CN208376873U - Unmanned container truck - Google Patents
Unmanned container truck Download PDFInfo
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- CN208376873U CN208376873U CN201821031878.1U CN201821031878U CN208376873U CN 208376873 U CN208376873 U CN 208376873U CN 201821031878 U CN201821031878 U CN 201821031878U CN 208376873 U CN208376873 U CN 208376873U
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Abstract
The utility model provides a kind of unmanned container truck, including steer-drive, steer-drive are set between the steering wheel of container truck and steering column, and steer-drive includes: driving motor；First pulley is driven by driving motor and is rotated；Angular transducer, the rotation axis of angular transducer are connected with the rotation axis of first pulley；Second belt wheel, the second belt wheel and first pulley are rotated synchronously by a synchronous belt, and one end of the rotation axis of the second belt wheel is connected to steering column；One end of torque sensor, torque sensor is connected by an electric slip ring with the other end of the rotation axis of the second belt wheel, and the other end of torque sensor is connected with the rotation axis of steering wheel.Therefore, the utility model has carried out a degree of transformation on the basis of existing container truck, to complete unpiloted function；Automatic improving has been carried out to the basic function of automobile, from existing manual operation, has changed into electric signal control, to adapt to automatically travel.
Description
Technical field
The utility model relates to technical field of vehicle more particularly to a kind of unmanned container trucks.
Background technique
Tradition harbour service needs the collaborative work of bridge crane, tyre crane, truck and straddle carrier at present, completes from wheel
Transport of the ship to user.Harbour personnel are current less, truck route is fixed, and environment is more single, longevity of service (it is often 24/7,
I.e. round-the-clock offer service), very big challenge is proposed for traditional pilot steering mode.Because working environment is simple
Property, keep the exploitation of harbour truck automatic Pilot more easy compared with passenger car；For pilot steering, because of longevity of service,
So that cost of labor is higher, and traffic accident probability will increase.
Utility model content
For the problems of the prior art, the purpose of this utility model is to provide a kind of unmanned container truck,
Effectively save harbour operation cost, and promote working efficiency and safety.
The utility model embodiment provides a kind of unmanned container truck, including steer-drive, the steering
Driving device is set between the steering wheel and steering column of the container truck, and the steer-drive includes:
Driving motor；
First pulley is driven by the driving motor and is rotated；
Angular transducer, the rotation axis of the angular transducer are connected with the rotation axis of the first pulley；
Second belt wheel, second belt wheel and the first pulley are rotated synchronously by a synchronous belt, second belt wheel
One end of rotation axis be connected to the steering column；
Torque sensor, one end of the torque sensor are another by an electric slip ring and the rotation axis of second belt wheel
One end is connected, and the other end of the torque sensor is connected with the rotation axis of the steering wheel.
Optionally, the steer-drive is installed on a fixed bottom plate；The drive shaft of the driving motor, described
The rotation axis of one belt wheel and the rotation axis of the angular transducer extend in a first direction, the rotation axis of second belt wheel,
The rotation axis of the central axis of the electric slip ring and the torque sensor extends in a second direction, the first direction and second
Direction is parallel to each other and each parallel to the fixed bottom plate.
Optionally, the driving motor is connected to the rotation axis of the first pulley by one speed reducer；Second band
One end of the rotation axis of wheel is connected by a universal joint with the steering column.
It optionally, further include brake, the brake is connected to the braking of the container truck
Between pedal and relay valve, the brake includes:
Compressed air container；
Foot brake valves, the input terminal of the foot brake valves are connected with the compressed air container, the foot brake valves
Control terminal is connected with the brake pedal, when the brake pedal is operated, the foot brake valves closure；
The input terminal of preceding brake power proportioning system, the preceding brake power proportioning system is connected with the compressed air container；
The input terminal of brake power proportioning system afterwards, the rear brake power proportioning system is connected with the compressed air container；
Preceding braking two-bit triplet solenoid valve, it is described before braking two-bit triplet solenoid valve two input terminals respectively with the foot
First output end of brake valve is connected with the output end of the preceding brake power proportioning system, brakes two-bit triplet solenoid valve before described
Output end is connected by driving brake switch before one with the relay valve；
Afterwards brake two-bit triplet solenoid valve, it is described after braking two-bit triplet solenoid valve two input terminals respectively with the foot
The second output terminal of brake valve is connected with the output end of the rear brake power proportioning system, brakes two-bit triplet solenoid valve after described
Output end is connected by service brake switch after one with the relay valve.
Optionally, the brake further include:
The input terminal of preceding low pressure warning switch, the preceding low pressure warning switch is connected with the compressed air container；
The input terminal of low pressure warning switch afterwards, the rear low pressure warning switch is connected with the compressed air container；
Preceding braking three-way connection brakes the output end of the input terminal and the preceding low pressure warning switch of three-way connection before described
Be connected, it is described before braking three-way connection two output ends respectively with the input terminal of the preceding brake power proportioning system and the foot system
The first input end of dynamic valve is connected；
After brake three-way connection, it is described after braking three-way connection input terminal and it is described after low pressure warning switch output end
Be connected, it is described after braking three-way connection by two output ends respectively with it is described after brake power proportioning system input terminal and the foot
Second input terminal of brake valve is connected.
It optionally, further include brake, the brake is connected to the braking of the container truck
Between pedal and relay valve, the brake includes:
Compressed air container；
Foot brake valves, the input terminal of the foot brake valves are connected with the compressed air container, the foot brake valves
Control terminal is connected with the brake pedal, when the brake pedal is operated, the foot brake valves closure；
Brake power proportioning system, the input terminal of the brake power proportioning system are connected with the compressed air container；
Brake two-bit triplet solenoid valve, it is described braking two-bit triplet solenoid valve two input terminals respectively with the foot brake
The output end of valve is connected with the output end of the brake power proportioning system, and the output end of the braking two-bit triplet solenoid valve passes through one
Service brake switch is connected with the relay valve.
Optionally, further includes:
Low pressure warning switch, the input terminal of the low pressure warning switch are connected with the compressed air container；
Three-way connection is braked, the input terminal of the braking three-way connection is connected with the output end of the low pressure warning switch
Logical, two output ends of the braking three-way connection are defeated with the input terminal of the brake power proportioning system and the foot brake valves respectively
Enter end to be connected.
Optionally, further include accelerator drive device, be set to the gas pedal and throttle output end of the container truck
Between, the accelerator drive device includes throttle analog signal unit, voltage monitoring unit and single-pole double-throw switch (SPDT)；
The first input end of the single-pole double-throw switch (SPDT) is connected with the signal output end of the gas pedal, the hilted broadsword
Second input terminal of commutator is connected with the signal output end of the throttle analog signal unit, the single-pole double-throw switch (SPDT)
Output end be connected with the throttle output end；
The voltage monitoring unit is connected with the signal output end of the gas pedal, monitors the letter of the gas pedal
The output voltage of number output end.
It optionally, further include sensor module, the sensor module includes camera, locating module, laser radar and milli
Metre wave radar, the camera, locating module, laser radar and millimetre-wave radar are mounted on the outside of the container truck.
Optionally, the camera and the locating module pass through a fixed bracket respectively and are fixed on the container truck
Top；
The millimetre-wave radar is installed on front side of the cockpit of the container truck.
Optionally, the laser radar includes two 16 line laser radars and a line laser radar；
Described two 16 line laser radars are respectively arranged in the two sides on front side of the cockpit of the container truck, and described one
Line laser radar is installed on rear side of the cockpit of the container truck.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Unmanned container truck provided by the utility model has the advantage that
(1) the utility model discloses a kind of unmanned container trucks, on the basis of existing container truck, into
A degree of transformation is gone, to complete unpiloted function；Automatic improving is carried out to the basic function of automobile, from now
Somebody is operation, electric signal control is changed into, to adapt to automatically travel；In structure, it is related to the sensing of automatic Pilot
Device and electrical component armament are rationally set to vehicle body, while guaranteeing performance and unaffected safety, make vehicle as far as possible
It is more aesthetically pleasing；
(2) by using the unmanned container truck of the utility model, the human cost at harbour can be greatly reduced,
Working efficiency is improved, safety is promoted, is of great significance to the development in harbour future；
(3) the unmanned container truck of the utility model can be applied not only to harbour, can also be applied to other
In scene, such as draw the line interior industrial park, construction site etc., it can reduce human cost and improve work effect
Rate, security risk caused by reducing because of reasons such as fatigue drivings.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon.
Fig. 1 is the structural representation of the steer-drive of the unmanned container truck of an embodiment of the present invention
Figure；
Fig. 2 is the top view of the steer-drive of the unmanned container truck of an embodiment of the present invention；
Fig. 3 is A-A sectional view in Fig. 2；
Fig. 4 is B-B sectional view in Fig. 2；
Fig. 5 is the structural schematic diagram of the brake of an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the accelerator drive device of an embodiment of the present invention；
Fig. 7 is the structural schematic diagram on front side of the cockpit of the unmanned container truck of an embodiment of the present invention.
Appended drawing reference:
21 motor of three-way connection is braked after a
22 retarder of three-way connection is braked before b
23 first pulley of brake power proportioning system after c
24 angular transducer of brake power proportioning system before d
25 second belt wheel of two-bit triplet solenoid valve is braked after e
The rotation axis of 251 second belt wheel of two-bit triplet solenoid valve is braked before f
26 electric slip ring of m electric brake amount
27 torque sensor of n driving mode amount of switched
Low pressure warning switch 28 fixes bottom plate before 9
31 camera of low pressure warning switch after 10
32 GPS positioning module of service brake switch after 11
Driving 33 wireless locating module of brake switch before 12
13 foot brake valves, 34 16 line laser radar
14 relay valve, 35 millimetre-wave radar
15 compressed air container, 36 sensor fixes bracket
16 voltage monitoring units
H original oil gate input signal
The original throttle output signal of i
The throttle signal of j ECU simulation
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in the drawings are function
Energy entity, not necessarily must be corresponding with physically or logically independent entity.
The utility model embodiment provides a kind of unmanned container truck, specifically, provides a kind of harbour garden
The unmanned container truck of interior traveling has carried out a degree of transformation, on the basis of original container truck with complete
At unpiloted function.In terms of automobile basic performance, automation has been carried out to course changing control, throttle, brake, gear etc. and has been changed
It makes, by the manual operation of the past, changes into electric signal control, to adapt to the working forms automatically travelled.In structure, it is related to
Sensor and electrical component to automatic Pilot are rationally placed in vehicle body, are guaranteeing that performance and safety are impregnable same
When, as make vehicle more aesthetically pleasing as possible.Using the unmanned container truck of the embodiment, the people at harbour can be greatly reduced
Power cost increases working efficiency, promotes safety, is of great significance for the development in harbour future.
In terms of steering system, the steering column of former vehicle is truncated the technical program, between steering column and steering wheel
Increase steer-drive.As shown in figures 1-4, the steer-drive includes driving motor 21, retarder 22, first
Belt wheel 23, angular transducer 24, the second belt wheel 25, electric slip ring 26, torque sensor 27 and fixed bottom plate 28.Wherein:
The first pulley 23 passes through the retarder 22 driving rotation by the driving motor 21；The angular transducer
24 rotation axis is connected with the rotation axis of the first pulley 23；Second belt wheel 25 passes through one with the first pulley 23
Synchronous belt rotates synchronously, and one end of the rotation axis 251 of second belt wheel 25 is connected to the steering column, to drive described turn
It is rotated to tubing string；One end of the torque sensor 27 is another by the electric slip ring 26 and the rotation axis of second belt wheel 25
One end is connected, and the other end of the torque sensor 27 is connected with the rotation axis of the steering wheel, can be by the direction
Dish driving rotation.
In this embodiment, the steer-drive is installed on a fixed bottom plate 28 by multiple mounting brackets, and
And relative position does not change；The drive shaft of the driving motor 21, the input and output shaft of the retarder 22, described first
The rotation axis of belt wheel 23 and the rotation axis of the angular transducer 24 extend in a first direction, the rotation of second belt wheel 25
The rotation axis of axis 251, the central axis of the electric slip ring 26 and the torque sensor 27 extends in a second direction, and described first
Direction and second direction are parallel to each other and each parallel to the fixed bottom plates 28.Fixture block can be set above torque sensor 27 will
Steer-drive is integrally attached on steering column shell, and second direction is coaxial with steering column, to drive steering column to turn
It is dynamic.
During the work time, if being in automatic driving mode, apply electric signal to driving motor 21, driving motor 21
First pulley 23 is driven to rotate by retarder 22, first pulley 23 can drive the second belt wheel 25 to rotate as driving pulley,
Second belt wheel 25 can be connected by universal joint with steering column, and to drive steering column to rotate, torque sensor 27 can be with
Rotation is passed into steering wheel, angular transducer 24 then can recorde the rotational angle of first pulley 23.In the process, because
Torque sensor 27 will be rotated together integrally with steering column, so electric slip ring 26 is added, to guarantee that route is not wound.Automatic
Under driving mode, the torque that torque sensor 27 is born is smaller, so output is also smaller.But when driver intervenes manually
When, torque sensor 27 can be rotated with steering wheel, torque sensor 27 can export a biggish value, for as whether someone
For the judgement of interference.If being in manual drive mode, torque sensor 27 is rotated with steering wheel, and rotation is passed through electric slip ring 26
The second belt wheel 25 is passed to, the second belt wheel 25 is used as driving pulley, drives first pulley 23 to rotate by synchronous belt, angle sensor
Device 24 equally can recorde the rotational angle of steering wheel, and can further feed back to VCU (the core control of automatic driving vehicle
Unit processed).
The braking system of former container truck mostly uses air-pressure brake, by foot brake valves (at brake pedal) to output
Gas circuit carries out pressure regulation, realizes different brake pressures.
Further, the unmanned container truck of the present embodiment further includes brake, the braking driving
Device is connected between the brake pedal and relay valve of the container truck, to the control gas between brake pedal and relay valve
Road improves, and by two-position three-way valve and proportion magnetic valve using wherein, in the case where guaranteeing that original gas circuit does not fail, increases
The function of one electronic air brake air pressure.As shown in figure 5, the brake includes:
Compressed air container 15 and preceding low pressure warning switch 9, the input terminal of the preceding low pressure warning switch 9 and the compression
Air vessel 15 is connected；
The input terminal of low pressure warning switch 10 afterwards, the rear low pressure warning switch 10 is connected with the compressed air container 15
It is logical；
The input terminal of preceding braking three-way connection b, the preceding braking three-way connection b are defeated with the preceding low pressure warning switch 9
Outlet is connected, it is described before braking three-way connection b two output ends respectively with one before brake power proportioning system d input terminal and a foot
The first input end of brake valve 13 is connected；
Three-way connection a is braked afterwards, and the rear input terminal for braking three-way connection a is defeated with the rear low pressure warning switch 10
Outlet is connected, it is described after braking three-way connection a by two output ends respectively with one after brake power proportioning system c input terminal and institute
The second input terminal for stating foot brake valves 13 is connected；
The control terminal of foot brake valves 13, the foot brake valves 13 is connected with the signal output end of the brake pedal, institute
When stating brake pedal and being operated, the foot brake valves 13 are closed；
Preceding brake power proportioning system d and rear brake power proportioning system c, the control terminal of the preceding brake power proportioning system d and rear brake power proportioning system c
It is connected with electric brake amount m, its conducting and relationship is controlled by electric brake amount (analog quantity) m；
Preceding braking two-bit triplet solenoid valve f, it is described before braking two-bit triplet solenoid valve f two input terminals respectively with it is described
First output end of foot brake valves 13 is connected with the output end of the preceding brake power proportioning system d, and two-bit triplet electricity is braked before described
Driving brake switch 12 is connected with the relay valve 14 before the output end of magnet valve f passes through one；
Afterwards brake two-bit triplet solenoid valve e, it is described after braking two-bit triplet solenoid valve e two input terminals respectively with it is described
The second output terminal of foot brake valves 13 is connected with the output end of the rear brake power proportioning system c, and two-bit triplet electricity is braked after described
Service brake switch 11 is connected with the relay valve 14 after the output end of magnet valve e passes through one.
The control terminal and a driving mode of braking two-bit triplet solenoid valve f and rear braking two-bit triplet solenoid valve e before described
Amount of switched (switching value) n is connected, and controls being turned on and off for its gas circuit by the driving mode amount of switched.
In the above-described embodiment, because former Chinese herbaceous peony rear-wheel divides two-way to brake, preceding braking gas circuit and rear braking gas circuit are point
Controller is opened, so every class valve needs to use two herein.Two-position three-way valve is responsible for two gas circuits (original braking gas circuit and ratio
Example valve gas circuit) switching, when automatic driving mode is opened, foot brake valves gas circuit is closed, and proportioning valve gas circuit is opened, and is led to
The input of analog quantity is crossed, controls braking pressure, when releasing automatic driving mode, two-position three-way valve is switched over, former foot brake
Valve gas circuit is opened, brake pedal restitution.In actual operation, pipeline (usually nylon identical with former vehicle can be used
Pipe) it is transformed, interface selects quick coupling.
In other embodiments, the two can also be combined to control, in the embodiment, the braking driving
Device includes:
Compressed air container and low pressure warning switch, the input terminal of the low pressure warning switch and the compressed air container
It is connected；
Three-way connection is braked, the input terminal of the braking three-way connection is connected with the output end of the low pressure warning switch
It is logical, two output ends of braking three-way connection input terminal with the input terminal of a brake power proportioning system and a foot brake valves respectively
It is connected
Foot brake valves and brake power proportioning system, the control terminal of the foot brake valves are connected with the brake pedal, the system
When dynamic pedal is operated, the foot brake valves closure；
Brake two-bit triplet solenoid valve, it is described braking two-bit triplet solenoid valve two input terminals respectively with the foot brake
The output end of valve is connected with the output end of the brake power proportioning system, and the output end of the braking two-bit triplet solenoid valve passes through one
Service brake switch is connected with the relay valve.
In this embodiment, it is only necessary to increase a two-bit triplet solenoid valve and a brake power proportioning system, make
Dynamic proportioning valve and the control mode for braking two-bit triplet solenoid valve can be such as previous embodiments, and it will not be described here.
Further, the present embodiment can also include the transformation to gear.Gear transformation in the utility model is suitable for
Have a vehicle of automatic speed changing function and electric gear change handle, select such vehicle can effective Promotion Transformation stability,
Using the automatic speed changing function of former vehicle, avoid in the process of moving according to the tedious steps of speed and revolving speed adjustment gear；It uses
Electric gear change handle is more that of avoiding the transformation for mechanical system, significantly reduces the difficulty of gear transformation.
Gear system reform strategy is as follows: by simulating the motor habit manually put into gear.It N key, F key and is changed on shift handle
The position grouping of block handle can realize shift.TCU internal circuit is analyzed, wherein the location information of lever is on circuit by 3
The Hall sensor measurement of different location obtains；N key and F key: different level can be generated from release by, which pressing, exports.Pass through simulation
Above-mentioned shift information is, it can be achieved that the operation shifted gears out.Certain transformation is carried out to the internal circuit of shift handle, passes through VCU
Electric signal corresponding to each gear shifting action is simulated, the automation control of gear can be realized.
Further, which further includes the transformation to accelerator drive.In this embodiment, vehicle is also needed to have
E-Gas function, and vehicle accelerator control is realized with both IS Idle Switch and throttle signal.It is mentioned with automatic Pilot VCU
For analog signal all the way, i.e., " throttle substitution signal ".Under Vehicular automatic driving mode, " throttle substitution signal " is linked into and starts
Machine EMS (engine management system) draws the signal at the both ends of IS Idle Switch, accesses VCU controller.Automatic driving mode
When, ECU (electronic control unit) controller throttle signal size as needed (former vehicle is 0.7V) decides whether to open idling
It closes and closes.
The throttle signal and idle signal of former vehicle access VCU controller, and driver's active operation (detects throttle signal
Reach certain amplitude) manual drive mode VCU power-off when, former vehicle throttle signal is linked into engine EMS.Switching switch uses
The mechanical relay of single-pole double throw.Guarantee that manual drive mode is unaffected with this.Specific switching principle is as shown in Figure 6.
I.e. in the embodiment, the unmanned container truck further includes accelerator drive device, is set to the packaging
Between the gas pedal and throttle output end of case truck, the accelerator drive device includes throttle analog signal unit, voltage prison
Survey unit and single-pole double-throw switch (SPDT)；The signal output end h of the first input end of the single-pole double-throw switch (SPDT) and the gas pedal
It is connected, the second input terminal of the single-pole double-throw switch (SPDT) is connected with the signal output end j of the throttle analog signal unit,
The output end of the single-pole double-throw switch (SPDT) is connected with the throttle output end i；The voltage monitoring unit 16 and the throttle
The signal output end h of pedal is connected, and monitors the output voltage of the signal output end h of the gas pedal.
In this embodiment, body control system can also be transformed.Body control system is as vehicle functions
Important component also relates to automatic improving in the present invention, includes brake lamp, headlamp, fog lamp, danger warning
Vehicle body control including flash lamp, turn signal, lamp when overtaking, illuminated turning indicator, daytime running lamps, preceding wiper, loudspeaker, left and right vehicle window
Function processed is integrated into CAN network, in this way, automatic Pilot VCU can easily pass CAN very much by electric wiring transformation
The form of message controls vehicle body function.
Further, the unmanned container truck of the embodiment further includes sensor module, the sensor module
Including camera 31, locating module, laser radar and millimetre-wave radar 35, the camera 31, locating module, laser radar and millimeter
Wave radar 35 is mounted on the outside of the container truck.
The installation of sensor should meet itself machinery, electrical demands, can not in appearance and function to vehicle with
Negative impact.So in the present embodiment, in the case where not changing primary car structure as far as possible, using the company to vehicle fanout free region
Mode is connect, the installation bolt of the former vehicle of over-borrowing is realized that sensor is concentrated and placed.
As shown in fig. 7, in this embodiment, the locating module includes wireless locating module 33 and GPS positioning module 32,
Wireless locating module 33 refers to the locating module using other wireless location modes in addition to GPS positioning module herein, described
Camera 31, wireless locating module 33 and GPS positioning module 32 are fixed on the packaging by the fixed bracket 36 of a sensor respectively
The top of case truck；The millimetre-wave radar 35 is installed on front side of the cockpit of the container truck.Specifically, millimeter wave thunder
It is installed at the about 500mm height of ground, is punched using on original glass reinforced plastic decoration, then the side of sensor is installed up to 35
Formula does not have an impact automobile function, and installation is again beautiful enough.2060 aluminium profiles of Europe superscript can be used in the fixed bracket 36 of sensor
As mounting platform, fixed bracket 36 is unified to be designed material according to profile standard, greatly reduces design cost.Profile is adopted
It is secured firmly to roof with bracket at three, and profile is as mounting platform, it is easy to which all sensors are arranged along a straight line.
In this embodiment, the laser radar includes two 16 line laser radars 34 and a line laser radar；Institute
The two sides that two 16 line laser radars 34 are respectively arranged on front side of the cockpit of the container truck are stated, here for not seeming
Excessively lofty, using ABS rapid shaping element, production meets the element of vehicle flow line style, and mucilage binding is in vehicle two sides, this installation
Mode was not only stable but also relatively beautiful.
The one line laser radar is installed on rear side of the cockpit of the container truck.Since this sensor is lighter
Just, radome fairing mounting bracket therefore is directly borrowed, the influence to vehicle is substantially completely eliminated
Unmanned container truck provided by the utility model has the advantage that
(1) the utility model discloses a kind of unmanned container trucks, on the basis of existing container truck, into
A degree of transformation is gone, to complete unpiloted function；Automatic improving is carried out to the basic function of automobile, from now
Somebody is operation, electric signal control is changed into, to adapt to automatically travel；In structure, it is related to the sensing of automatic Pilot
Device and electrical component armament are rationally set to vehicle body, while guaranteeing performance and unaffected safety, make vehicle as far as possible
It is more aesthetically pleasing；
(2) by using the unmanned container truck of the utility model, the human cost at harbour can be greatly reduced,
Working efficiency is improved, safety is promoted, is of great significance to the development in harbour future；
(3) the unmanned container truck of the utility model can be applied not only to harbour, can also be applied to other
In scene, such as draw the line interior industrial park, construction site etc., it can reduce human cost and improve work effect
Rate, security risk caused by reducing because of reasons such as fatigue drivings.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is only limited to these instructions.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard
To belong to the protection scope of the utility model.
Claims (11)
1. a kind of unmanned container truck, which is characterized in that including steer-drive, the steer-drive setting
Between the steering wheel and steering column of the container truck, the steer-drive includes:
Driving motor；
First pulley is driven by the driving motor and is rotated；
Angular transducer, the rotation axis of the angular transducer are connected with the rotation axis of the first pulley；
Second belt wheel, second belt wheel and the first pulley are rotated synchronously by a synchronous belt, and second belt wheel turns
One end of moving axis is connected to the steering column；
Torque sensor, the other end that one end of the torque sensor passes through an electric slip ring and the rotation axis of second belt wheel
It is connected, the other end of the torque sensor is connected with the rotation axis of the steering wheel.
2. unmanned container truck according to claim 1, which is characterized in that the steer-drive is installed on
On one fixed bottom plate；The rotation of the drive shaft of the driving motor, the rotation axis of the first pulley and the angular transducer
Axis extends in a first direction, the rotation axis of second belt wheel, the central axis of the electric slip ring and the torque sensor
Rotation axis extends in a second direction, and the first direction and second direction are parallel to each other and each parallel to the fixed bottom plate.
3. unmanned container truck according to claim 1, which is characterized in that the driving motor slows down by one
Device is connected to the rotation axis of the first pulley；One end of the rotation axis of second belt wheel passes through a universal joint and the steering
Tubing string is connected.
4. unmanned container truck according to claim 1, which is characterized in that it further include brake, institute
It states brake to be connected between the brake pedal and relay valve of the container truck, the brake packet
It includes:
Compressed air container；
Foot brake valves, the input terminal of the foot brake valves are connected with the compressed air container, the control of the foot brake valves
End is connected with the brake pedal, when the brake pedal is operated, the foot brake valves closure；
The input terminal of preceding brake power proportioning system, the preceding brake power proportioning system is connected with the compressed air container；
The input terminal of brake power proportioning system afterwards, the rear brake power proportioning system is connected with the compressed air container；
Preceding braking two-bit triplet solenoid valve, it is described before braking two-bit triplet solenoid valve two input terminals respectively with the foot brake
First output end of valve is connected with the output end of the preceding brake power proportioning system, and the output of two-bit triplet solenoid valve is braked before described
End is connected by brake switch of driving a vehicle before one with the relay valve；
Afterwards brake two-bit triplet solenoid valve, it is described after braking two-bit triplet solenoid valve two input terminals respectively with the foot brake
The second output terminal of valve is connected with the output end of the rear brake power proportioning system, and the output of two-bit triplet solenoid valve is braked after described
End is switched by service brake after one to be connected with the relay valve.
5. unmanned container truck according to claim 4, which is characterized in that the brake is also wrapped
It includes:
The input terminal of preceding low pressure warning switch, the preceding low pressure warning switch is connected with the compressed air container；
The input terminal of low pressure warning switch afterwards, the rear low pressure warning switch is connected with the compressed air container；
Preceding braking three-way connection, the input terminal that three-way connection is braked before described are connected with the output end of the preceding low pressure warning switch
It is logical, it is described before braking three-way connection two output ends respectively with the input terminal and the foot brake valves of the preceding brake power proportioning system
First input end be connected；
After brake three-way connection, it is described after the input terminal of braking three-way connection be connected with the output end of the low pressure warning switch afterwards
It is logical, it is described after braking three-way connection by two output ends respectively with it is described after brake power proportioning system input terminal and the foot brake
Second input terminal of valve is connected.
6. unmanned container truck according to claim 1, which is characterized in that it further include brake, institute
It states brake to be connected between the brake pedal and relay valve of the container truck, the brake packet
It includes:
Compressed air container；
Foot brake valves, the input terminal of the foot brake valves are connected with the compressed air container, the control of the foot brake valves
End is connected with the brake pedal, when the brake pedal is operated, the foot brake valves closure；
Brake power proportioning system, the input terminal of the brake power proportioning system are connected with the compressed air container；
Brake two-bit triplet solenoid valve, it is described braking two-bit triplet solenoid valve two input terminals respectively with the foot brake valves
Output end is connected with the output end of the brake power proportioning system, and the output end of the braking two-bit triplet solenoid valve passes through a driving
Brake switch is connected with the relay valve.
7. unmanned container truck according to claim 6, which is characterized in that further include:
Low pressure warning switch, the input terminal of the low pressure warning switch are connected with the compressed air container；
Three-way connection is braked, the input terminal of the braking three-way connection is connected with the output end of the low pressure warning switch, institute
State two output ends input terminal with the input terminal of the brake power proportioning system and the foot brake valves respectively of braking three-way connection
It is connected.
8. unmanned container truck according to claim 1, which is characterized in that it further include accelerator drive device, if
It is placed between the gas pedal of the container truck and throttle output end, the accelerator drive device includes throttle analog signal
Unit, voltage monitoring unit and single-pole double-throw switch (SPDT)；
The first input end of the single-pole double-throw switch (SPDT) is connected with the signal output end of the gas pedal, the single-pole double throw
Switch the second input terminal be connected with the signal output end of the throttle analog signal unit, the single-pole double-throw switch (SPDT) it is defeated
Outlet is connected with the throttle output end；
The voltage monitoring unit is connected with the signal output end of the gas pedal, and the signal for monitoring the gas pedal is defeated
The output voltage of outlet.
9. unmanned container truck according to claim 1, which is characterized in that it further include sensor module, it is described
Sensor module includes camera, locating module, laser radar and millimetre-wave radar, the camera, locating module, laser radar and
Millimetre-wave radar is mounted on the outside of the container truck.
10. unmanned container truck according to claim 9, which is characterized in that the camera and the positioning mould
Block passes through the top that a fixed bracket is fixed on the container truck respectively；
The millimetre-wave radar is installed on front side of the cockpit of the container truck.
11. unmanned container truck according to claim 9, which is characterized in that the laser radar includes two
16 line laser radars and a line laser radar；
Described two 16 line laser radars are respectively arranged in the two sides on front side of the cockpit of the container truck, and a line swashs
Optical radar is installed on rear side of the cockpit of the container truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821031878.1U CN208376873U (en) | 2018-07-02 | 2018-07-02 | Unmanned container truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821031878.1U CN208376873U (en) | 2018-07-02 | 2018-07-02 | Unmanned container truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208376873U true CN208376873U (en) | 2019-01-15 |
Family
ID=64966278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821031878.1U Active CN208376873U (en) | 2018-07-02 | 2018-07-02 | Unmanned container truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208376873U (en) |
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2018
- 2018-07-02 CN CN201821031878.1U patent/CN208376873U/en active Active
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Address after: Room 503-3, 398 Jiangsu Road, Changning District, Shanghai 200050 Patentee after: Shanghai Xijing Technology Co.,Ltd. Address before: Room 503-3, 398 Jiangsu Road, Changning District, Shanghai 200050 Patentee before: SHANGHAI WESTWELL INFORMATION AND TECHNOLOGY Co.,Ltd. |