CN115503814A

CN115503814A - Logistics luggage tractor auxiliary steering device and automatic driving steering system

Info

Publication number: CN115503814A
Application number: CN202211461307.2A
Authority: CN
Inventors: 单萍; 马琼; 单帅; 马敏
Original assignee: Jiangsu Tianyi Aviation Industry Co Ltd
Current assignee: Jiangsu Tianyi Aviation Industry Co Ltd
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2022-12-23
Anticipated expiration: 2042-11-18
Also published as: CN115503814B

Abstract

The invention discloses an auxiliary steering device and an automatic driving steering system of a logistics luggage tractor, which comprise a positioning output module, wherein the positioning output module comprises an output assembly, a linkage assembly and a locking assembly, and the output assembly is movably connected with the linkage assembly; the output assembly comprises an outer protection frame, two rotating pipes and an inner rod, and the two ends of each rotating pipe are movably connected with the inner wall of the outer protection frame. According to the invention, the mounting hole positions with flexibly adjusted positions are arranged, so that equipment can be conveniently aligned and mounted at reserved hole positions of a vehicle, the positions of the mounting hole positions are fixed by arranging a transmission structure, the mounting operation of workers is facilitated, the auxiliary steering equipment is conveniently and flexibly rotated by connecting the auxiliary steering equipment with a bearing, the alignment in the mounting process is facilitated, the influence of eccentric rotation on the service life of the equipment is avoided, and the stability of the equipment in the mounting and fixing process is ensured by clamping the adjusted auxiliary steering equipment by arranging linkage equipment.

Description

Logistics luggage tractor auxiliary steering device and automatic driving steering system

Technical Field

The invention relates to the technical field of intelligent airports, in particular to an auxiliary steering device and an automatic driving steering system of a logistics luggage tractor.

Background

The application and popularization of the unmanned airport equipment are the concrete embodiment of the smart development mainline of civil aviation, are effective measures for promoting the construction of four-type airports, and are realization paths for constructing the strong nations of civil aviation in multiple fields. The application of the unmanned airport equipment provides important guarantee for the construction of a safe airport, and is an effective means for effectively preventing human errors and illegal operations and solving unsafe events such as apron scraping and runway invasion; the method provides an important tool for the construction of green airports, and is a practice for optimizing ground guarantee efficiency, improving equipment cooperative operation and reducing resource consumption; the intelligent airport building system is characterized in that important scenes are built for the construction of an intelligent airport, the automation and intelligence degree of the airport are improved, and the product is mainly characterized in that: the typical application of civil aviation high-quality development transformation is realized; the logistics luggage tractor is an important drive for the construction of a civil airport, improves the ground operation efficiency of an aircraft, improves the operation environment of airport personnel, improves the traveling experience of passengers and enhances the new foothold of the happiness of the personnel, and is necessary for unmanned improvement as one of 18 ground transportation guarantee vehicles in the civil airport.

In the intelligent operation in-process of commodity circulation luggage tractor, its a steering system is especially important, adopt unmanned technique back, the vehicle turns to all through supplementary steering apparatus execution operation, because in the aspect of van, the unmanned vehicle is not released in the car host factory, current unmanned freight train is repacking by oneself, in the repacking process, demolish steering wheel and the direct connecting rod of steering gear, adopt electronic steering auxiliary equipment to connect steering wheel and steering gear, thereby make the freight train possess two kinds of states of manual driving and unmanned, current electronic steering apparatus, because the freight train repacking in-process, the environment is different in the car, steering apparatus mounted position can't be unified, need adjust its connection fixed point position, the driver's cabin space is narrow and small, staff's regulation is wasted time and energy, influence the installation effectiveness.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and title of the application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The present invention has been made in view of the problems occurring in the prior art.

Therefore, the technical problems to be solved by the invention are that in the process of modifying the truck, the environment in the truck is different, the installation positions of the steering devices cannot be unified, the positions of the connection fixed points of the steering devices need to be adjusted, the space in a cab is narrow, the adjustment of workers is time-consuming and labor-consuming, and the installation efficiency is influenced.

In order to solve the technical problems, the invention provides the following technical scheme: the auxiliary steering device of the logistics luggage tractor comprises a positioning output module, wherein the positioning output module comprises an output assembly, a linkage assembly and a locking assembly, and the output assembly is movably connected with the linkage assembly; the output assembly comprises outer protective frames, rotating pipes and an inner rod, two ends of each of the two rotating pipes are movably connected with the inner wall of each outer protective frame, one end of the inner rod penetrates through one rotating pipe and penetrates into the inner cavity of the other rotating pipe, one end of the inner rod is connected with a hand control handle, the outer wall of the inner rod is fixedly connected with a first bevel gear, and the outer wall of each rotating pipe is connected with a second bevel gear; at least one group of sliding blocks are arranged on the outer wall of the inner rod, a traction groove and a rotating groove are formed in the inner wall of the rotating pipe, one end of the traction groove is communicated with the rotating groove, and one end of each sliding block is connected with the traction groove in a sliding mode; the linkage assembly comprises a third bevel gear which is in rotating connection with the second bevel gear; the locking assembly comprises a fourth bevel gear, and the fourth bevel gear is arranged at one end of the first bevel gear.

As a preferable scheme of the logistics luggage tractor auxiliary steering device and the automatic driving steering system of the invention, the logistics luggage tractor auxiliary steering device comprises: the linkage assembly further comprises a first screw, a screw block and a traction vertical rod, the two ends of the first screw are movably connected with the inner wall of the outer protective frame, the third bevel gear is arranged on the outer wall of the first screw, the screw block is in threaded connection with the first screw, one end of the traction vertical rod is fixedly connected with the screw block, the traction vertical rod is connected with the outer wall of the traction vertical rod to be connected with a traction horizontal rod, and one end of the traction horizontal rod is connected with a positioning toothed plate.

As a preferable scheme of the logistics luggage tractor auxiliary steering device and the automatic driving steering system of the invention, the logistics luggage tractor auxiliary steering device comprises: locking assembly still includes second screw rod, internal thread pipe and spacing arc pinion rack, fourth bevel gear sets up in second screw rod outer wall, second screw rod one end and outer protective frame inner wall swing joint, internal thread pipe inner wall and second screw rod outer wall threaded connection, internal thread pipe one end run through outer protective frame outer wall and with spacing arc pinion rack fixed connection.

As a preferable scheme of the logistics luggage tractor auxiliary steering device and the automatic driving steering system of the invention, the logistics luggage tractor auxiliary steering device comprises: the positioning output module further comprises an installation assembly, the installation assembly comprises an installation plate, an adjusting groove, a sliding rail and a positioning block, the installation plate is fixedly connected with the outer protective frame through an installation rod, the adjusting groove is formed in the outer wall of the installation plate, the sliding rail is arranged on the two sides of the inner cavity of the adjusting groove respectively, the two ends of the positioning block are connected with the sliding rail in a sliding mode through the sliding rod, the installation hole is formed in the outer wall of the positioning block, and the back of the positioning block is connected with a movable toothed plate.

As a preferable scheme of the logistics luggage tractor auxiliary steering device and the automatic driving steering system of the invention, the logistics luggage tractor auxiliary steering device comprises: the positioning output module further comprises a return assembly, the return assembly comprises a cover plate, a return spring and a circular plate, the circular plate is in end face contact with the inner rod, two ends of the return spring are respectively connected with the cover plate and the circular plate, and the cover plate is fixedly connected with one end of the rotating pipe.

As a preferable scheme of the logistics luggage tractor auxiliary steering device and the automatic driving steering system of the invention, the logistics luggage tractor auxiliary steering device comprises: the power-assisted steering module comprises a power-assisted component, a motor, a torque sensor and a steering driving component, the power-assisted component is connected with the output end of the motor, the torque sensor is electrically connected with an angle sensor, the torque sensor is arranged on the outer wall of the power-assisted component, the steering driving component is connected with the output end of the power-assisted component, the power-assisted steering module further comprises a cab assembly and a steering wheel arranged in the cab assembly, and the output end of the steering wheel is connected with the torque sensor.

As a preferable scheme of the logistics luggage tractor auxiliary steering device and the automatic driving steering system of the invention, the logistics luggage tractor auxiliary steering device comprises: the power-assisted steering module further comprises a steering tube, a spline rod and a connector, one end of the steering tube is connected with the steering driving assembly, one end of the spline rod penetrates into the steering tube, and one end of the spline rod is movably connected with the connector.

As a preferable scheme of the logistics luggage tractor auxiliary steering device and the automatic driving steering system of the invention, the logistics luggage tractor auxiliary steering device comprises: still include the slip module, the slip module includes movable sleeve and location bearing, the drive assembly outer wall is located to the movable sleeve cover, the movable sleeve outer wall passes through connecting rod and outer protective frame outer wall fixed connection, drive assembly and movable sleeve inner wall are connected respectively to location bearing inner circle and outer lane, the drive assembly outer wall is connected with the gear circle, the movable sleeve outer wall has been seted up and has been run through the groove, it is relative with spacing arc pinion rack to run through groove opening direction.

The present invention also provides an automatic steering system, comprising: ECU, cloud system, control collection module, alarm module and turn to the execution assembly, ECU respectively with cloud system, control collection module, alarm module and turn to execution assembly electric connection.

As a preferable aspect of the automatic steering system of the present invention, wherein: the monitoring acquisition module comprises a high-definition camera, a millimeter wave radar, a laser radar, an ultrasonic radar and a positioning sensor; the alarm module comprises a lane departure early warning module, a speed limit alarm module and an acceleration sensor; the steering execution assembly comprises a front wheel angle sensor, a steering angle sensor, a motor controller, a front wheel steering component and a CAN network component.

The invention has the beneficial effects that: according to the invention, the mounting hole positions with flexibly adjusted positions are arranged, so that equipment can be conveniently aligned and mounted at the reserved hole positions of the vehicle, the positions of the mounting hole positions are fixed by arranging the transmission structure, the mounting operation of workers is facilitated, the equipment is conveniently and flexibly rotated by connecting the bearing with the auxiliary steering equipment, the alignment in the mounting process is facilitated, the influence on the service life of the equipment caused by eccentric rotation is avoided, and the stability of the equipment in the mounting and fixing process is ensured by clamping the adjusted auxiliary steering equipment by arranging the linkage equipment.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:

fig. 1 is an external view of an auxiliary steering apparatus in an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a sliding module according to an embodiment of the present invention.

Fig. 3 is a cross-sectional view of a removable sleeve in an embodiment of the present invention.

Fig. 4 is a diagram of a positioning output module according to an embodiment of the present invention.

Fig. 5 is a structural view of a locking assembly in an embodiment of the present invention.

Fig. 6 is a structural view of a mounting assembly in the embodiment of the present invention.

Fig. 7 is a structure view of the rotating tube and the inner rod in the embodiment of the present invention.

FIG. 8 is a partial enlarged structural view of the portion A in FIG. 7 according to the present invention.

Fig. 9 is an exploded view of the embodiment of fig. 7.

Fig. 10 is an external view of a tractor in an embodiment of the invention.

Fig. 11 is a schematic diagram of a system in an embodiment of the invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and it will be appreciated by those skilled in the art that the present invention may be practiced without departing from the spirit and scope of the present invention and that the present invention is not limited by the specific embodiments disclosed below.

Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Example 1

Referring to fig. 4 and fig. 7 to 10, a first embodiment of the invention provides a logistics luggage tractor auxiliary steering device, which includes a positioning output module 200, wherein the positioning output module 200 includes an output component 201, a linkage component 202 and a locking component 203, and the output component 201 and the linkage component 202 are movably connected.

When the auxiliary steering device is used for connecting a steering wheel and a steering gear, the auxiliary steering device is influenced by the installation space in a carriage, the installation point position of equipment is not fixed, and the position of the auxiliary steering device with the installation hole position is required to be adjusted so as to facilitate the alignment installation of the equipment.

Under the initial state of the auxiliary steering device, the position of the mounting hole position can be adjusted up and down, the mounting end of the auxiliary steering device can be adjusted to the adjustable position, a worker manually adjusts the auxiliary steering device to the mountable state, namely, the equipment mounting hole position is aligned with the mounting hole position in the carriage, and the worker can output mechanical transmission force through the output assembly 201 to fix and limit the position of the mounting hole position in the auxiliary steering device and the rotation angle of the mounting end of the auxiliary steering device.

The output assembly 201 is linked with the linkage assembly 202 and the locking assembly 203, so that the output assembly 201 and the linkage assembly 202 output mechanical transmission force respectively for fixing operation, the linkage assembly 202 fixes the position of a mounting hole position of the auxiliary steering device, and the locking assembly 203 positions the rotating angle of the mounting end of the auxiliary steering device.

The specific adjusting steps comprise:

the output assembly 201 comprises an outer protection frame 201a, rotating pipes 201b and an inner rod 201c, two ends of each rotating pipe 201b are movably connected with the inner wall of the outer protection frame 201a, one end of the inner rod 201c penetrates through one rotating pipe 201b and penetrates through the inner cavity of the other rotating pipe 201b, one end of the inner rod 201c is connected with a manual control handle 201d, the outer wall of the inner rod 201c is fixedly connected with a first bevel gear 201f, and the outer wall of the rotating pipe 201b is connected with a second bevel gear 201e.

At least one group of sliding blocks 201c-1 are arranged on the outer wall of the inner rod 201c, a traction groove 201b-1 and a rotating groove 201b-2 are formed in the inner wall of the rotating pipe 201b, one end of the traction groove 201b-1 is communicated with the rotating groove 201b-2, and one end of the sliding block 201c-1 is connected with the traction groove 201b-1 in a sliding mode.

The depth of the rotating groove 201b-2 is larger than that of the traction groove 201b-1, so that the sliding block 201c-1 can freely slide in the rotating groove 201b-2 in the subsequent adjustment process of a user, and the equipment can conveniently switch the transmission state.

A worker firstly adjusts the position of the installation hole position of the equipment, the manual control handle 201d is rotated by a user, the inner rod 201c is driven to rotate by the rotation of the manual control handle 201d, the sliding block 201c-1 is driven to rotate by the rotation of the inner rod 201c, in an initial state, the sliding block 201c-1 is positioned in the inner cavity of the traction groove 201b-1, the sliding block 201c-1 is limited by the traction groove 201b-1, the rotating pipe 201b is driven to rotate by the rotation of the sliding block 201c-1, and the second bevel gear 201e is driven to rotate by the rotation of the rotating pipe 201 b.

The linkage assembly 202 comprises a third bevel gear 202b, the third bevel gear 202b is rotatably connected with a second bevel gear 201e, the third bevel gear 202b is driven to rotate through rotation of the second bevel gear 201e, mechanical transmission force is transmitted to the linkage assembly 202 through rotation of the third bevel gear 202b, and the mounting assembly 204 is limited and clamped through the linkage assembly 202, so that the device mounting hole is fixed.

A worker fixes and limits the rotation angle of the installation end of the equipment, the manual control handle 201d is pressed by a user, the manual control handle 201d moves to drive the inner rod 201c to move, the sliding block 201c-1 is driven to slide in the traction groove 201b-1 through the movement of the inner rod 201c, and along with the movement of the sliding block 201c-1, the sliding block leaves the inner cavity of the traction groove 201b-1 and enters the inner cavity of the rotation groove 201b-2, so that the sliding block 201c-1 loses the limitation and can only idle in the rotation groove 201b-2, and the rotation pipe 201b is not driven.

The first bevel gear 201f is driven to move by the movement of the inner rod 201 c.

The locking assembly 203 comprises a fourth bevel gear 203b, the fourth bevel gear 203b is arranged at one end of the first bevel gear 201f, and in an initial state, the fourth bevel gear 203b is not meshed with the first bevel gear 201 f.

Through the removal of first bevel gear 201f, make its contact fourth bevel gear 203b, both realize meshing transmission, rotate manual handle 201d once more through the user, drive first bevel gear 201f and rotate to rotate driving fourth bevel gear 203b, through the rotation of fourth bevel gear 203b, transmit mechanical transmission power to locking Assembly 203, realize fixing spacingly to the turned angle of equipment fixing end through locking Assembly 203.

Example 2

Referring to FIG. 1~7, a second embodiment of the present invention is based on the previous embodiment.

Linkage assembly 202 still includes first screw rod 202a, spiral shell piece 202c and pulls montant 202d, first screw rod 202a both ends all with outer protective frame 201a inner wall swing joint, third bevel gear 202b sets up in first screw rod 202a outer wall, spiral shell piece 202c and first screw rod 202a threaded connection, pull montant 202d one end and spiral shell piece 202c fixed connection, pull montant 202d outer wall connection and pull horizontal pole 202e, pull horizontal pole 202e one end and connect location pinion rack 202f.

The first screw 202a is driven to rotate through the rotation of the third bevel gear 202b, the screw block 202c is driven to move through the rotation of the first screw 202a, the traction vertical rod 202d is driven to move through the movement of the screw block 202c, the traction cross rod 202e is driven to move through the traction vertical rod 202d, the positioning toothed plate 202f is driven to move through the movement of the traction cross rod 202e, the positioning toothed plate 202f is made to contact with the movable toothed plate 204f through the movement of the positioning toothed plate 202f, the positioning toothed plate 202f is meshed with the movable toothed plate 204f, and the limitation of the mounting assembly 204 is achieved.

The locking assembly 203 further comprises a second screw 203a, an internal thread pipe 203c and a limiting arc-shaped toothed plate 203d, the fourth bevel gear 203b is arranged on the outer wall of the second screw 203a, one end of the second screw 203a is movably connected with the inner wall of the outer protective frame 201a, the inner wall of the internal thread pipe 203c is in threaded connection with the outer wall of the second screw 203a, and one end of the internal thread pipe 203c runs through the outer wall of the outer protective frame 201a and is fixedly connected with the limiting arc-shaped toothed plate 203 d.

Rotation through fourth bevel gear 203b drives second screw rod 203a and rotates, rotation through second screw rod 203a drives internal thread pipe 203c and removes, can set up stop device at internal thread pipe 203 c's outer wall, when avoiding second screw rod 203a outer wall and internal thread pipe 203c inner wall threaded connection, the phenomenon of following the commentaries on classics appears in internal thread pipe 203c, the removal through internal thread pipe 203c drives spacing ARC tooth plate 203d and removes, through spacing ARC tooth plate 203d and power steering module 400 chucking, realize spacing of equipment fixing angle.

The positioning output module 200 further comprises a mounting assembly 204, the mounting assembly 204 comprises a mounting plate 204a, an adjusting groove 204b, a sliding rail 204c and a positioning block 204d, the mounting plate 204a is fixedly connected with the outer wall of the outer protective frame 201a through a mounting rod, the adjusting groove 204b is arranged on the outer wall of the mounting plate 204a, the sliding rail 204c is respectively arranged on two sides of the inner cavity of the adjusting groove 204b, two ends of the positioning block 204d are both connected with the sliding rail 204c in a sliding manner through a sliding rod, a mounting hole 204e is formed in the outer wall of the positioning block 204d, and the back of the positioning block 204d is connected with a movable toothed plate 204f.

Through the setting of slide rail 204c, can effectively avoid locating piece 204d when carrying out position control, its left and right sides direction appears rocking, influences user's fixed operation.

When the equipment is fixedly installed, the mounting hole 204e is penetrated through by the fixing bolt, the equipment is in butt joint installation with the reserved hole in the carriage, the worker can adjust the position of the positioning block 204d up and down, the mounting assembly 204 is rotated integrally, the mounting hole 204e is aligned with the reserved hole conveniently, after the alignment, the user adjusts the equipment, the positioning toothed plate 202f is meshed with the movable toothed plate 204f, the limitation on the positioning block 204d is realized, and the worker can penetrate through the positioning block 204d through the bolt to perform integral installation fixation of the equipment.

The positioning output module 200 further comprises a return assembly 205, the return assembly 205 comprises a cover plate 205a, a return spring 205b and a circular plate 205c, the circular plate 205c is in end surface contact with the inner rod 201c, two ends of the return spring 205b are respectively connected with the cover plate 205a and the circular plate 205c, and the cover plate 205a is fixedly connected with one end of the rotating pipe 201 b.

When the operator presses the manual control handle 201d to switch the states, the inner rod 201c moves to squeeze the circular plate 205c to displace, the return spring 205b is squeezed to deform through the displacement of the circular plate 205c, elastic energy storage is performed, the state of the inner rod 201c can be conveniently reset by a subsequent user,

when the device is reset, a user reverses the manual control handle 201d, the inner rod 201c has a tendency of moving towards the rebounding direction of the return spring 205b through the thrust of the circular plate 205c, the sliding block 201c-1 rotates along with the rotation of the inner rod 201c by the user, the end surface of the sliding block contacts the joint of the traction groove 201b-1 and the rotation groove 201b-2, and the sliding block 201c-1 returns to the traction groove 201b-1 again under the thrust of the circular plate 205c to complete the reset.

The power-assisted steering module 400 is further included, the power-assisted steering module 400 includes a power-assisted assembly 401, a motor 402, a torque sensor 403 and a steering driving assembly 404, the power-assisted assembly 401 is connected with an output end of the motor 402, the torque sensor 403 is electrically connected with an angle sensor, the torque sensor 403 is arranged on an outer wall of the power-assisted assembly 401, and the steering driving assembly 404 is connected with an output end of the power-assisted assembly 401.

The steering wheel device further comprises a cab assembly 100 and a steering wheel 101 arranged in the cab assembly 100, wherein the output end of the steering wheel 101 is connected with the torque sensor 403.

The torque sensor 403 is connected to the bottom of the steering wheel 101, each sensor is connected to the ECU, and during use, steering data is determined by the torque sensor 403 and the angle sensor and transmitted to the ECU.

And in the unmanned driving stage, the sensors are interconnected with the ECU, and a control command is output through the cloud system.

During actual steering, the motor 402 is connected with the power-assisted assembly 401, a plurality of groups of meshing gears are arranged in the power-assisted assembly 401, power output of the motor is transmitted to the steering pipe 405 through the driving assembly 404, and the driving assembly 404 is used for installing connecting shaft equipment and is directly connected with the steering pipe 405 to output power.

The power steering module 400 further comprises a steering tube 405, a spline rod 406 and a connector 407, one end of the steering tube 405 is connected with the steering driving assembly 404, one end of the spline rod 406 penetrates into the steering tube 405, one end of the spline rod 406 is movably connected with the connector 407, one end of the spline rod 406 is movably connected with the inner wall of the steering tube 405, a spline groove matched with the spline rod 406 for use is formed in the inner wall of the steering tube 405, and the power steering module is convenient for equipment to be connected with a steering gear through the arrangement of the spline rod 406, and the connector 407 is connected with the input end of the steering gear.

The steering pipe 405 drives the spline rod 406 to rotate, the spline rod 406 drives the connector 407 to rotate, and the connector 407 is connected with the steering gear, so that steering operation is realized.

Still include slide module 300, slide module 300 includes movable sleeve 301 and location bearing 302, drive assembly 404 outer wall is located to movable sleeve 301 cover, movable sleeve 301 outer wall passes through connecting rod and outer protective frame 201a outer wall fixed connection, drive assembly 404 and movable sleeve 301 inner wall are connected respectively to location bearing 302 inner circle and outer lane, drive assembly 404 outer wall is connected with gear circle 404a, movable sleeve 301 outer wall has been seted up and has been run through groove 303, it is relative with spacing arc toothed plate 203d to run through groove 303 opening direction.

The installation end of the auxiliary steering device is arranged outside the power-assisted steering module 400 through the movable sleeve 301, the installation end can rotate freely through the arrangement of the positioning bearing 302, flexible adjustment is facilitated, and in the process of fixing equipment, the installation end penetrates through the through groove 303 and is meshed with the gear ring 404a through the movement of the limiting arc-shaped toothed plate 203d, so that limitation is achieved, and the equipment can be stably used.

Example 3

Referring to fig. 11, there is shown a third embodiment of the present invention, which is based on the above two embodiments. The embodiment provides an automatic driving steering system, which comprises an ECU500, a cloud system 600, a monitoring acquisition module 700, an alarm module 800 and a steering execution assembly 900, wherein the ecu500 is electrically connected with the cloud system 600, the monitoring acquisition module 700, the alarm module 800 and the steering execution assembly 900 respectively.

The monitoring acquisition module 700 comprises a high-definition camera 701, a millimeter wave radar 702, a laser radar 703, an ultrasonic radar 704 and a positioning sensor 705;

the alarm module 800 comprises a lane departure early warning module 801, a speed limit alarm module 802 and an acceleration sensor 803;

the steering actuation assembly 900 includes a front wheel angle sensor 901, a steering angle sensor 902, a motor controller 903, a front wheel steering component 904, and a CAN network component 905.

In the unmanned driving process, the cloud system 600 is used for remotely monitoring the driving process, the monitoring acquisition module 700 is used for acquiring real-time road condition information and generating a real-time map, the ECU500 is connected with the cloud system 600 to make a specific execution scheme, the ECU500 is used for issuing a command to the steering execution assembly 900, the steering execution assembly 900 is used for executing a steering command to perform steering operation, and finally the alarm module 800 is used for performing real-time assistance on the driving process of the vehicle to ensure the precision of command execution.

In the reading process of road condition information, the use of radar is indispensable, and laser radar can be used to draw the map, fix a position and keep away the barrier. The accuracy of the radar is very high and therefore the radar is often used as the primary sensor in unmanned vehicle design. The laser radar uses laser as a light source, and remote sensing measurement is completed by detecting a light wave signal of interaction between the laser and a detected object. The laser radar can be used for generating a high-precision map, completing the positioning of a moving vehicle aiming at the high-precision map and meeting the requirement of obstacle avoidance.

The camera is widely used in scenes such as object identification, object tracking and the like, and is used as a main solution in lane line detection, traffic light detection and sidewalk detection. In order to enhance safety, the existing unmanned vehicle generally uses at least eight cameras around the vehicle body to complete tasks such as object discovery, identification, tracking and the like from front, back, left and right dimensions. These cameras typically operate at a frequency of 60Hz, and when multiple cameras are operating simultaneously, a huge amount of data up to 1.8GB per second will be produced.

The radar emits the energy of electromagnetic wave to a certain direction in the space, the object in the direction reflects the electromagnetic wave, and the radar extracts some related information of the object by receiving the reflected wave, including the distance, distance change rate or radial speed, direction, height, etc. of the target object to the radar. The radar and sonar systems are the last guarantee for obstacle avoidance. Data generated by radar and sonar is used to indicate the distance to the nearest obstacle in the direction of travel of the vehicle. Once the system detects that an obstacle is not far ahead, the system has a great collision danger, and the unmanned vehicle can start an emergency brake to finish obstacle avoidance. Therefore, data generated by the radar and sonar systems does not need excessive processing, can be directly adopted by the control processor generally, does not need intervention of a main computing pipeline, and can realize emergency functions such as steering, braking or pre-tensioning safety belts.

When the steering wheel rotates, the torque sensor transmits a torque signal and a steering signal detected on the steering wheel to the ECU, and the ECU receives a vehicle speed signal at the same time. And the EUC determines the power-assisted current of the motor according to the signal. And finally, the boosting current controls the torque of the motor through a motor driving circuit in the ECU.

The steering data of a driver is detected by a torque sensor and a steering angle sensor, and then signals are transmitted to an ECU on the vehicle through a data bus, and the ECU sends steering instructions to a steering motor so as to control the steering of wheels.

It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. Supplementary device that turns to of commodity circulation luggage tractor, its characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the positioning output module (200) comprises an output assembly (201), a linkage assembly (202) and a locking assembly (203), and the output assembly (201) is movably connected with the linkage assembly (202);

the output assembly (201) comprises an outer protection frame (201 a), rotating pipes (201 b) and an inner rod (201 c), two ends of each rotating pipe (201 b) are movably connected with the inner wall of the outer protection frame (201 a), one end of the inner rod (201 c) penetrates through one rotating pipe (201 b) and penetrates into the inner cavity of the other rotating pipe (201 b), one end of the inner rod (201 c) is connected with a manual control handle (201 d), the outer wall of the inner rod (201 c) is fixedly connected with a first bevel gear (201 f), and the outer wall of the rotating pipe (201 b) is connected with a second bevel gear (201 e);

at least one group of sliding blocks (201 c-1) are arranged on the outer wall of the inner rod (201 c), a traction groove (201 b-1) and a rotating groove (201 b-2) are formed in the inner wall of the rotating pipe (201 b), one end of the traction groove (201 b-1) is communicated with the rotating groove (201 b-2), and one end of each sliding block (201 c-1) is connected with the traction groove (201 b-1) in a sliding mode;

the linkage assembly (202) comprises a third bevel gear (202 b), and the third bevel gear (202 b) is in rotating connection with a second bevel gear (201 e);

the locking assembly (203) comprises a fourth bevel gear (203 b), and the fourth bevel gear (203 b) is arranged at one end of the first bevel gear (201 f).

2. The logistics baggage tractor assist steering apparatus of claim 1, wherein: linkage subassembly (202) still include first screw rod (202 a), spiral shell piece (202 c) and pull montant (202 d), first screw rod (202 a) both ends all with outer protection frame (201 a) inner wall swing joint, third bevel gear (202 b) set up in first screw rod (202 a) outer wall, spiral shell piece (202 c) and first screw rod (202 a) threaded connection, pull montant (202 d) one end and spiral shell piece (202 c) fixed connection, pull montant (202 d) outer wall connection and pull horizontal pole (202 e), pull horizontal pole (202 e) one end and connect location pinion rack (202 f).

3. The logistics baggage tractor assist steering apparatus of claim 1, wherein: locking assembly (203) still includes second screw rod (203 a), internal thread pipe (203 c) and spacing arc pinion rack (203 d), fourth bevel gear (203 b) sets up in second screw rod (203 a) outer wall, second screw rod (203 a) one end and outer protection frame (201 a) inner wall swing joint, internal thread pipe (203 c) inner wall and second screw rod (203 a) outer wall threaded connection, internal thread pipe (203 c) one end run through outer protection frame (201 a) outer wall and with spacing arc pinion rack (203 d) fixed connection.

4. A logistics baggage tractor assist steering apparatus as claimed in any one of claims 1~3 wherein: the positioning output module (200) further comprises a mounting assembly (204), the mounting assembly (204) comprises a mounting plate (204 a), an adjusting groove (204 b), a sliding rail (204 c) and a positioning block (204 d), the mounting plate (204 a) is fixedly connected with the outer wall of the outer protective frame (201 a) through a mounting rod, the adjusting groove (204 b) is arranged on the outer wall of the mounting plate (204 a), the sliding rail (204 c) is respectively arranged on two sides of the inner cavity of the adjusting groove (204 b), two ends of the positioning block (204 d) are both connected with the sliding rail (204 c) in a sliding manner through a sliding rod, a mounting hole (204 e) is formed in the outer wall of the positioning block (204 d), and the back of the positioning block (204 d) is connected with a movable toothed plate (204 f).

5. The logistics baggage tractor assist steering apparatus of claim 4, wherein: location output module (200) still includes return subassembly (205), return subassembly (205) are including apron (205 a), return spring (205 b) and plectane (205 c), plectane (205 c) with interior pole (201 c) end face contact, return spring (205 b) both ends are connected with apron (205 a) and plectane (205 c) respectively, apron (205 a) and rotating pipe (201 b) one end fixed connection.

6. The logistics baggage tractor assist steering apparatus of claim 4, wherein: the power-assisted steering module (400) comprises a power-assisted assembly (401), a motor (402), a torque sensor (403) and a steering driving assembly (404), wherein the power-assisted assembly (401) is connected with the output end of the motor (402), the torque sensor (403) is electrically connected with the angle sensor, the torque sensor (403) is arranged on the outer wall of the power-assisted assembly (401), and the steering driving assembly (404) is connected with the output end of the power-assisted assembly (401);

the steering wheel device is characterized by further comprising a cab assembly (100) and a steering wheel (101) arranged in the cab assembly (100), wherein the output end of the steering wheel (101) is connected with the torque sensor (403).

7. The logistics baggage tractor assist steering apparatus of claim 6, wherein: the power-assisted steering module (400) further comprises a steering tube (405), a spline rod (406) and a connector (407), one end of the steering tube (405) is connected with a steering driving assembly (404), one end of the spline rod (406) is penetrated into the steering tube (405), and one end of the spline rod (406) is movably connected with the connector (407).

8. The logistics baggage tractor assist steering apparatus of claim 7, wherein: still include slip module (300), slip module (300) are including movable sleeve (301) and location bearing (302), drive assembly (404) outer wall is located to movable sleeve (301) cover, movable sleeve (301) outer wall passes through connecting rod and outer protection frame (201 a) outer wall fixed connection, drive assembly (404) and movable sleeve (301) inner wall are connected respectively to location bearing (302) inner circle and outer lane, drive assembly (404) outer wall connection has gear circle (404 a), run through groove (303) have been seted up to movable sleeve (301) outer wall, it is relative with spacing arc pinion rack (203 d) to run through groove (303) opening direction.

9. An automatic steering system characterized by: the auxiliary steering device comprises the auxiliary steering device according to any one of claims 1~8, wherein the steering system comprises an ECU (500), a cloud system (600), a monitoring acquisition module (700), an alarm module (800) and a steering execution assembly (900), and the ECU (500) is electrically connected with the cloud system (600), the monitoring acquisition module (700), the alarm module (800) and the steering execution assembly (900) respectively.

10. The autopilot steering system of claim 9 wherein: the monitoring acquisition module (700) comprises a high-definition camera (701), a millimeter wave radar (702), a laser radar (703), an ultrasonic radar (704) and a positioning sensor (705);

the alarm module (800) comprises a lane departure early warning module (801), a speed limit alarm module (802) and an acceleration sensor (803);

the steering execution assembly (900) comprises a front wheel angle sensor (901), a steering angle sensor (902), a motor controller (903), a front wheel steering component (904) and a CAN network component (905).