixed, corresponding, spring 54 is sheathed on guide rod 53, and spring 54 is placed in spring spool 52.It is specific real at one
It applies in example, guide rod 53 includes strut interconnecting piece 531, transition part 532, clamping portion 533 and touching portion 534, wherein strut connection
Portion 531 is used for being fixedly connected between guide rod 53 and collision prevention girders strut 55, and transition part 532 is for connecting strut interconnecting piece 531
Match with the interior diameter of clamping portion 533, the diameter and sleeve part 522 of clamping portion 533, for guide rod 53 and spring spool 52
Between cunning set connection, touching portion 534 wears sleeve part 522 and mounting portion 523, and stretches out outside mounting portion 523, for trigger touch
Rush open pass 57.Specifically, strut interconnecting piece 531, transition part 532, clamping portion 533 and touching portion 534 are successively connected with each other, strut
Interconnecting piece 531 is fixedly connected with collision prevention girders strut 55, and clamping portion 533 is slidedly arranged in spring spool 52, and spring 54 is sheathed on touching
In portion 534.Preferably, the diameter of transition part 532 is greater than the diameter of strut interconnecting piece 531, and the diameter of transition part 532 is less than clamping
The diameter in portion 533 had not only met processing technology requirement, but also to meet strut interconnecting piece 531, transition part 532 and clamping portion 533 respective
Functional requirement.
Connecting component of the collision prevention girders strut 55 between guide rod 53 and collision prevention girders 56, one end of collision prevention girders strut 55 with lead
It is fixedly connected to the other end of bar 53, the both ends of collision prevention girders 56 are connected with the other end of two collision prevention girders struts 55 respectively.One
In a specific embodiment, collision prevention girders 56 are fixedly connected with collision prevention girders strut 55 by bolt 551, not only simple but also secured, and are dismantled
It is convenient.In addition, it is contemplated that the aerodynamic characteristics of vehicle, collision prevention girders 56 should not obviously increase the air drag of vehicle after installing,
So the cross section of collision prevention girders 56 is arc, and collision prevention girders 56 are connected and composed by front and back arc panel.
Correspondingly, being to pacify in each mounting hole 512 so that collision prevention device has the function of colliding barrier emergency stop
An impact switch 57 is filled, the triggering end of impact switch 57 is set in crossbearer 51, and the position of the triggering end of impact switch 57
It is corresponding with the position of the other end of guide rod 53, so that when barrier collides collision prevention girders 56, by pushing collision prevention girders 56, from
And guide rod 53 is driven to trigger impact switch 57 by collision prevention girders strut 55.
Meanwhile for the device to be mounted in chassis body, the top end face left and right ends of crossbearer 51 are respectively fixedly connected with one
A mounting bracket 58, collision prevention device to be mounted in chassis body.In a specific embodiment, for convenience of crossbearer 51
Longitudinal section with the connection of chassis body, mounting bracket 58 is L shape, and the vertical portion 581 of mounting bracket 58 is fixedly connected on cross
On the top end face of frame 51, one end of collision prevention girders reinforcing rib 59 is fixedly connected on the horizontal component 582 of mounting bracket 58, collision prevention girders
The both ends of reinforcing rib 59 are connected with crossbearer 51 and mounting bracket 58 respectively, to fasten the company between crossbearer 51 and mounting bracket 58
It connects, it is ensured that the fastness of collision prevention device installation.In addition, the vertical portion 581 of mounting bracket 58 is also when installation site is by limited time
It can be connected by lengthening transverse bar (not shown) with the top end face of crossbearer 51.Preferably, the horizontal part of mounting bracket 58
Divide on 582 and offer multiple connecting holes 583, collision prevention device to be mounted in chassis body.
In addition, the embodiment of the invention also provides a kind of unmanned logistic car groups, wherein unmanned logistic car group packet
It includes: multiple unmanned logistic cars provided by the embodiment of the present invention and the front and back two for being set to each unmanned logistic car
The draw bar 6 at end.
Specifically, fixed part 61 is threaded in as shown in figure 3, draw bar 6 includes fixed part 61 and traction interconnecting piece 62
In the chassis assembly 1 of unmanned logistic car, traction interconnecting piece 62 and 61 integrally connected of fixed part.Unmanned logistic car is two-by-two
Between connected by draw bar 6.
Meanwhile when unmanned logistic car is not connect with other vehicles, by the screw thread on fixed part 61 by draw bar 6
The lower section into chassis body 11 is rotated, is used alone to not influence unmanned logistic car；When unmanned logistic car and its
When his vehicle connection, draw bar 6 is stretched out to the lower section of chassis body 11, so that the vehicle passes through traction interconnecting piece 62 and its
He is connected at vehicle, forms logistic car group.
Unmanned logistic car provided in an embodiment of the present invention and its vehicle group are using reasonable vehicle frame and body structure
Relevant electronic device provides suitable installation site, and reasonable disposition is played the role of anti-rollover, and turned using electric power
To system, steering precision is improved, and improves the strength and stiffness of vehicle entirety under the premise of light-weighted, is reduced into
This, and vehicle body lines are succinct smooth graceful, and the air-flow around vehicle body can be effectively guided in vehicle travel process, to reduce
Air drag and electric quantity consumption.Meanwhile the draw bar by being set to chassis rear and front end realizes the connection between vehicle, knot
Structure is simple, convenient disassembly.
In the present invention, term " multiple " refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In description in the present specification, term " specific embodiment ", " some embodiments ", " one embodiment "
Deng description mean particular features, structures, materials, or characteristics described in conjunction with this embodiment or example be contained in it is of the invention extremely
In few one embodiment or example.In the present specification, identical reality is not necessarily referring to the schematic illustration of above-mentioned term
Apply example or example.Moreover, the particular features, structures, materials, or characteristics of description can in any one or more embodiments or
It can be combined in any suitable manner in example.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of unmanned logistic car, which is characterized in that the unmanned logistic car include chassis assembly, counter assembly,
Frame assembly and body assembly；
The chassis assembly includes chassis body, steering system, two wheel speed devices and braking driving system；Wherein, the steering
System is installed in the chassis body, is connected with the front vehicle wheel of the chassis body, for controlling the steering of the front vehicle wheel
Operation；Two wheel speed devices are sheathed on the both ends of the hind axle of the chassis body respectively；The braking driving system includes
Output shaft one end of driving motor and electromagnetic brake, the driving motor is connected with the hind axle of the chassis body, another
End is connected with the electromagnetic brake；
The counter assembly includes shelf, multiple containers, chamber door, door closer-holder and electronics springlock；Wherein, the shelf installation
In the chassis body；Multiple containers are installed respectively on the shelf；Axis connects at the access section of each container
Connect the chamber door；The door closer-holder is installed on the container and the chamber door, is closed automatically to control the chamber door
It closes；The electronics springlock is also installed on the container and the chamber door, is automatically turned on to control the chamber door；
The frame assembly includes preceding holder assembly, rear holder assembly, preceding laser radar bracket and charging seat support；The front deck
Frame assembly is mounted in the chassis body, and the top of the preceding holder assembly is equipped with the first differential satellite positioning antenna, institute
The front end of holder assembly is equipped with LED display before stating；Holder assembly is mounted on the rear end of the chassis body, and frame after described
On the counter assembly；The preceding laser radar bracket is set to the front end of the chassis body；The charging seat support
It is set to the rear end of the chassis body, cradle is installed in the charging seat support；
The body assembly is connected on the frame assembly, and is buckled in the chassis assembly；Before the body assembly
End, rear end and two sides are mounted on multiple cameras and multiple ultrasonic radars；The lower surface on the top of the body assembly
On be installed on the second differential satellite positioning antenna；The top of the body assembly is equipped with top laser radar；The body assembly
Fore device have preceding laser radar, and the preceding laser radar is installed on the preceding laser radar bracket.
2. unmanned logistic car according to claim 1, which is characterized in that the steering system include steering mechanism,
Electric power steering EPS system and EPS system controller；
The steering mechanism includes steering mechanism's main body and steering universal joint；The steering universal joint and steering mechanism's main body
It is connected；
The EPS system is mounted in the chassis assembly；The output shaft of the EPS system wears the chassis assembly, with institute
Steering universal joint is stated to be connected；
The EPS system controller is installed in the chassis assembly；The EPS system controller and the EPS system are electrical
Connection.
3. unmanned logistic car according to claim 2, which is characterized in that the EPS system includes EPS motor, angle
Spend sensor and torque sensor；The output shaft of the EPS motor is connected with the steering universal joint；The EPS motor, angle
Sensor and torque sensor are electrically connected with the EPS system respectively.
4. unmanned logistic car according to claim 1, which is characterized in that the preceding holder assembly includes the main branch of front deck
Frame, preceding apparatus mounting plate, equipment mounting frame, preceding platen bracket, optional equipment mounting plate, preceding differential satellite position antenna holder；
The longitudinal section of the front deck main support is n font；The bottom end of two vertical portions of the front deck main support is fixedly connected on
In the chassis body；
The preceding apparatus mounting plate is installed in two vertical portions of the front deck main support, is installed on the preceding apparatus mounting plate
There is control unit for vehicle；
The equipment mounting frame is mounted in the chassis body, and the equipment mounting frame and the fixed company of the front deck main support
It connects；
The front end of the equipment mounting frame is arranged in the preceding platen bracket, to install the LED display；
The optional equipment mounting plate is placed in the front end of the equipment mounting frame, and the optional equipment mounting plate is positioned at described
The lower section of preceding platen bracket；
The preceding differential satellite positioning antenna holder is mounted on the top of the equipment mounting frame；The preceding differential satellite positions day
One end of line bracket is connect with the horizontal component of the front deck main support.
5. unmanned logistic car according to claim 4, which is characterized in that the equipment mounting frame includes two front decks
Lower beam in side stay, front deck upper beam and multiple front decks；
Two front deck side stays are respectively fixedly connected in two vertical portions of the front deck main support, and two front decks
The bottom end of side stay is fixedly mounted in the chassis body；
The both ends of the front deck upper beam are separately mounted in two front deck side stays；The preceding differential satellite positions antenna branch
The other end of frame is mounted on the front deck upper beam；
The both ends of lower beam are respectively fixedly connected in two front deck side stays in multiple front decks；The preceding platen bracket peace
On lower beam in the front deck upper beam and one of them described front deck；The optional equipment mounting plate is installed therein two
In a front deck on lower beam.
6. unmanned logistic car according to claim 4, which is characterized in that holder assembly includes two rear decks after described
Bracket, multiple rear deck crossbeams, rear platen bracket and two side skirt supporting plates；
The longitudinal section of the rear deck bracket is inversed l-shaped；The horizontal component of two rear deck brackets is mounted on the front deck master
The horizontal component of bracket；The vertical portion of two rear deck brackets is mounted in the chassis body；
Multiple rear deck crossbeams are installed respectively between two rear deck brackets；
Platen bracket is installed on the rear deck crossbeam in the vertical portion of two rear deck brackets after described；Screen branch after described
Touch screen is installed on frame；
Two side skirt supporting plates are separately mounted to the left and right sides of the chassis body.
7. unmanned logistic car according to claim 1, which is characterized in that the unmanned logistic car further includes preventing
Crash device；The collision prevention device is installed in the rear and front end of the chassis body respectively, and the collision prevention device is worn
If the body assembly；The collision prevention device include crossbearer, spring spool, guide rod, spring, collision prevention girders strut, collision prevention girders,
Impact switch and mounting bracket；
One side surface left and right ends of the crossbearer have a through-hole；Another side surface left and right ends of the crossbearer point
It is not provided with a mounting hole, the position one-to-one correspondence of the position of the through-hole and the mounting hole；
The spring spool is worn in each through-hole；The spring spool is fixedly connected on institute by clamping screw
It states on crossbearer；
The guide rod wears the spring spool, and one end of the guide rod is protruded into the crossbearer；
The spring pocket is set on the guide rod；The spring retention is in the spring spool；
One end of the collision prevention girders strut is fixedly connected with the other end of the guide rod, and the collision prevention girders strut wear it is described
Body assembly；
The both ends of the collision prevention girders are connected with the other end of two collision prevention girders struts respectively；
The impact switch is respectively mounted in each mounting hole；The triggering end of the impact switch is set to the crossbearer
It is interior, and the position of the triggering end of the impact switch is corresponding with the position of the other end of the guide rod；
The top end face left and right ends of the crossbearer are respectively fixedly connected with the mounting bracket, and the mounting bracket is mounted on institute
It states in chassis body.
8. unmanned logistic car according to claim 1, which is characterized in that be provided on the front end face of the body assembly
It is adapted to mouth, the preceding laser radar wears the adaptation mouth by adapter rack, and the adapter rack is mounted on the preceding laser radar
On bracket.
9. a kind of unmanned logistic car group, which is characterized in that the unmanned logistic car group includes: the claims 1-
The traction of 8 any multiple unmanned logistic cars and the rear and front end for being set to each unmanned logistic car
Bar；
The unmanned logistic car passes through the draw bar between any two and connects.
10. unmanned logistic car group according to claim 9, which is characterized in that the draw bar include fixed part and
Draw interconnecting piece；The fixed part is threaded in the chassis assembly of the unmanned logistic car；The traction interconnecting piece
With the fixed part integrally connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729968.6A CN109050379B (en) | 2018-07-05 | 2018-07-05 | A kind of unmanned logistic car and its vehicle group |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729968.6A CN109050379B (en) | 2018-07-05 | 2018-07-05 | A kind of unmanned logistic car and its vehicle group |
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| CN109050379B CN109050379B (en) | 2019-11-08 |
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| CN109797691A (en) * | 2019-01-29 | 2019-05-24 | 浙江联运知慧科技有限公司 | Unmanned sweeper and its travelling-crane method |
| CN111976862A (en) * | 2019-05-21 | 2020-11-24 | 北京京东乾石科技有限公司 | Logistics distribution equipment |
| CN113602178A (en) * | 2021-05-25 | 2021-11-05 | 广州华凯车辆装备有限公司 | Four-door carrying command vehicle formed on basis of single-row double-door truck improvement and installation method thereof |
| CN114801954A (en) * | 2022-03-23 | 2022-07-29 | 南京智电汽车研究院有限公司 | Unmanned mining vehicle body and mining vehicle comprising same |
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| CN109050379B (en) | 2019-11-08 |
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