CN214325222U - Multipurpose modularization intelligence chassis and hydraulic control system thereof - Google Patents
Multipurpose modularization intelligence chassis and hydraulic control system thereof Download PDFInfo
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- CN214325222U CN214325222U CN202022991021.8U CN202022991021U CN214325222U CN 214325222 U CN214325222 U CN 214325222U CN 202022991021 U CN202022991021 U CN 202022991021U CN 214325222 U CN214325222 U CN 214325222U
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Abstract
The utility model provides a multipurpose modularization intelligence chassis and hydraulic control system thereof relates to modularization chassis field. The multipurpose modularized intelligent chassis and the hydraulic control system thereof comprise a steering module, a driving module, an equipment cabin, a frame and a braking module. This multipurpose modularization intelligence chassis and hydraulic control system front axle thereof arranges the module that turns to, realizes turning to the function, and the rear axle arranges drive module, provides power for whole car. And a brake module is arranged in the middle equipment cabin and is used for providing required hydraulic pressure for the four brake wheel cylinders. Through this kind of design and arrangement mode, the utility model discloses succeed in will be 3 with the motor number, reduced the harsh requirement to the motor volume simultaneously, reduced the cost on whole chassis.
Description
Technical Field
The utility model relates to a modularization chassis technical field specifically is a multipurpose modularization intelligence chassis and hydraulic control system thereof.
Background
With the development of automatic driving technology, the demand of various application scenes on small unmanned vehicle platforms is increasing day by day. At present, unmanned vehicles are widely applied to the fields of travel, logistics, distribution, cleaning, routing inspection, reconnaissance, epidemic situation prevention and control and the like, and play an important role in changing the life style of human beings and ensuring national economic construction and social governance.
At present, automatic driving development is mainly modified based on a passenger vehicle, and the problems of long development period, high cost, different vehicle wire control degrees, inconvenience for generalization, modularization and the like are faced; and when the unmanned vehicle carries different tops from the demands of different fields, the chassis is often required to be redesigned to meet the change of performance requirements. Therefore, the development of the multipurpose unmanned vehicle modular chassis has great significance for reducing the development cost of automatic driving, enabling the algorithm to quickly enter real vehicle verification and meeting the requirements of different users on the use and performance of the vehicle.
The existing modular vehicle chassis are mostly designed and developed for the traditional passenger vehicle or commercial vehicle. They are complex in structure, high in cost, and the performance index far exceeds the requirement value of small-sized park vehicles, thus causing certain waste; and they are developed for conventional vehicles and even with corresponding modifications, do not match well with unmanned vehicles.
In the prior art, a chassis generally adopts a four-wheel independent mode, each wheel is provided with 1 driving motor, 1 braking motor and 1 steering motor, and the whole chassis needs 12 motors. The design mode requires the motor to be small in size and high in performance, higher requirements are provided for the motor, and the cost of the whole chassis is greatly improved.
In addition, patent No. CN 110370875A, the unmanned distribution robot chassis assembly and the unmanned distribution robot proposed in the patent No. CN 110370875A can be well matched with an unmanned vehicle, but are not designed in a modular manner, which is not conducive to generalization and popularization.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
Not enough to prior art, the utility model provides a multipurpose modularization intelligence chassis and hydraulic control system thereof to solve the problem that proposes in the above-mentioned background art.
(II) technical scheme
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a multi-purpose modular intelligent chassis comprising:
a steering module;
the steering module comprises a steering gear assembly, and the steering gear assembly adopts a rack and pinion steering gear;
the coupler is used for transmitting the torque and motion output of the speed reducing mechanism to a driving gear shaft of the steering gear, and plays a role in eliminating transmission clearance, compensating assembly errors and ensuring transmission precision;
the speed reducing mechanism is used for amplifying the torque of the motor and reducing the output rotating speed of the motor and is arranged between the steering driving motor and the coupler;
the steering system also comprises a driving motor used for providing steering torque steering for the whole steering system;
the steering knuckle is used for transmitting load and providing mounting and connecting positions for a steering tie rod, a suspension and a wheel assembly;
a drive module;
the drive module comprises a left half shaft assembly;
the motor assembly is also included;
the speed reducing differential mechanism assembly is also included;
the right half shaft assembly is also included;
the equipment cabin and the frame are used for supporting;
a brake module for controlling chassis braking.
Preferably, the brake module of the chassis is placed in the equipment bay.
Preferably, the reduction differential assembly mainly comprises a coupling, a high-speed shaft, a bearing support, a secondary reduction gear wheel, a differential shell, a planetary gear, a half axle gear, an intermediate shaft, a primary reduction gear wheel and a reduction differential shell.
Preferably, the right half shaft assembly mainly comprises a right half shaft, a second suspension buffer block, a second steel plate spring connecting pressure plate, a right half shaft shell, a right half shaft baffle and a right wheel hub.
Preferably, the motor assembly mainly comprises a commutator, a motor rotor, a motor shaft, a fan, lifting bolts and a motor stator.
Preferably, the left half shaft assembly mainly comprises a left half shaft, a first suspension buffer block, a first steel plate spring connecting pressure plate, a left half shaft shell, a left half shaft baffle and a left wheel hub.
A hydraulic control system comprises an ECU module, a double-cavity brake master cylinder, an oil storage tank, a brake oil way, a switch valve, a reversing valve, a front wheel cylinder, a rear wheel cylinder and a pressure sensor;
the dual-cavity brake master cylinder comprises a first working cavity and a second working cavity;
the brake oil path comprises a front shaft oil path and a rear shaft oil path, the first working cavity is connected with the front shaft oil path, and the second working cavity is connected with the rear shaft oil path;
the reversing valve is provided with two downlink oil paths, one downlink oil path of the reversing valve is connected to the rear wheel cylinder, the other downlink oil path of the reversing valve is connected back to the oil storage tank, and the reversing valve is set to be a 2-position 3-way electromagnetic valve;
the pressure sensors are distributed and installed on one of the front wheel cylinder and the rear wheel cylinder respectively;
one switching valve is installed in the front axle oil circuit, a switching valve and a reversing valve are respectively installed in the rear axle oil circuit, and 2-position 2-way electromagnetic valves of the switching valves are arranged.
The utility model provides a multipurpose modularization intelligence chassis and hydraulic control system thereof, its beneficial effect who possesses as follows:
1. the utility model discloses a front axle relatively independent scheme, front axle arrange and turn to the module, realize turning to the function, and drive module is arranged to the rear axle, provides power for whole car. And a brake module is arranged in the middle equipment cabin and is used for providing required hydraulic pressure for the four brake wheel cylinders. Through this kind of design and arrangement mode, the utility model discloses succeed in will be 3 with the motor number, reduced the harsh requirement to the motor volume simultaneously, reduced the cost on whole chassis.
2. The utility model discloses to the unmanned vehicle development design in small-size garden, cancelled with driver interaction required unnecessary mechanism, simplified the structure and practiced thrift the space, in addition, the utility model discloses a design speed and performance all with garden scene phase-match, solved the structure discomfort of traditional module chassis application on the unmanned vehicle in garden and joined in marriage with the extravagant problem of performance.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a steering module of the present invention;
fig. 3 is a schematic structural diagram of the driving module of the present invention;
fig. 4 is a schematic diagram of the control flow structure of the brake module of the present invention.
In the figure: 10. a steering module; 20. a drive module; 30. an equipment compartment; 40. a vehicle frame.
Detailed Description
The embodiment of the utility model provides a multipurpose modularization intelligence chassis, as shown in fig. 1-4, including turn to module 10;
the steering module 10 comprises a steering gear assembly, and the steering gear assembly adopts a rack and pinion steering gear;
the coupler is used for transmitting the torque and motion output of the speed reducing mechanism to a driving gear shaft of the steering gear, and plays a role in eliminating transmission clearance, compensating assembly errors and ensuring transmission precision;
the speed reducing mechanism is used for amplifying the torque of the motor and reducing the output rotating speed of the motor and is arranged between the steering driving motor and the coupler;
the steering system also comprises a driving motor used for providing steering torque steering for the whole steering system;
the steering knuckle is used for transmitting load and providing mounting and connecting positions for a steering tie rod, a suspension and a wheel assembly;
a drive module 20;
the drive module comprises a left half shaft assembly;
the motor assembly is also included;
the speed reducing differential mechanism assembly is also included;
the right half shaft assembly is also included;
an equipment compartment 30 and a frame 40 for supporting;
a brake module for controlling chassis braking.
The brake modules of the chassis are placed in the equipment bay 30.
The reduction differential assembly mainly comprises a coupling, a high-speed shaft, a bearing support, a secondary reduction gear wheel, a differential shell, a planetary gear, a half axle gear, an intermediate shaft, a primary reduction gear wheel and a reduction differential shell.
The right half shaft assembly mainly comprises a right half shaft, a second suspension buffer block, a second steel plate spring connecting pressure plate, a right half shaft shell, a right half shaft baffle and a right wheel hub.
The motor assembly mainly comprises a commutator, a motor rotor, a motor shaft, a fan, a lifting ring screw and a motor stator.
The left half shaft assembly mainly comprises a left half shaft, a first suspension buffer block, a first steel plate spring connecting pressing plate, a left half shaft shell, a left half shaft baffle and a left wheel hub.
A hydraulic control system comprises an ECU module, a double-cavity brake master cylinder, an oil storage tank, a brake oil way, a switch valve, a reversing valve, a front wheel cylinder, a rear wheel cylinder and a pressure sensor;
the dual-cavity brake master cylinder comprises a first working cavity and a second working cavity;
the brake oil path comprises a front shaft oil path and a rear shaft oil path, the first working cavity is connected with the front shaft oil path, and the second working cavity is connected with the rear shaft oil path;
the reversing valve is provided with two downlink oil paths, one downlink oil path of the reversing valve is connected to the rear wheel cylinder, the other downlink oil path of the reversing valve is connected back to the oil storage tank, and the reversing valve is set to be a 2-position 3-way electromagnetic valve;
the pressure sensors are distributed and installed on one of the front wheel cylinder and the rear wheel cylinder respectively;
one switch valve is arranged in the front axle oil path, a switch valve and a reversing valve are respectively arranged in the rear axle oil path, and a 2-position 2-way electromagnetic valve of the switch valve is arranged;
the working principle is as follows:
the utility model discloses an independent design and the modularized design to drive, braking and turn to realize the holistic modularization in chassis and detachable design target.
The utility model discloses do not cut the four-wheel completely apart, but adopt the scheme that the front and back axle is relatively independent, the front axle is arranged and is turned to the module, realizes turning to the function. And the rear axle is provided with a driving module for providing power for the whole vehicle. And a brake module is arranged in the middle equipment cabin and is used for providing required hydraulic pressure for the four brake wheel cylinders. Through this kind of design and arrangement mode, the utility model discloses succeed in will be 3 with the motor number, reduced the harsh requirement to the motor volume simultaneously, reduced the cost on whole chassis.
The utility model discloses to the unmanned vehicle development design in small-size garden, cancelled with driver interaction required unnecessary mechanism, simplified the structure and practiced thrift the space. Furthermore, the utility model discloses a design speed and performance all with garden scene phase-match, solved traditional module chassis and used the structure on the unmanned vehicle in garden discomfort join in marriage with the extravagant problem of performance.
The system improves the hydraulic structure of the existing brake system and the hydraulic structure of the ABS and other systems, cancels the design of a brake cylinder and a plurality of hydraulic valves, simplifies the structure and reduces the cost. Meanwhile, the design scheme of the hydraulic system provided by the invention can be well combined with an automatic driving system, and provides braking system parameters such as different braking modes, braking force distribution coefficients and the like for different vehicle types such as a forklift, a snow sweeper, an express delivery vehicle and the like under the condition of matching with the control algorithm.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A multi-purpose modular intelligent chassis, comprising:
a steering module;
the steering module comprises a steering gear assembly, and the steering gear assembly adopts a rack and pinion steering gear;
the coupler is used for transmitting the torque and motion output of the speed reducing mechanism to a driving gear shaft of the steering gear, and plays a role in eliminating transmission clearance, compensating assembly errors and ensuring transmission precision;
the speed reducing mechanism is used for amplifying the torque of the motor and reducing the output rotating speed of the motor and is arranged between the steering driving motor and the coupler;
the steering system also comprises a driving motor used for providing steering torque steering for the whole steering system;
the steering knuckle is used for transmitting load and providing mounting and connecting positions for a steering tie rod, a suspension and a wheel assembly;
a drive module;
the drive module comprises a left half shaft assembly;
the motor assembly is also included;
the speed reducing differential mechanism assembly is also included;
the right half shaft assembly is also included;
the equipment cabin and the frame are used for supporting;
a brake module for controlling chassis braking.
2. The multipurpose modular intelligent chassis of claim 1, wherein: the brake module of the chassis is placed in the equipment bay.
3. The multipurpose modular intelligent chassis of claim 1, wherein: the reduction differential assembly mainly comprises a coupling, a high-speed shaft, a bearing support, a secondary reduction gear wheel, a differential shell, a planetary gear, a half axle gear, an intermediate shaft, a primary reduction gear wheel and a reduction differential shell.
4. The multipurpose modular intelligent chassis of claim 1, wherein: the right half shaft assembly mainly comprises a right half shaft, a second suspension buffer block, a second steel plate spring connecting pressure plate, a right half shaft shell, a right half shaft baffle and a right wheel hub.
5. The multipurpose modular intelligent chassis of claim 1, wherein: the motor assembly mainly comprises a commutator, a motor rotor, a motor shaft, a fan, a lifting ring screw and a motor stator.
6. The multipurpose modular intelligent chassis of claim 1, wherein: the left half shaft assembly mainly comprises a left half shaft, a first suspension buffer block, a first steel plate spring connecting pressing plate, a left half shaft shell, a left half shaft baffle and a left wheel hub.
7. A hydraulic control system employing a multi-purpose modular intelligent chassis of any of claims 1-6, characterized by: the brake system comprises an ECU module, a double-cavity brake master cylinder, an oil storage tank, a brake oil path, a switch valve, a reversing valve, a front wheel cylinder, a rear wheel cylinder and a pressure sensor;
the dual-cavity brake master cylinder comprises a first working cavity and a second working cavity;
the brake oil path comprises a front shaft oil path and a rear shaft oil path, the first working cavity is connected with the front shaft oil path, and the second working cavity is connected with the rear shaft oil path;
the reversing valve is provided with two downlink oil paths, one downlink oil path of the reversing valve is connected to the rear wheel cylinder, the other downlink oil path of the reversing valve is connected back to the oil storage tank, and the reversing valve is set to be a 2-position 3-way electromagnetic valve;
the pressure sensors are distributed and installed on one of the front wheel cylinder and the rear wheel cylinder respectively;
one switching valve is installed in the front axle oil circuit, a switching valve and a reversing valve are respectively installed in the rear axle oil circuit, and 2-position 2-way electromagnetic valves of the switching valves are arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202022991021.8U CN214325222U (en) | 2020-12-12 | 2020-12-12 | Multipurpose modularization intelligence chassis and hydraulic control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022991021.8U CN214325222U (en) | 2020-12-12 | 2020-12-12 | Multipurpose modularization intelligence chassis and hydraulic control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879396A (en) * | 2021-10-22 | 2022-01-04 | 一汽解放汽车有限公司 | Chassis structure and electric automobile |
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2020
- 2020-12-12 CN CN202022991021.8U patent/CN214325222U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879396A (en) * | 2021-10-22 | 2022-01-04 | 一汽解放汽车有限公司 | Chassis structure and electric automobile |
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