CN212500646U

CN212500646U - Wire-controlled chassis of unmanned vehicle

Info

Publication number: CN212500646U
Application number: CN202021214309.8U
Authority: CN
Inventors: 程启宽; 孙旭
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2021-02-09
Anticipated expiration: 2030-06-28

Abstract

The utility model relates to an unmanned car technical field, concretely relates to unmanned car line accuse chassis. The chassis comprises a frame, a suspension, a driving wheel and a driven wheel. 2 driven wheels as front wheels are coaxially arranged at the front end of the frame through a suspension. The 2 driving wheels are used as rear wheels and are coaxially arranged at the rear end of the frame through a suspension. The 2 driving wheels are respectively driven by a first servo motor and a second servo motor. The steering function of the wire-controlled chassis of the unmanned vehicle is realized through the torque difference output by the first servo motor and the second servo motor. The utility model discloses fully combined the environment of the inside road in garden, simplified traditional turn to and the suspension structure, provided a simple structure more, the cost is lower drive-by-wire chassis, made things convenient for the popularization and the application of unmanned transport vechicle of commodity circulation in garden inside.

Description

Wire-controlled chassis of unmanned vehicle

Technical Field

The utility model relates to an unmanned car technical field, concretely relates to unmanned car line accuse chassis for the inside commodity circulation transport vechicle in garden.

Background

At present, the labor cost is continuously increased, and the market demand for various small unmanned vehicles is gradually increased. A common unmanned vehicle chassis structure is formed by modifying a chassis based on a traditional vehicle, a traditional braking system, a traditional steering system and a traditional driving system are modified into a drive-by-wire system, and an unmanned driving area controller controls the drive-by-wire chassis only through a vehicle control unit. The steering system of the wire-controlled chassis adopts a conventional automobile steering system structure, the steering motor outputs torque to the rack-and-pinion mechanism and controls the deflection angle of the front wheel through the pull rod to steer, and the steering system mechanism has the problem of large steering radius, so that the flexible small-radius steering and in-situ turning can not be realized in certain scenes. Moreover, as the steering system has many and complex parts, on one hand, the manufacturing cost is increased, on the other hand, the steering system breaks down in use, and the later maintenance and repair cost is high.

Chinese patent document CN109017994A discloses a universal drive-by-wire chassis for unmanned vehicles. The chassis comprises a frame, a driving system, a steering system and a circuit system which are arranged on the frame, a vehicle body which is wrapped on the frame, and wheels which are connected with the vehicle body through a suspension system. The servo motor provides driving torque and braking torque to wheels serving as driving wheels, and parking braking is achieved through internal band-type brakes. The steering system provides steering torque to wheels as steering wheels by a motor. The chassis is used as a universal wire control chassis, is integrally packaged and can be used in a plug-and-play mode, and has certain advantages. However, the cost is relatively high when the system is applied to the unmanned transport vehicle for the logistics in the park.

Chinese patent document CN110154860A discloses an unmanned express delivery vehicle. The chassis comprises a front axle, a rear axle, a front suspension system and a rear suspension system, wherein front wheels and rear wheels are respectively connected with the two sides of the front axle and the rear axle. The front suspension system comprises a front triangular arm, wherein a top angle and two bottom angles of the front triangular arm are provided with spherical bearings, the top angle is connected with a front axle through the spherical bearings, and the two bottom angles are connected with a lower bottom plate through the spherical bearings. The rear suspension system comprises a rear triangular arm, wherein spherical bearings are arranged at the top angle and the two bottom angles of the rear triangular arm, the two bottom angles are connected with the rear axle through the spherical bearings, and the top angle is connected with the lower bottom plate through the spherical bearings. The chassis ensures the safety and stability of the unmanned express delivery vehicle in the bumpy road section. However, the road surface in the garden is usually a flat regular road surface. Therefore, when the unmanned express delivery vehicle is applied to scenes in a garden, the chassis has further space for improvement.

In conclusion, the inventor is based on practical experience and professional knowledge which are abundant for many years in automobile design and manufacture, and actively carries out research and innovation by matching with the application of theory, so as to create a drive-by-wire chassis suitable for the unmanned transport vehicle in the logistics in the park. The inside use scene in fully combination garden, under the circumstances of guaranteeing unmanned transport vechicle basic function, reduce manufacturing cost to adapt to diversified market demand.

Disclosure of Invention

An object of the utility model is to provide a drive-by-wire chassis that the structure is simpler, the manufacturing cost is lower for the inside unmanned transport vechicle of commodity circulation in garden.

In order to achieve the above purpose, the utility model adopts the following scheme: the wire-controlled chassis comprises a frame, a suspension, driving wheels and driven wheels, wherein 2 driven wheels are used as front wheels and coaxially arranged at the front end of the frame through the suspension, 2 driving wheels are used as rear wheels and coaxially arranged at the rear end of the frame through the suspension, and the 2 driving wheels are respectively driven by a first servo motor and a second servo motor;

when the unmanned vehicle runs in a straight line, the first servo motor and the second servo motor have the same output torque;

when steering is needed, the output torques of the first servo motor and the second servo motor are different.

Preferably, the driven wheel is an omni wheel or a universal wheel, so that the steering is convenient.

Preferably, the first servo motor and the second servo motor are servo hub motors, rotors of the servo hub motors are fixedly arranged on hubs of the driving wheels, and stators of the servo hub motors are connected with axles. A large number of transmission parts are omitted, so that the structure of the chassis is simpler, and the transport vehicle can obtain better space utilization rate under the same condition. The simple transmission structure also makes later maintenance, maintenance more convenient simultaneously, has reduced the cost of maintaining the maintenance.

Preferably, the first servo motor and the second servo motor are servo wheel motors.

Preferably, the suspension comprises a leaf spring, a front leaf spring support and a rear leaf spring support which are fixedly installed at two ends of the suspension, the front leaf spring support and the rear leaf spring support are used for connecting the vehicle frame and the leaf spring, a base plate is arranged at the bottom of the leaf spring, and the vehicle axle and the suspension are connected together through the base plate and 2U-shaped bolts.

Preferably, the wheel base between the driving wheel and the driven wheel is 800-1600mm, so that the suspension can be conveniently arranged on the frame.

Preferably, the suspension is a torsion beam suspension. Dampers, preferably double-acting shock absorbers, may also be mounted on the suspension to further ensure that the drive wheels are in contact with the ground during driving.

Preferably, the driven wheels are mounted at two ends of a front axle, the driving wheels are mounted at two ends of a rear axle, and the whole-axle structure is adopted, so that the manufacture and adjustment of the chassis can be further simplified, and the durability can be improved.

The utility model provides an unmanned vehicle line hole chassis's steering principle as follows: the driving wheel comprises a right driving wheel and a left driving wheel, and the left turning during the driving is realized when the rotating speed of the right driving wheel slightly exceeds the rotating speed of the left driving wheel; when the rotating speed of the left driving wheel slightly exceeds the rotating speed of the right driving wheel, the vehicle can rotate rightwards during driving. When the left driving wheel is static and the right driving wheel moves forward, flexible steering with the left driving wheel as the center and the steering radius as the distance from the left driving wheel to the right front wheel is realized; when the right driving wheel is static and the left driving wheel moves forward, the flexible steering with the right driving wheel as the center and the steering radius as the distance from the right driving wheel to the left front wheel is realized. When the left driving wheel moves forward and the right driving wheel moves backward, the original turning in the clockwise direction is realized; when the right driving wheel moves forward and the left driving wheel moves backward, the original turning in the anticlockwise direction is realized.

The utility model provides a pair of unmanned car line accuse chassis compares with prior art, has following substantive characteristics and progress: the chassis structure fully combines the environment of the road inside the garden, and simplifies the traditional steering and suspension structure. The steering function of the chassis is realized by controlling the driving wheel to rotate in a differential manner. The manufacturing and maintenance cost of the chassis is reduced, and the popularization and the application of the logistics unmanned transport vehicle in the garden are facilitated.

Drawings

Fig. 1 is a perspective view of an unmanned vehicle wire-controlled chassis according to an embodiment of the present invention;

FIG. 2 is an assembled schematic view of FIG. 1;

fig. 3 is a use reference diagram of fig. 1.

Reference numerals: the vehicle comprises a vehicle frame 1, a front suspension 2, an omnidirectional wheel 3, a driving wheel 4, a rear suspension 5, a front axle 6, a rear axle 7, a compartment 8, a front leaf spring 21, a front leaf spring front support 22, a front leaf spring rear support 23, a front cushion plate 24, a front U-shaped bolt 25, a left omnidirectional wheel 31, a right omnidirectional wheel 32, a left driving wheel 41, a right driving wheel 42, a rear leaf spring 51, a rear leaf spring front support 52, a rear leaf spring rear support 53, a rear cushion plate 54 and a rear U-shaped bolt 55.

Detailed Description

The following detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.

An unmanned vehicle linear control chassis as shown in fig. 1-3 is used for logistics transport vehicles in a park to realize unmanned distribution of the last kilometer of logistics. The driving route of the logistics transport vehicle inside the garden is relatively fixed, and the road inside the garden is flat. To the service environment in the garden, this drive-by-wire chassis has simplified steering structure and suspended structure for reduce cost, the popularization and the application of the inside commodity circulation unmanned transport vechicle in the garden of being convenient for.

As shown in fig. 1, an unmanned vehicle drive-by-wire chassis includes a frame 1, a front suspension 2, omni wheels 3, drive wheels 4, a rear suspension 5, a front axle 6, and a rear axle 7. 2 omni wheels 3 as front wheels are coaxially arranged at the front end of the frame 1. 2 drive wheels 4 as rear wheels are coaxially arranged at the rear end of the frame 1. The omni wheel 3 is coupled to the front suspension 2 through a front axle 6. The drive wheels 4 are coupled with the rear suspension 5 through a rear axle 7. The front suspension 2 and the rear suspension 5 are both fixedly arranged on the frame 1.

As shown in fig. 2, the front suspension 2 includes a front leaf spring 21, and a front leaf spring front holder 22 and a front leaf spring rear holder 23 fixedly mounted at both ends thereof. The front leaf spring front support 22 and the front leaf spring rear support 23 serve to connect the frame 1 and the front leaf spring 21. The bottom of the front leaf spring 21 is provided with a front shim plate 24. The front axle 6 and the front suspension 2 are coupled together by a

front pad

24 and 2 front U-bolts 25.

The rear suspension 5 includes a rear leaf spring 51, and a rear leaf spring front support 52 and a rear leaf spring rear support 53 fixedly mounted at both ends thereof. The rear leaf spring front support 52 and the rear leaf spring rear support 53 serve to connect the frame 1 and the rear leaf spring 51. The bottom of the rear leaf spring 51 is provided with a rear shim plate 54. The rear axle 7 and the rear suspension 5 are coupled together by a

rear shim plate

54 and 2 rear U-bolts 55.

The front suspension 2 and the rear suspension 5 adopt steel plate springs, so that the suspension structure is simplified, and the manufacturing cost is reduced. Meanwhile, the maintenance cost of the steel plate spring is low, and the use cost of the wire control chassis is reduced. The rear suspension 5 ensures that the driving wheel 4 contacts the ground, and ensures the driving performance of the whole vehicle.

Wherein, the driving wheel 4 is a driving wheel and is driven by a servo hub motor. The drive wheel 4 includes a left drive wheel 41 and a right drive wheel 42. The servo hub motor is disposed inside the drive wheel 4. The rotor of the servo hub motor is fixedly mounted on the hub of the driving wheel 4. The stator of the servo hub motor is connected with one end of the rear axle 7. The servo hub motor is arranged, a large number of transmission parts are omitted, the structure of the chassis is simpler, and the transport vehicle can obtain better space utilization rate under the same condition. The simple transmission structure also makes later maintenance, maintenance more convenient simultaneously, has reduced the cost of maintaining the maintenance.

The omni wheel 3 is a driven wheel, and includes a left omni wheel 31 and a right omni wheel 32. The servo hub motor controls the driving wheel 4 and is matched with the omnidirectional wheel 3 to realize the steering function of the chassis. The steering function comprises steering in driving, small-radius steering and pivot steering, and the principles are as follows:

steering during driving: when the rotating speed of the right driving wheel 42 slightly exceeds the rotating speed of the left driving wheel 41, the left rotation in the running process is realized; when the rotation speed of the left driving wheel 41 slightly exceeds the rotation speed of the right driving wheel 42, the vehicle is turned right during driving.

Small radius steering: when the left driving wheel 41 is at a standstill and the right driving wheel 42 moves forward, flexible steering with the steering radius taking the left driving wheel 41 as the center as the distance from the left driving wheel 41 to the right front wheel is realized; when the right driving wheel 42 is stationary and the left driving wheel 41 moves forward, flexible steering is realized with a steering radius around the right driving wheel 42 as a center and a distance from the right driving wheel 42 to the left front wheel.

Pivot steering: when the left driving wheel 41 moves forward and the right driving wheel 42 moves backward, the clockwise in-situ U-turn is realized; when the right driving wheel 42 advances and the left driving wheel 41 retreats, the original turning in the counterclockwise direction is realized.

The axle spacing between the omni wheel 3 and the drive wheel 4 is 800 and 900mm, which facilitates the arrangement of the front suspension 2 and the rear suspension 5 on the frame.

As shown in fig. 3, a logistics transport vehicle inside a garden using a drive-by-wire chassis of an unmanned vehicle is configured to travel along the edge of a road inside the garden by sensing surrounding environmental information using a sensor mounted on a vehicle body. The running speed is 10-20 kilometers per hour, and the running speed is adjusted according to the road surface condition. The total mass is about 200 and 300Kg, which is close to the cargo capacity of the existing express delivery tricycle. The whole vehicle is simple in structure, convenient for batch production and low in cost which is about one tenth of that of the existing unmanned logistics transport vehicle.

The driving wheel adopts a servo motor driving system, a servo hub motor directly provides driving torque and braking torque, and parking braking is realized through electronic braking inside the servo hub motor. The drive-by-wire chassis provided by the utility model provides more flexible steering performance by adopting an alternative steering mechanism, so that the unmanned vehicle has smaller steering radius (only half of a conventional steering system), and the possibility of realizing the in-situ turning function under a special scene is increased; the number of internal movable parts is reduced, the reliability of the mechanism is greatly increased, and the maintenance and repair in the later use process are less and simple.

It should be noted that the drawings in the specification are only exemplary of the embodiments of the present invention, and the axle form may adopt a half-axle structure in the drawings, or may adopt a full-axle structure, and the wheels are directly mounted at both ends of the full axle. The steel plate spring suspension in the attached drawings can be adopted, the torsion beam suspension or other suspension forms in the automobile field can also be adopted, and a damper (shock absorber) can also be arranged on the suspension.

The present invention is not limited to the specific technical solutions described in the above embodiments, and other embodiments can be provided in addition to the above embodiments. It should be understood by those skilled in the art that any modifications, equivalent substitutions, improvements and the like that are made within the spirit and principle of the present invention are within the scope of the present invention.

Claims

1. An unmanned vehicle line control chassis comprises a frame, a suspension, driving wheels and driven wheels, and is characterized in that 2 driven wheels are coaxially arranged at the front end of the frame through the suspension as front wheels, 2 driving wheels are coaxially arranged at the rear end of the frame through the suspension as rear wheels, and the 2 driving wheels are respectively driven by a first servo motor and a second servo motor;

2. The unmanned vehicle drive-by-wire chassis of claim 1, wherein the driven wheel is an omni-wheel or a universal wheel.

3. The unmanned vehicle drive-by-wire chassis of claim 1, wherein the first and second servo motors are servo hub motors, rotors of the servo hub motors are fixedly mounted on hubs of the drive wheels, and stators of the servo hub motors are coupled to axles.

4. The unmanned vehicle drive-by-wire chassis of claim 1, wherein the first and second servo motors are servo wheel-side motors.

5. The unmanned vehicle drive-by-wire chassis of claim 1, wherein the suspension comprises a leaf spring, and a front leaf spring support and a rear leaf spring support fixedly mounted at two ends of the suspension, the front leaf spring support and the rear leaf spring support are used for connecting the vehicle frame and the leaf spring, a base plate is arranged at the bottom of the leaf spring, and the axle and the suspension are connected together through the base plate and 2U-shaped bolts.

6. The unmanned vehicle drive-by-wire chassis of claim 1, wherein the wheelbase between the driving wheel and the driven wheel is 800-1600 mm.

7. The unmanned vehicle drive-by-wire chassis of claim 1, wherein the suspension is a torsion beam suspension.

8. The unmanned vehicle drive-by-wire chassis of claim 1, wherein the driven wheels are mounted at both ends of a front axle and the driving wheels are mounted at both ends of a rear axle.

9. The unmanned vehicle drive-by-wire chassis of claim 1, wherein a damper is mounted on the suspension.

10. The unmanned vehicle drive-by-wire chassis of claim 9, wherein the damper is a double-acting tube shock absorber.