CN112590746A - Unmanned delivery dolly braking a steering system based on servo electronic jar - Google Patents
Unmanned delivery dolly braking a steering system based on servo electronic jar Download PDFInfo
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- CN112590746A CN112590746A CN202011564437.XA CN202011564437A CN112590746A CN 112590746 A CN112590746 A CN 112590746A CN 202011564437 A CN202011564437 A CN 202011564437A CN 112590746 A CN112590746 A CN 112590746A
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- Prior art keywords
- brake
- motor
- steering
- hydraulic
- push rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003584 silencer Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention discloses a servo electric cylinder-based unmanned distribution trolley brake steering system, which comprises an on-board controller, a driver, a power supply, an electric steering mechanism and an electric brake mechanism, wherein the driver is connected with the on-board controller; the electric brake mechanism comprises a brake motor, an output shaft of the brake motor is connected with an electric push rod, the electric push rod is connected with a switching mechanism, the switching mechanism is connected with a piston on a hydraulic master cylinder, the hydraulic master cylinder is connected with a hydraulic slave cylinder through a hydraulic pipeline, the piston of the hydraulic slave cylinder is connected with brake calipers, and the brake calipers are pushed to clamp brake pads; the driver is connected with the brake motor and the steering motor through a circuit, and the power supply supplies power to the steering motor and the brake motor. The steering braking function of the trolley is automatically completed through the instruction.
Description
Technical Field
The invention relates to the field of unmanned delivery trolleys, in particular to a servo electric cylinder-based unmanned delivery trolley brake steering system.
Background
Unmanned delivery dolly can realize carrying out the batch delivery to office building under the urban environment, order such as district convenience store are concentrated places, will promote the delivery efficiency of commodity circulation by a wide margin, the automatic delivery of work piece is added in the processing link is realized at the processing factory simultaneously, consequently, the technique of unmanned delivery dolly is more and more mature, unmanned delivery dolly based on servo electronic jar is the most common delivery dolly, current unmanned delivery dolly based on servo electronic jar adopts traditional manual driving vehicle hydraulic pressure dish system of stopping and steering linkage, exist unstably, shortcoming unsafe and non-automatization.
Disclosure of Invention
The invention aims to provide a servo electric cylinder-based brake steering system of an unmanned delivery trolley, which can automatically complete the steering and braking functions of the unmanned delivery trolley through the instruction of an upper computer.
The technical scheme for realizing the purpose of the invention is as follows: the utility model provides an unmanned delivery dolly brake steering system based on servo electronic jar, includes on-vehicle controller, driver, power, electronic steering mechanism and electric brake mechanism, and on-vehicle controller passes through the circuit and links to each other with the driver, wherein:
the electric steering mechanism comprises a steering motor, a speed reducer, a rotary rod, a push rod and a trapezoidal connecting rod, wherein a driver is connected with an input end line of the steering motor, an output shaft of the steering motor is connected with an input end of the speed reducer, an output end of the speed reducer is connected with the rotary rod, the rotary rod is connected with the push rod, the push rod is connected with a steering knuckle of a wheel on one side, and the trapezoidal connecting rod is connected with wheel hubs on two sides;
the electric brake mechanism comprises a brake motor, an electric push rod, a switching mechanism, a hydraulic master cylinder, a hydraulic pipeline, hydraulic branch pumps, brake calipers and a disc brake pad, a driver is connected with the input end of the brake motor through a circuit to control the brake motor to rotate forwards or backwards, the output end of the brake motor is connected with the electric push rod which can move in a stretching way, the electric push rod is connected with the switching mechanism, the switching mechanism is connected with a piston on the hydraulic master cylinder, the hydraulic master cylinder is connected with the hydraulic branch pumps positioned on wheels at two sides through the hydraulic pipeline, pistons of the hydraulic branch pumps are connected with the brake calipers, and the pistons of the hydraulic branch pumps can push the brake calipers to clamp the brake pad on the;
the power supply is connected with the steering motor and the brake motor to supply power to the steering motor and the brake motor.
Preferably, the speed reducer is connected with the steering motor and the rotating rod through a pin shaft.
Preferably, the power source is a lithium battery.
Preferably, the rotating rod is connected with the push rod through a ball head.
Preferably, the output end of the brake motor is connected with the electric push rod through a pin shaft.
Preferably, a silencer is connected to the brake pad.
Compared with the prior art, the invention has the following remarkable effects: the invention improves the mode that the traditional steering wheel drives the steering machine to push the steering connecting rod to move into an electric steering mode, improves the traditional braking system that the pedal pushes the braking master cylinder into the mode that the electric push rod pushes the braking master cylinder to achieve the braking effect, and can safely, stably and reliably realize the automatic braking and steering functions of the unmanned delivery vehicle through the instruction of the upper computer; the direction wheel of the invention does not need to search the zero position again after the existing brake and power-off/power-on.
Drawings
FIG. 1 is a schematic structural diagram of a brake steering system according to the present invention.
In the figure: the brake comprises a speed reducer 1, a steering motor 2, a rotary rod 3, a push rod 4, a trapezoidal connecting rod 5, a brake motor 6, an electric push rod 7, an adapter mechanism 8, a hydraulic master cylinder 9, a hydraulic pipeline 10, a hydraulic slave cylinder 11, a brake caliper 12, a brake disc 13 and a steering knuckle 14.
Detailed Description
The present invention will be further described with reference to the following specific examples.
The utility model provides an unmanned delivery dolly brake a steering system based on servo electronic jar, includes on-vehicle controller, driver, power, electronic steering mechanism and electric brake mechanism, and on-vehicle controller passes through the circuit and links to each other with the driver, and the power is connected with steering motor 2 and brake motor 6, for the motor power supply, the power can be the lithium cell, wherein:
electric steering mechanism is including turning to motor 2, reduction gear 1, rotary rod 3, push rod 4 and trapezoidal connecting rod 5, driver and the input end line connection who turns to motor 2, the input of the output shaft connection reduction gear 1 of turning to motor 2, the output and the rotary rod 3 of reduction gear 1 are connected, rotary rod 3 passes through the bulb and is connected with push rod 4, push rod 4 is connected with the knuckle 14 of one side wheel, trapezoidal connecting rod 5 is connected with both sides wheel hub. The speed reducer 1 is connected with a steering motor 2 and a rotating rod 3 through a pin shaft.
The working principle of the electric steering mechanism is as follows: the vehicle-mounted controller sends a steering instruction to the driver, the driver controls the steering motor 2 to rotate forwards or backwards according to the instruction, the steering motor 2 drives the speed reducer 1 to drive the rotating rod 3, and then the steering knuckle 14 is pushed to drive the wheel on one side to deflect, and the wheel hubs on the two sides are connected through the trapezoidal connecting rod 5, so that the wheel on one side deflects to drive the wheel on the other side to deflect synchronously, and the steering is realized.
Electric brake mechanism includes brake motor 6, electric putter 7, changeover mechanism 8, hydraulic pressure master cylinder 9, hydraulic pressure pipeline 10, hydraulic pressure wheel cylinder 11, brake caliper 12 and dish brake block 13, the driver passes through the circuit and is connected with brake motor 6's input, control brake motor 6 just/the reversal, 6 outputs of brake motor are connected with electric putter 7 through the round pin axle, electric putter 7 is connected with changeover mechanism 8, changeover mechanism 8 and the piston connection on the hydraulic pressure master cylinder 9, hydraulic pressure master cylinder 9 passes through hydraulic pressure pipeline 10 and is connected with the hydraulic pressure wheel cylinder 11 that is located the both sides wheel, the piston and the brake caliper 12 of hydraulic pressure wheel cylinder 11 are connected, the piston of hydraulic pressure wheel cylinder 11 can promote brake caliper 12 and block brake block 13 on the brake disc, brake block 13 is connected with the muffler that is used for eliminating braking sound.
The working principle of the electric brake mechanism is as follows: the vehicle-mounted controller sends a braking instruction to the driver, the driver controls the forward rotation/reverse rotation of the braking motor 6 according to the instruction, the rotary motion of the braking motor 6 is converted into the linear motion of the push rod 4, the telescopic action of the push rod 4 is completed by the forward rotation/reverse rotation of the motor, the electric push rod 7 pulls the switching mechanism 8 to move the piston of the hydraulic master pump 9, the hydraulic master pump 9 outputs hydraulic oil to the hydraulic slave pumps 11 through the hydraulic pipeline 10, and the piston of the hydraulic slave pumps 11 pushes the brake calipers 12 to clamp the brake pads 13 and generate friction force with the brake disc under the action of hydraulic pressure to achieve the braking effect.
The brake steering system of the unmanned delivery trolley is installed and tested on the chassis of the unmanned delivery trolley, and can well complete instruction tasks and various functional performance requirements.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides an unmanned delivery dolly brake steering system based on servo electronic jar which characterized in that, includes on-vehicle controller, driver, power, electronic steering mechanism and electric brake mechanism, and on-vehicle controller passes through the circuit and links to each other with the driver, wherein:
the electric steering mechanism comprises a steering motor (2), a speed reducer (1), a rotating rod (3), a push rod (4) and a trapezoidal connecting rod (5), a driver is connected with an input end line of the steering motor (2), an output shaft of the steering motor (2) is connected with an input end of the speed reducer (1), an output end of the speed reducer (1) is connected with the rotating rod (3), the rotating rod (3) is connected with the push rod (4), the push rod (4) is connected with a steering knuckle (14) of a wheel on one side, and the trapezoidal connecting rod (5) is connected with wheel hubs on two sides;
the electric brake mechanism comprises a brake motor (6), an electric push rod (7), a switching mechanism (8), a hydraulic master cylinder (9), a hydraulic pipeline (10), a hydraulic slave cylinder (11), brake calipers (12) and a disc brake pad (13), the driver is connected with the input end of the brake motor (6) through a circuit to control the forward/reverse rotation of the brake motor (6), the output end of the brake motor (6) is connected with an electric push rod (7) which can do telescopic motion, the electric push rod (7) is connected with a switching mechanism (8), the switching mechanism (8) is connected with a piston on a hydraulic master pump (9), the hydraulic master pump (9) is connected with hydraulic branch pumps (11) which are positioned on wheels at two sides through a hydraulic pipeline (10), the piston of the hydraulic branch pumps (11) is connected with brake calipers (12), and the piston of the hydraulic branch pumps (11) can push the brake calipers (12) to clamp brake pads (13) on a brake disc;
the power supply is connected with the steering motor (2) and the brake motor (6) to supply power to the steering motor and the brake motor.
2. The unmanned delivery vehicle brake steering system according to claim 1, wherein the reducer (1) is connected with the steering motor (2) and the rotating rod (3) through a pin shaft.
3. The unmanned delivery vehicle brake steering system of claim 1, wherein the power source is a lithium battery.
4. The unmanned delivery vehicle brake steering system according to claim 1, wherein the rotating rod (3) is connected with the push rod (4) through a ball head.
5. The brake steering system of the unmanned delivery vehicle as claimed in claim 1, wherein the output end of the brake motor (6) is connected with the electric push rod (7) through a pin shaft.
6. The unmanned delivery vehicle brake steering system of claim 1, wherein a noise damper is connected to the brake pad (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011564437.XA CN112590746A (en) | 2020-12-25 | 2020-12-25 | Unmanned delivery dolly braking a steering system based on servo electronic jar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011564437.XA CN112590746A (en) | 2020-12-25 | 2020-12-25 | Unmanned delivery dolly braking a steering system based on servo electronic jar |
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| Publication Number | Publication Date |
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| CN112590746A true CN112590746A (en) | 2021-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011564437.XA Pending CN112590746A (en) | 2020-12-25 | 2020-12-25 | Unmanned delivery dolly braking a steering system based on servo electronic jar |
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| CN (1) | CN112590746A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113406412A (en) * | 2021-06-03 | 2021-09-17 | 东风柳州汽车有限公司 | Chassis test system and equipment thereof |
| CN114179605A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Motor redundancy multifunctional integrated wheel module and control method thereof |
| CN114274941A (en) * | 2022-01-06 | 2022-04-05 | 唐义诚 | Control system for triggering corresponding speed change through intelligent steering |
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| CN106585305A (en) * | 2016-11-08 | 2017-04-26 | 同济大学 | Drive-by-wire independent steering-driving integrated double wishbone suspension system based on double crank mechanism |
| CN106864459A (en) * | 2017-03-16 | 2017-06-20 | 北理慧动（常熟）车辆科技有限公司 | A kind of rotating direction control method of automatic driving vehicle autosteerer |
| CN206520595U (en) * | 2017-02-28 | 2017-09-26 | 居易 | A kind of crusing robot electric controlled brake device |
| CN109533016A (en) * | 2018-12-31 | 2019-03-29 | 江苏金陵智造研究院有限公司 | A kind of electric vehicle chassis for outdoor unmanned delivery |
| CN209617252U (en) * | 2018-12-28 | 2019-11-12 | 南京航空航天大学 | A kind of circulating ball type electric hydraulic steering system based on magnetorheological fluid |
-
2020
- 2020-12-25 CN CN202011564437.XA patent/CN112590746A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054598A (en) * | 2016-05-05 | 2016-10-26 | 安徽农业大学 | Robot adaptive steering single neuron PID control method |
| CN106585305A (en) * | 2016-11-08 | 2017-04-26 | 同济大学 | Drive-by-wire independent steering-driving integrated double wishbone suspension system based on double crank mechanism |
| CN206520595U (en) * | 2017-02-28 | 2017-09-26 | 居易 | A kind of crusing robot electric controlled brake device |
| CN106864459A (en) * | 2017-03-16 | 2017-06-20 | 北理慧动（常熟）车辆科技有限公司 | A kind of rotating direction control method of automatic driving vehicle autosteerer |
| CN209617252U (en) * | 2018-12-28 | 2019-11-12 | 南京航空航天大学 | A kind of circulating ball type electric hydraulic steering system based on magnetorheological fluid |
| CN109533016A (en) * | 2018-12-31 | 2019-03-29 | 江苏金陵智造研究院有限公司 | A kind of electric vehicle chassis for outdoor unmanned delivery |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113406412A (en) * | 2021-06-03 | 2021-09-17 | 东风柳州汽车有限公司 | Chassis test system and equipment thereof |
| CN114179605A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Motor redundancy multifunctional integrated wheel module and control method thereof |
| CN114179605B (en) * | 2021-12-29 | 2024-03-01 | 吉林大学 | Multifunctional integrated wheel module with motor redundancy and control method thereof |
| CN114274941A (en) * | 2022-01-06 | 2022-04-05 | 唐义诚 | Control system for triggering corresponding speed change through intelligent steering |
| CN114274941B (en) * | 2022-01-06 | 2024-06-07 | 唐义诚 | Control system for triggering corresponding speed change by intelligent steering |
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