WO2024082667A1 - 一种绿色智慧综合供能无杆牵引车 - Google Patents

一种绿色智慧综合供能无杆牵引车 Download PDF

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Publication number
WO2024082667A1
WO2024082667A1 PCT/CN2023/101440 CN2023101440W WO2024082667A1 WO 2024082667 A1 WO2024082667 A1 WO 2024082667A1 CN 2023101440 W CN2023101440 W CN 2023101440W WO 2024082667 A1 WO2024082667 A1 WO 2024082667A1
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WO
WIPO (PCT)
Prior art keywords
groove
hole
intelligent
spring
green
Prior art date
Application number
PCT/CN2023/101440
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English (en)
French (fr)
Inventor
马海兵
马列
沈亮
马琼琼
Original Assignee
江苏天一航空工业股份有限公司
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Application filed by 江苏天一航空工业股份有限公司 filed Critical 江苏天一航空工业股份有限公司
Publication of WO2024082667A1 publication Critical patent/WO2024082667A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/36—Other airport installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/36—Other airport installations
    • B64F1/362—Installations for supplying conditioned air to parked aircraft
    • B64F1/364—Mobile units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means

Definitions

  • the present invention relates to the field of towbarless tractors, and in particular to a green, intelligent, integrated energy-supply towbarless tractor.
  • aircraft consume a lot of fuel during the ground phase, and energy conservation and emission reduction during the ground phase are the general trend.
  • the aircraft development taxiing mode consumes 130kg of fuel, while the traditional hold-hold taxiing mode consumes 45kg of fuel.
  • the average ground development taxiing of an aircraft for a flight takes 20 minutes to take off and 20 minutes to land, and the development taxiing takes nearly 40 minutes, which greatly reduces the effective service life of the aircraft engine.
  • pole-less towing vehicles, power supply vehicles, and air-conditioning vehicles operate separately and independently, plus other special vehicles (food trucks, water trucks, bulk cargo loaders, etc.), which basically surround the aircraft, seriously increasing the number of special operating vehicles at the airport and the risk of vehicle collisions with aircraft.
  • the application and promotion of airport unmanned driving equipment is a concrete manifestation of the implementation of the main line of intelligent development of civil aviation, an effective measure to promote the construction of four-type airports, and a path to build a strong civil aviation country in multiple fields.
  • the towing vehicle is one of the ground support vehicles at the airport, and unmanned transformation is indispensable, especially for the installation of radars required for unmanned driving.
  • the installation position of the radar is relatively fixed. Once the radar is upgraded or replaced, the installation position of the radar needs to be readjusted. The adjustment process is too cumbersome and difficult to operate.
  • the technical problem to be solved by the present invention is that at domestic airports, pole-less traction vehicles, power supply vehicles, and air-conditioning vehicles are operated separately and independently, plus other special vehicles (food trucks, water trucks, bulk cargo loading trucks, etc.), which basically surround the aircraft, seriously increasing the number of special operating vehicles at the airport and the risk of vehicle collision with aircraft; for the installation problem of radar required for unmanned driving, in the existing technology, the installation position of the radar is relatively fixed. Once the radar is upgraded or replaced, the installation position of the radar needs to be readjusted, and the adjustment process is too cumbersome and difficult to operate.
  • a green intelligent comprehensive energy supply barless tractor comprising a chassis unit, including a vehicle controller, a power module connected to the vehicle controller, and an integrated controller, wherein the power module is connected to the integrated controller, the integrated controller is connected to a hydraulic module, and the hydraulic module is connected to a brake;
  • An intelligent driving unit comprising an intelligent driving controller connected to the vehicle controller, wherein the driving controller is connected to a radar;
  • the radar installation unit comprises a fixing seat fixedly arranged on the vehicle frame, the fixing seat is connected to a connecting unit, and the connecting unit is connected to a connecting shaft.
  • the radar is installed at one end of the connecting shaft.
  • the power module includes a high-voltage battery pack and a battery management system, which are used to provide power for the entire vehicle.
  • the hydraulic module is also connected to a traction mechanism, and the hydraulic module includes a hydraulic oil pump motor and a hydraulic oil pump.
  • the hydraulic oil pump controls the action of the brake and the traction mechanism, and the brakes are distributed on the front axle wheels and the rear axle wheels.
  • the integrated controller is connected to a drive unit, the drive unit includes a main drive motor and an integrated reducer, and the integrated reducer is connected to an electronically controlled hydraulic cylinder.
  • the fixing seat is provided with a bracket, and the bracket is connected with a spherical head;
  • the radar installation unit also includes a connecting piece connected to the connecting unit, the connecting piece is provided with a spherical groove, and the spherical head is located in the spherical groove.
  • the connecting member is provided with a threaded hole penetrating into the spherical groove on the outside, and the threaded hole is connected with a fastening bolt;
  • the fastening bolt is provided with a through disassembly hole, and the side surface of the fastening bolt is provided with a strip groove extending in the axial direction;
  • a disassembly rod is arranged in the disassembly hole, a first end face ratchet is arranged on the fastening bolt sleeve, and a connecting block passing through the strip groove is arranged between the disassembly rod and the first end face ratchet;
  • the threaded hole opening end surface is provided with a second end surface ratchet, and the first end surface ratchet is matched and connected with the second end surface ratchet;
  • An elastic member is arranged between the first end face ratchet and the hexagonal boss of the fastening bolt.
  • the connecting unit comprises a fixed cylinder connected to the connecting member, the fixed cylinder is connected to a connecting shaft, and the radar is installed at one end of the connecting shaft;
  • a first half ring member is provided at one end of the fixed cylinder opening, and a first half ring boss is provided at the end of the first half ring member;
  • the fixed cylinder is movably connected with a rotating cylinder, one end of the rotating cylinder close to the first semi-ring is connected with a second semi-ring, and the end of the second semi-ring is provided with a second semi-ring boss;
  • a truncated cone is provided at one end of the connecting shaft, and the diameter of the truncated cone is larger than the inner diameters of the first semi-ring boss and the second semi-ring boss;
  • the inner side of the fixed cylinder is provided with a spiral groove, and the outer side of the rotating cylinder is provided with a boss. Embedded in the spiral groove;
  • a spring groove is provided on one end surface of the fixed cylinder away from the first half ring, and a first spring is provided between the spring groove and the rotating cylinder;
  • the boss is provided with a first through hole extending radially along the rotating cylinder, a first limiting groove is provided in the first through hole, a limiting pin is provided in the first through hole, a first limiting plate is provided at one end of the limiting pin located in the first limiting groove, and a second spring is provided between the first limiting plate and the first limiting groove;
  • the spiral groove is axially extended at one end close to the first half ring to form a long groove, and a second through hole penetrating in the radial direction is provided at the end of the long groove.
  • a second cylindrical groove is arranged in the second through hole
  • a reset rod is arranged in the second through hole
  • a second limiting plate is arranged on the part of the reset rod located in the second cylindrical groove
  • a third spring is arranged between the second limiting plate and an end surface of the second cylindrical groove close to the rotating cylinder
  • Both ends of the inner side of the rotating cylinder are provided with protrusions, the protrusions are provided with a third through hole penetrating therethrough, a fixed shaft is provided in the third through hole, a limit stop is provided at the portion of the fixed shaft located between the two protrusions, a fourth spring is provided between the limit stop and a protrusion close to the spring groove, an inclined surface is provided at the end of the fixed shaft located on one side of the second half ring to form a wedge shape; a guide groove is provided along the axis line at the inner side of the rotating cylinder, and the limit stop is provided with a limit protrusion embedded in the guide groove.
  • the third through hole and the fixed shaft are arranged on one side of the rotating cylinder connected to the second half ring.
  • a spring hole is provided on an end face of the fixed cylinder away from the first half ring, a positioning pin is provided in the spring hole, and a fifth spring is fixedly connected between the positioning pin and the spring hole.
  • the present invention is equipped with a vehicle chassis, new energy energy storage, a static variable power supply, an air-conditioning system, unmanned driving, a clamping and lifting mechanism, and a human-computer interaction system, so that the product has electric rodless traction, power supply, air-conditioning control, 5G unmanned driving, parallel driving and other functions; at the same time, by improving the installation method of the radar used for unmanned driving, the installation and adjustment of the radar are more convenient.
  • FIG1 is a schematic diagram of a green, intelligent, comprehensive energy supply, poleless tractor according to an embodiment of the present invention
  • FIG2 is a specific schematic diagram of a system in a green intelligent comprehensive energy supply rodless tractor according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a radar installation unit, a connection unit, and a radar in a green intelligent comprehensive energy supply rodless tractor according to an embodiment of the present invention
  • FIG4 is a schematic diagram of a radar installation unit in a green intelligent comprehensive energy supply rodless tractor according to an embodiment of the present invention
  • FIG5 is a partial schematic diagram of a radar installation unit in a green intelligent comprehensive energy supply rodless tractor according to an embodiment of the present invention
  • FIG6 is a cross-sectional schematic diagram of a radar installation unit in a green intelligent comprehensive energy supply rodless tractor according to an embodiment of the present invention
  • FIG7 is a partial enlarged schematic diagram of FIG6 in a green intelligent comprehensive energy supply rodless tractor according to an embodiment of the present invention
  • FIG8 is a schematic diagram of a connection unit in a green intelligent comprehensive energy supply rodless tractor according to an embodiment of the present invention.
  • FIG9 is an exploded schematic diagram of a connection unit in a green intelligent comprehensive energy supply rodless tractor according to an embodiment of the present invention.
  • FIG10 is a schematic diagram of a connection unit in a green intelligent comprehensive energy supply rodless tractor according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram showing the completion of connection of connection units in a green and intelligent integrated energy supply rodless tractor according to an embodiment of the present invention.
  • one embodiment or “embodiment” as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention.
  • the term “in one embodiment” that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.
  • the present embodiment provides a green and intelligent integrated energy supply towbarless tractor, including a chassis unit 100 and an intelligent driving unit 200, wherein the chassis unit 100 includes a vehicle controller 101, a power module 102 connected to the vehicle controller 101, and an integrated controller 103.
  • the vehicle controller is the control center for normal driving and is the core component of the vehicle control system.
  • the power module 102 includes a high-voltage battery pack and a battery management system.
  • the integrated controller 103 is an N-in-1 integrated controller, including a motor, an oil pump, a DC/DC, a PDU, and an OBC.
  • the power module 102 is connected to the integrated controller 103, the integrated controller 103 is connected to the hydraulic module 104, and the hydraulic module 104 is connected to the brake 105; the hydraulic module 104 includes a hydraulic oil pump motor and a hydraulic oil pump for driving the brake 105, and the brake 105 is used to brake the wheel.
  • the intelligent driving unit 200 includes an intelligent driving controller 201 connected to the vehicle controller 101, wherein the intelligent driving controller 201 is an autonomous driving domain controller.
  • the autonomous driving domain controller (ADCU-Automated Driving Control Unit) is an intelligent computing platform for L3/L4 unmanned driving applications. It can integrate computationally intensive sensor data processing and sensor fusion work with control strategy development into a control unit, and help to establish a structured and organized vehicle controller network; the intelligent driving controller 201 is connected to a radar 202; the radar 202 is distributed around the vehicle.
  • the main function of the autonomous driving domain controller is to serve as the functional control center and to play the role of the "brain" of the driving-related body area.
  • the domain controller obtains sensor, diagnostic data and status data through intelligent interfaces upward, and transmits relevant execution instructions downward through actuator interfaces, playing the core role of the computing brain of this functional domain.
  • the main DCU there will also be some sub-ECUs in this functional domain to perform driving and special logic strategies.
  • the cockpit, power safety, chassis, and body are also gradually beginning to form an architecture of a computing center with the domain controller as the core.
  • the radar installation unit 300 includes a fixing seat 301 fixedly arranged on the vehicle frame.
  • the fixing seat 301 is connected to the connecting unit 400 , and the radar 202 is installed on the connecting unit 400 .
  • the power module 102 includes a high-voltage battery pack and a battery management system, which are used to provide power for the entire vehicle.
  • the hydraulic module 104 is also connected to a clamping mechanism 107.
  • the hydraulic module 104 includes a hydraulic oil pump motor and a hydraulic oil pump.
  • the hydraulic oil pump controls the action of the brake 105 and the clamping mechanism.
  • the brake 105 is distributed on the front axle wheels and the rear axle wheels.
  • the integrated controller 103 is connected to a driving unit 106 , and the driving unit 106 includes a main driving motor and an integrated reducer, that is, the main driving motor and the integrated reducer are controlled by the integrated controller 103 .
  • the integrated reducer is connected to an electronically controlled hydraulic cylinder.
  • the vehicle electric drive + upper auxiliary system hydraulic drive mode is adopted.
  • a high-power drive motor is used to drive the wheels on both sides of the front axle after deceleration through the transfer case.
  • a medium-power hydraulic oil pump motor is used to drive the hydraulic wheel holding mechanism, hydraulic steering, hydraulic braking and other energy supply.
  • the rated power of the motor is 169kW, the peak power is 309kW, the peak torque is 2000Nm, and the peak speed is 4500rpm. It is equipped with a two-stage fixed speed ratio reducer with a reduction ratio of 36 (3*12).
  • the motor and its controller comply with the provisions of GB/T 18488.1.
  • the present invention integrates the poleless traction, power supply vehicle, and air-conditioning vehicle as a whole, and is equipped with a vehicle chassis, new energy storage, static variable power supply, air-conditioning system, unmanned driving, clamping and lifting mechanism, and human-computer interaction system;
  • the poleless traction vehicle in this embodiment is also equipped with new energy storage, static variable power supply, air-conditioning system, unmanned driving, clamping and lifting mechanism, and human-computer interaction system, and is equipped with a five-in-one multifunctional integrated controller, so that the product has electric poleless traction, power supply, air-conditioning control, 5G unmanned driving, parallel Driving and other functions change the traditional vehicle functions, each vehicle's independent operation mode, use C-V2X, radar, vision and other multi-source perception system information interaction to build a roadside parallel driving system, realize parallel driving functions, fast response, and accurate prediction.
  • the radar is installed through the radar installation unit 300 and the connection unit 400.
  • the fixing seat 301 is provided with a bracket 301a, the bracket 301a is connected to the periphery of the frame by welding or bolts, the bracket 301a is connected to a spherical head 301b, and the spherical head 301b is spherical.
  • the radar installation unit 300 further includes a connector 302 connected to the connection unit 400.
  • the connector 302 is provided with a spherical groove 302a, and the spherical head 301b is located in the spherical groove 302a. Therefore, the spherical head 301b and the connector 302 form a joint, which can adjust the direction of the radar.
  • a threaded hole 302b penetrating into the spherical groove 302a is provided on the outside of the connecting member 302, and a fastening bolt 303 is connected to the threaded hole 302b; one end of the fastening bolt 303 abuts against the surface of the spherical head 301b, and the position of the spherical head 301b is fixed by the fastening bolt 303.
  • the fastening bolt 303 is provided with a through disassembly hole 303a, and a strip groove 303b extending axially is provided on the side of the fastening bolt 303; the strip groove 303b penetrates to the disassembly hole 303a, a disassembly rod 304 is provided in the disassembly hole 303a, the fastening bolt 303 is sleeved with a first end face ratchet 306, and a connecting block 306a passing through the strip groove 303b is provided between the disassembly rod 304 and the first end face ratchet 306; a second end face ratchet 302c is provided on the open end face of the threaded hole 302b, and the first end face ratchet 306 is matched and connected with the second end face ratchet 302c; an elastic member 305 is provided between the first end face ratchet 306 and the hexagonal boss of the fastening
  • the elastic member 305 is a spring. Under the action of the spring, the first end face ratchet 306 is meshed with the second end face ratchet 302c.
  • the first end face ratchet 306 rotates normally.
  • the fastening bolt 303 is rotated counterclockwise (i.e., when the spherical head 301b is loosened)
  • the second end face ratchet 302c limits the rotation of the first end face ratchet 306, thereby preventing the vehicle from loosening during operation.
  • the disassembly rod 304 is operated to disengage the first end face ratchet 306 from the second end face ratchet 302c, and then the fastening bolt 303 is operated.
  • connection unit 400 includes a fixed cylinder 401 connected to the connection member 302 , the connection unit 400 is connected to a connection shaft 500 , and the connection shaft 500 is connected to the radar 202 ; the radar 202 is installed at one end of the connection shaft 500 .
  • the fixed cylinder 401 is cylindrical, and a first half-ring member 401a is provided at an open end of the fixed cylinder 401.
  • the first half-ring member 401a is half of a cylinder, and a first half-ring boss 401b is provided at the end of the first half-ring member 401a; the first half-ring boss 401b is formed by extending the end of the first half-ring member 401a toward the axis, wherein a rotating cylinder 402 is movably connected inside the fixed cylinder 401, and the rotating cylinder 402 is cylindrical and can move axially inside the fixed cylinder 401, and a second half-ring member 402a is connected to one end of the rotating cylinder 402 close to the first half-ring member 401a, and the second half-ring member 402a is also half of a cylinder, and a second half-ring boss 402b is provided at the end of the second half-ring member 402a; the second half-ring boss 402b is formed by extending the end of the second half-ring member 402a toward the axis, and the second half-ring boss 402b is formed by extending the end of the second
  • the inner diameter of the platform 402b is consistent with the inner diameter of the first half-ring boss 401b.
  • the second half-ring member 402a is flush with the end of the first half-ring member 401a, the first half-ring boss 401b and the second half-ring boss 402b form an annular ring.
  • a truncated cone 501 is provided at one end of the connecting shaft 500, and the diameter of the truncated cone 501 is larger than the inner diameter of the first semi-ring boss 401b and the second semi-ring boss 402b. That is, when the truncated cone 501 is located inside the second semi-ring member 402a and the first semi-ring member 401a, the first semi-ring boss 401b and the second semi-ring boss 402b restrict the truncated cone 501 inside, completing the fixed connection.
  • the inner side of the fixed cylinder 401 is provided with a spiral groove 401c, which is formed along the spiral line, and the number of turns of the spiral groove 401c is 0.5 turns.
  • the outer side of the rotating cylinder 402 is provided with a boss 402c, and the boss 402c is embedded in the spiral groove 401c. Therefore, the movement of the rotating cylinder 402 in the fixed cylinder 401 is a spiral movement. In the initial state, the rest of the rotating cylinder 402 except the second semi-ring member 402a and the second semi-ring boss 402b is located in the fixed cylinder 401, and the boss 402c is at the starting end of the spiral groove 401c.
  • the semicircular groove formed by the second semi-ring member 402a and the second semi-ring boss 402b faces outward, and the round table 501 can be placed in the second semi-ring member 402a and the second semi-ring boss 402b.
  • the two end faces of the round table 501 are in contact with the end faces of the second semi-ring member 402a and the second semi-ring boss 402b respectively.
  • a spring groove 401h is provided on one end face of the fixed cylinder 401 away from the first half ring 401a, and a first spring 403 is provided between the spring groove 401h and the rotating cylinder 402.
  • the first spring 403 is a pressure spring, and under the action of the first spring 403, the rotating cylinder 402 is pushed to make it spirally move.
  • the second half ring 402a is turned over until the boss 402c moves to the other end of the spiral groove 401c.
  • the second half ring 402a is turned over by 180°, and the round table 501 is located in the circular groove formed by the second half ring 402a and the first half ring 401a, and at this time, the end face of the second half ring 402a coincides with the inner end face of the first half ring boss 401b.
  • the spiral groove 401c extends axially near one end of the first half ring member 401a to form a long groove 401g, that is, at this time, under the action of the first spring 403, the rotating cylinder 402 begins to move in a straight line until the boss 402c moves to the end of the long groove 401g, at this time, the first half ring boss 401b and the second half ring boss 402b have both inner and outer end faces coincide, and the first half ring boss 401b and the second half ring boss 402b form an annular ring to fix the table 501 inside the fixed cylinder 401.
  • the boss 402c is provided with a first through hole 402d extending radially along the rotating cylinder 402, and a first limiting groove 402e is provided in the first through hole 402d.
  • the diameter of the first limiting groove 402e is larger than the diameter of the first through hole 402d, and a limiting pin 404 is provided in the first through hole 402d.
  • a first limiting plate 404a is provided at one end of the limiting pin 404 located in the first limiting groove 402e, and a second spring 405 is provided between the first limiting plate 404a and the first limiting groove 402e; under the action of the spring, the limiting pin 404 has a tendency to move away from the center of the rotating cylinder 402.
  • a second through hole 401d is provided at the end of the long slot 401g and penetrates radially. Therefore, once the boss 402c moves to the end of the long slot 401g, the limit pin 404 pops out and embeds into the second through hole 401d under the action of the spring, fixing the position of the rotating cylinder 402 and thereby "locking" the connecting shaft.
  • a second cylindrical groove 401e is provided in the second through hole 401d, the diameter of the second cylindrical groove 401e is larger than the inner diameter of the second through hole 401d, a reset rod 406 is provided in the second through hole 401d, and a second limiting plate 406a is provided on the part of the reset rod 406 located in the second cylindrical groove 401e.
  • a third spring 407 is provided between one end surface close to the rotating cylinder 402, that is, under the action of the third spring 407, the reset rod 406 is away from the rotating cylinder 402; when the connecting shaft needs to be removed, the reset rod 406 is pressed, and one end of the reset rod 406 pushes the limit pin 404 to shrink it into the boss 402c, and then the rotating cylinder 402 is pressed toward the inside of the fixed cylinder 401 until the rotating cylinder 402 is flipped 180°, and the connecting shaft can be taken out.
  • both ends of the inner side of the rotating cylinder 402 are provided with protrusions 402f, and the protrusion 402f is provided with a third through hole 402g penetrating therethrough, wherein the third through hole 402g is arranged close to the edge, and a fixed shaft 408 is arranged in the third through hole 402g, and the position of the fixed shaft 408 should satisfy: when the truncated cone 501 is placed into the second half ring member 402a, most of the truncated cone 501 is located in the second half ring member 402a and contacts the fixed shaft 408.
  • the portion of the fixed shaft 408 between the two protrusions 402f is provided with a limited stopper 408a, and a fourth spring 408b is provided between the limited stopper 408a and a protrusion 402f near the spring groove 401h.
  • a fourth spring 408b is provided between the limited stopper 408a and a protrusion 402f near the spring groove 401h.
  • one end of the fixed shaft 408 is located in the space of the second half ring 402a.
  • the end of the fixed shaft 408 located on one side of the second half ring 402a is provided with an inclined surface 408c to form a wedge shape; that is, one end of the inclined surface 408c is located in the space of the second half ring 402a.
  • the third through hole 402g and the fixed shaft 408 are provided on the side of the rotating cylinder 402 connected to the second half ring 402a.
  • a spring hole 401f is provided on one end surface of the fixed cylinder 401 away from the first half ring 401a, a positioning pin 409 is provided in the spring hole 401f, and a fifth spring 409a is fixedly connected between the positioning pin 409 and the spring hole 401f.
  • the positioning pin 409 has a tendency to move toward the rotating cylinder 402.
  • the positioning pin 409 is coaxial with the third through hole 402g.
  • one end of the positioning pin 409 is embedded in the third through hole 402g, so the rotation of the rotating cylinder 402 can be limited.
  • a guide groove 402h is provided on the inner side of the rotating cylinder 402 along the axis, and the limit stopper 408a is provided with a limit protrusion embedded in the guide groove 402h.
  • the table 501 when the connecting shaft 500 is installed, the table 501 is first placed in the second semi-ring member 402a. During the placement process, the table 501 contacts the inclined surface 408c and pushes the fixed shaft 408. The fixed shaft 408 pushes the positioning pin 409 to disengage the positioning pin 409 from the third through hole 402g.
  • the rotating cylinder 402 is pushed to make it spirally move, and until the boss 402c moves to the end of the long groove 401g, at this time, the first semi-ring boss 401b and the second semi-ring boss 402b have both inner and outer end faces coincide, and the first semi-ring boss 401b and the second semi-ring boss 402b form an annular ring to fix the table 501 inside the fixed cylinder 401.
  • the connecting shaft 500 When it is necessary to remove the connecting shaft 500, press the reset rod 406, and one end of the reset rod 406 pushes the limit pin 404 to shrink it into the boss 402c, and then press the rotating cylinder 402 toward the inside of the fixed cylinder 401 until the rotating cylinder 402 flips 180°.
  • the positioning pin 409 is coaxial with the third through hole 402g, and one end of the positioning pin 409 is embedded in the third through hole 402g, and the connecting shaft can be taken out.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Braking Arrangements (AREA)
  • Guiding Agricultural Machines (AREA)
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Abstract

本发明公开了一种绿色智慧综合供能无杆牵引车，涉及机场无杆牵引车领域，包括底盘单元，其包括整车控制器、与所述整车控制器连接的电源模块、集成控制器，所述电源模块与集成控制器连接，所述集成控制器连接有液压模块，所述液压模块连接有制动器；智能驾驶单元，包括与所述整车控制器连接的智能驾驶控制器，所述驾驶控制器连接有雷达；雷达安装单元包括固定设置在车架的固定座，所述固定座连接有连接单元，所述连接单元连接有连接轴，所述雷达安装在连接轴一端；本发明搭载车辆底盘、新能源储能、静变电源、空调系统、无人驾驶、夹持举升机构、以及人机交互系统，同时通过对用于无人驾驶的雷达安装方式进行改进，使雷达的安装和调节更加方便。

Description

一种绿色智慧综合供能无杆牵引车 技术领域
本发明涉及无杆牵引车领域，尤其是一种绿色智慧综合供能无杆牵引车。
背景技术
根据中国商飞《绿色发展中心》数据统计结果，飞机在地面阶段消耗大量燃油，地面阶段节能减排大势所趋。飞机开发滑行模式耗油量130kg，传统抱牵抱牵滑行模式耗油量45kg。另据统计，平均一次航班飞机地面开发滑行起飞20分钟、下降20分钟，开发滑行接近40分钟，极大降低了飞机发动机的有效使用寿命。
国内机场，无杆抱牵、电源车、空调车分开独立运营，外加其他特种车辆(食品车、清水车、散装货物装载车等)，基本包围飞机一周，严重加大了机场特种运营车辆的数量以及车辆碰撞飞机的风险。
应用推广机场无人驾驶设备是贯彻民航智慧发展主线的具体体现，是推进四型机场建设的有效举措，是建设多领域民航强国的实现路径。根据中国民用航空局印发《机场无人驾驶设备应用路线图(2021－2025年)》的通知，2025年前实现机场特种车辆的无人化运营。抱牵车辆是机场地面保障车辆之一，无人化改造必不可少，特别是针对无人驾驶所需要的雷达安装问题，现有技术当中，对于雷达的安装位置较为固定，一旦对雷达进行升级、更换，都需要重新对雷达的安装位置进行调整，调整过程过于繁琐，不易操作。
发明内容
部分的目的在于概述本发明的实施例的一些方面以及简要介绍一些较佳实施例，在本部分以及本申请的说明书摘要和发明名称中可能会做些简化或省略以避免使本部分、说明书摘要和发明名称的目的模糊，而这种简化或省略不能用于限制本发明的范围。
鉴于上述和/或现有技术中所存在的问题，提出了本发明。
因此，本发明所要解决的技术问题是国内机场，无杆抱牵、电源车、空调车分开独立运营，外加其他特种车辆(食品车、清水车、散装货物装载车等)，基本包围飞机一周，严重加大了机场特种运营车辆的数量以及车辆碰撞飞机的风险；针对无人驾驶所需要的雷达安装问题，现有技术当中，对于雷达的安装位置较为固定，一旦对雷达进行升级、更换，都需要重新对雷达的安装位置进行调整，调整过程过于繁琐，不易操作。
为解决上述技术问题，本发明提供如下技术方案：一种绿色智慧综合供能无杆牵引车，包括，底盘单元，包括整车控制器、与所述整车控制器连接的电源模块、集成控制器，所述电源模块与集成控制器连接，所述集成控制器连接有液压模块，所述液压模块连接有制动器；
智能驾驶单元，包括与所述整车控制器连接的智能驾驶控制器，所述驾驶控制器连接有雷达；
雷达安装单元，包括固定设置在车架的固定座，所述固定座连接有连接单元，所述连接单元连接有连接轴，
所述雷达安装在连接轴一端。
作为本发明所述绿色智慧综合供能无杆牵引车的一种优选方案，其中：所述电源模块包括高压电池包、电池管理系统，用于为整车提供电源。
作为本发明所述绿色智慧综合供能无杆牵引车的一种优选方案，其中：所述液压模块还连接有抱牵机构，液压模块包括液压油泵电机、液压油泵，所述液压油泵控制制动器、抱牵机构的动作，所述制动器分布在前桥车轮和后桥车轮。
作为本发明所述绿色智慧综合供能无杆牵引车的一种优选方案，其中：所述集成控制器连接有驱动单元，所述驱动单元包括主驱动电机、集成减速器，所述集成减速器连接有电控液压油缸。
作为本发明所述绿色智慧综合供能无杆牵引车的一种优选方案，其中：所述固定座设置有支架，所述支架连接有球形头；
雷达安装单元还包括与所述连接单元连接的连接件，所述连接件设置有球形槽，所述球形头位于球形槽内。
作为本发明所述绿色智慧综合供能无杆牵引车的一种优选方案，其中：所述连接件外部设置有贯穿至球形槽内的螺纹孔，所述螺纹孔连接有紧固螺栓；
所述紧固螺栓一端抵触在球形头表面，所述紧固螺栓设置有贯穿的拆卸孔，所述紧固螺栓侧面设置有沿轴向延伸的条形槽；
所述拆卸孔内设置有拆卸杆，所述紧固螺栓套设有第一端面棘轮，所述拆卸杆与第一端面棘轮之间设置有穿过条形槽的连接块；
所述螺纹孔开口端面设置有第二端面棘轮，所述第一端面棘轮与第二端面棘轮配合连接；
所述第一端面棘轮与紧固螺栓的六角凸台之间设置有弹性件。
作为本发明所述绿色智慧综合供能无杆牵引车的一种优选方案，其中：所述连接单元包括与连接件连接的固定圆筒，所述固定圆筒连接有连接轴，所述雷达安装在连接轴一端；
所述固定圆筒开口一端设置有第一半环件，所述第一半环件端部设置有第一半环凸台；
所述固定圆筒内活动连接有转动筒，所述转动筒靠近第一半环件的一端连接有第二半环件，所述第二半环件端部设置有第二半环凸台；
所述连接轴一端设置有圆台，所述圆台直径大于第一半环凸台、第二半环凸台内径；
所述固定圆筒内侧设置有螺旋凹槽，所述转动筒外侧设置有凸台，所述凸台 嵌入所述螺旋凹槽内；
所述固定圆筒内远离第一半环件的一端面设置有弹簧槽，所述弹簧槽与转动筒之间设置有第一弹簧；
所述凸台设置有沿转动筒径向延伸的第一通孔，所述第一通孔内设置有第一限位槽，所述第一通孔内设置有限位销，所述限位销位于第一限位槽内的一端设置有第一限位盘，所述第一限位盘与第一限位槽之间设置有第二弹簧；
所述螺旋凹槽靠近第一半环件的一端沿轴向延伸形成长槽，所述长槽的端部设置有沿径向贯穿的第二通孔。
作为本发明所述绿色智慧综合供能无杆牵引车的一种优选方案，其中：所述第二通孔内设置有第二柱形槽，第二通孔内设置复位杆，所述复位杆位于第二柱形槽内的部分设置有第二限位盘，第二限位盘与第二柱形槽靠近转动筒的一端面之间设置有第三弹簧；
所述转动筒内侧两端均设置有凸块，凸块设置有贯穿的第三通孔，第三通孔内设置有固定轴，固定轴位于两个凸块之间的部分设置有限位挡块，限位挡块与靠近弹簧槽的一个凸块之间设置有第四弹簧，固定轴位于第二半环件一侧的端部设置有斜面形成楔形；转动筒内侧沿轴线设置有导向凹槽，限位挡块设置有嵌入导向凹槽内的限位凸起。
作为本发明所述绿色智慧综合供能无杆牵引车的一种优选方案，其中：所述第三通孔、固定轴设置在转动筒连接第二半环件的一侧。
作为本发明所述绿色智慧综合供能无杆牵引车的一种优选方案，其中：所述固定圆筒内远离第一半环件的一端面设置有弹簧孔，所述弹簧孔内设置有定位销，所述定位销与弹簧孔之间固定连接有第五弹簧。
本发明的有益效果：本发明搭载车辆底盘、新能源储能、静变电源、空调系统、无人驾驶、夹持举升机构、以及人机交互系统，使得产品同时具备电动无杆牵引、电源供应、空调控制、5G无人驾驶、平行驾驶等功能；同时通过对用于无人驾驶的雷达安装方式进行改进，使雷达的安装和调节更加方便。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其它的附图。其中：
图1为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车的示意图；
图2为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中系统的具体示意图；
图3为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中雷达安装单元与连接单元、雷达的示意图；
图4为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中雷达安装单元的示意图；
图5为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中雷达安装单元的局部示意图；
图6为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中雷达安装单元的剖面示意图；
图7为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中图6的局部放大示意图；
图8为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中与连接单元的示意图；
图9为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中连接单元的爆炸示意图；
图10为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中连接单元连接时的示意图；
图11为本发明提供的一种实施例所述的绿色智慧综合供能无杆牵引车中连接单元连接完成的示意图。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合说明书附图对本发明的具体实施方式做详细的说明。
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是本发明还可以采用其他不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似推广，因此本发明不受下面公开的具体实施例的限制。
其次，本发明结合示意图进行详细描述，在详述本发明实施例时，为便于说明，表示器件结构的剖面图会不依一般比例作局部放大，而且所述示意图只是示例，其在此不应限制本发明保护的范围。此外，在实际制作中应包含长度、宽度及深度的三维空间尺寸。
再其次，此处所称的“一个实施例”或“实施例”是指可包含于本发明至少一个实现方式中的特定特征、结构或特性。在本说明书中不同地方出现的“在一个实施例中”并非均指同一个实施例，也不是单独的或选择性的与其他实施例互相排斥的实施例。
实施例1
参照图1～2，本实施例提供了一种绿色智慧综合供能无杆牵引车，包括底盘单元100和智能驾驶单元200，其中底盘单元100，包括整车控制器101、与整车控制器101连接的电源模块102、集成控制器103，整车控制器是正常行驶的控制中枢，是整车控制系统的核心部件，电源模块102包括高压电池包、电池管理系统，集成控制器103为N合一集成控制器，包括电机、油泵、DC/DC、PDU、OBC。
其中，电源模块102与集成控制器103连接，集成控制器103连接有液压模块104，液压模块104连接有制动器105；液压模块104包括液压油泵电机和液压油泵，用于驱动制动器105，制动器105用于对车轮进行制动。
进一步的，智能驾驶单元200，包括与整车控制器101连接的智能驾驶控制器201，其中智能驾驶控制器201为自动驾驶域控制器，自动驾驶域控制器(ADCU-AutomatedDriving Control Unit)作为一个智能计算平台，面向L3/L4级无人驾驶应用，它能够将计算密集型传感器数据处理和传感器融合工作与控制策略开发集成到一个控制单元中，并有助于建立结构化和有组织的车辆控制器网络；智能驾驶控制器201连接有雷达202；雷达202分布在车辆四周。
应当说明的是，自动驾驶域控制器的主要功能：作为功能控制中枢，承担着驾驶相关的车身区域的“大脑”的角色。域控制器向上通过智能化接口获得传感器、诊断数据与状态数据，向下通过执行器接口传递相关执行指令，起到该功能域计算大脑的核心角色。除了主DCU外，该功能域中还会有部分子ECU来执行驱动和特殊逻辑策略的工作。除了驾驶域外，座舱、动力安全、底盘、车身也逐步开始形成以域控制器为核心的计算中心的架构。
雷达安装单元300，包括固定设置在车架的固定座301，固定座301连接有连接单元400，雷达202安装在连接单元400上。
进一步的，电源模块102包括高压电池包、电池管理系统，用于为整车提供电源。
进一步的，液压模块104还连接有抱牵机构107，液压模块104包括液压油泵电机、液压油泵，液压油泵控制制动器105、抱牵机构的动作，制动器105分布在前桥车轮和后桥车轮。
进一步的，集成控制器103连接有驱动单元106，驱动单元106包括主驱动电机、集成减速器，即主驱动电机、集成减速器由集成控制器103进行控制。
较佳的，集成减速器连接有电控液压油缸。
进一步的，为保障整车驱动性能能满足高负载和高速要求，同时保证无杆抱牵机构的功能需求，采取整车电驱动+上装辅助系统液压驱动的方式，驱动系统中，采用一台大功率驱动电机通过分动箱减速后驱动前桥两侧车轮。采用中等功率液压油泵电机，驱动液压抱轮机构、液压转向、液压制动等供能。选择额定功率169kW电机峰值功率309kW，峰值转矩2000Nm，峰值转速4500rpm，配备两级固定速比减速器，减速比36(3*12)。电机及其控制器符合GB/T 18488.1的规定。
应当说明的是，本发明将无杆抱牵、电源车、空调车进行整个整合，搭载车辆底盘、新能源储能、静变电源、空调系统、无人驾驶、夹持举升机构、以及人机交互系统；本实施例中的无杆牵引车还配备有新能源储能、静变电源、空调系统、无人驾驶、夹持举升机构、以及人机交互系统，搭载五合一多功能集成控制器，使得产品同时具备电动无杆牵引、电源供应、空调控制、5G无人驾驶、平行 驾驶等功能，改变传统车各功能、各车辆独立运营模式，利用C-V2X、雷达和视觉等多源感知系统的信息交互，构建路侧平行驾驶系统，实现平行驾驶功能，快速响应、准确预测。
实施例2
参照图3～11，为本发明第二个实施例，该实施例基于上一个实施例，且与上一个实施例不同的是：
其中，雷达通过雷达安装单元300、连接单元400进行安装。
具体的，固定座301设置有支架301a，支架301a通过焊接或螺栓连接在车架四周，支架301a连接有球形头301b，球形头301b为球形。
雷达安装单元300还包括与连接单元400连接的连接件302，连接件302设置有球形槽302a，球形头301b位于球形槽302a内。因此球形头301b与连接件302形成接头，能够调节雷达的朝向。
进一步的，连接件302外部设置有贯穿至球形槽302a内的螺纹孔302b，螺纹孔302b连接有紧固螺栓303；紧固螺栓303一端抵触在球形头301b表面，通过紧固螺栓303对球形头301b的位置进行固定。
较佳的，紧固螺栓303设置有贯穿的拆卸孔303a，紧固螺栓303侧面设置有沿轴向延伸的条形槽303b；条形槽303b贯穿至拆卸孔303a，拆卸孔303a内设置有拆卸杆304，紧固螺栓303套设有第一端面棘轮306，拆卸杆304与第一端面棘轮306之间设置有穿过条形槽303b的连接块306a；螺纹孔302b开口端面设置有第二端面棘轮302c，第一端面棘轮306与第二端面棘轮302c配合连接；第一端面棘轮306与紧固螺栓303的六角凸台之间设置有弹性件305。弹性件305为弹簧，在弹簧的作用下，第一端面棘轮306与第二端面棘轮302c啮合，且顺时针旋转紧固螺栓303时(即固定球形头301b时)，第一端面棘轮306正常转动，而逆时针旋转紧固螺栓303时(即松开固定球形头301b时)，第二端面棘轮302c限制第一端面棘轮306转动，进而避免车辆运行时出现松动，而需要调节雷达位置时，操作拆卸杆304使第一端面棘轮306脱离第二端面棘轮302c，接着操作紧固螺栓303即可。
进一步的，连接单元400包括与连接件302连接的固定圆筒401，连接单元400连接有连接轴500，连接轴500连接有雷达202；雷达202安装在连接轴500一端。固定圆筒401为圆筒形，固定圆筒401开口一端设置有第一半环件401a，第一半环件401a即为一半的筒形，第一半环件401a端部设置有第一半环凸台401b；第一半环凸台401b由第一半环件401a端部向轴心延伸形成，其中固定圆筒401内活动连接有转动筒402，转动筒402为圆筒形，其能够在固定圆筒401内沿轴向移动，转动筒402靠近第一半环件401a的一端连接有第二半环件402a，第二半环件402a同样为圆筒的一半，第二半环件402a端部设置有第二半环凸台402b；第二半环凸台402b由第二半环件402a端部向轴心延伸形成，第二半环凸 台402b的内径与第一半环凸台401b的内径一致，当第二半环件402a与第一半环件401a端部齐平时，第一半环凸台401b与第二半环凸台402b形成环形圈。
进一步的，与环形圈相对应的是，连接轴500一端设置有圆台501，圆台501直径大于第一半环凸台401b、第二半环凸台402b内径。即圆台501位于第二半环件402a、第一半环件401a内部时，第一半环凸台401b与第二半环凸台402b将圆台501限制在内部，完成固定连接。
其中，固定圆筒401内侧设置有螺旋凹槽401c，螺旋凹槽401c沿螺旋线延伸形成，且螺旋凹槽401c的圈数为0.5圈，转动筒402外侧设置有凸台402c，凸台402c嵌入螺旋凹槽401c内。因此，转动筒402在固定圆筒401内的运动为螺旋运动，初始状态下，转动筒402除了第二半环件402a、第二半环凸台402b的其余部分都位于固定圆筒401内，且凸台402c在螺旋凹槽401c的起始端，此时，第二半环件402a、第二半环凸台402b形成的半圆槽朝外部，此时可以将圆台501放在第二半环件402a、第二半环凸台402b内。圆台501的两端面分别与第二半环件402a、第二半环凸台402b端面接触。
进一步的，固定圆筒401内远离第一半环件401a的一端面设置有弹簧槽401h，弹簧槽401h与转动筒402之间设置有第一弹簧403。第一弹簧403为压力弹簧，在第一弹簧403的作用下，推动转动筒402使其螺旋运动，在移动过程中，第二半环件402a进行翻转，直至凸台402c移动至螺旋凹槽401c另一端，此时第二半环件402a恰好翻转180°，且圆台501位于第二半环件402a、第一半环件401a组成的圆槽内，且此时第二半环件402a端面与第一半环凸台401b的内端面重合。
较佳的，螺旋凹槽401c靠近第一半环件401a的一端沿轴向延伸形成长槽401g，即此时在第一弹簧403的作用下，转动筒402开始沿沿直线运动，直至凸台402c移动至长槽401g末端，此时第一半环凸台401b与第二半环凸台402b内外两端面均重合，第一半环凸台401b、第二半环凸台402b形成环形圈将圆台501固定在固定圆筒401内部。
进一步的，凸台402c设置有沿转动筒402径向延伸的第一通孔402d，第一通孔402d内设置有第一限位槽402e，第一限位槽402e直径大于第一通孔402d直径，第一通孔402d内设置有限位销404，限位销404位于第一限位槽402e内的一端设置有第一限位盘404a，第一限位盘404a与第一限位槽402e之间设置有第二弹簧405；在弹簧的作用下，限位销404具有向远离转动筒402中心运动的趋势。
相应的，所述长槽401g的端部设置有沿径向贯穿的第二通孔401d，因此，一旦凸台402c移动至长槽401g末端，限位销404就在弹簧的作用下弹出并嵌入第二通孔401d内，将转动筒402位置进行固定，进而“锁死”连接轴。
较佳的，第二通孔401d内设置有第二柱形槽401e，第二柱形槽401e直径大于第二通孔401d内径，第二通孔401d内设置复位杆406，复位杆406位于第二柱形槽401e内的部分设置有第二限位盘406a，第二限位盘406a与第二柱形槽401e 靠近转动筒402的一端面之间设置有第三弹簧407，即在第三弹簧407的作用下，复位杆406是远离转动筒402的；当需要取下连接轴时，按下复位杆406，复位杆406一端推动限位销404使其收缩至凸台402c内，然后将转动筒402向固定圆筒401内部按压，至转动筒402翻转180°，即可取出连接轴。
较佳的，转动筒402内侧两端均设置有凸块402f，凸块402f设置有贯穿的第三通孔402g，其中第三通孔402g靠边设置，第三通孔402g内设置有固定轴408，固定轴408所在位置应当满足：在圆台501放入第二半环件402a的过程中，圆台501大部分位于第二半环件402a内后与固定轴408接触。
其中，固定轴408位于两个凸块402f之间的部分设置有限位挡块408a，限位挡块408a与靠近弹簧槽401h的一个凸块402f之间设置有第四弹簧408b，在弹簧的作用下，固定轴408的一端位于第二半环件402a的空间内。固定轴408位于第二半环件402a一侧的端部设置有斜面408c形成楔形；即斜面408c一端位于第二半环件402a的空间内。第三通孔402g、固定轴408设置在转动筒402连接第二半环件402a的一侧。
相应的，固定圆筒401内远离第一半环件401a的一端面设置有弹簧孔401f，弹簧孔401f内设置有定位销409，定位销409与弹簧孔401f之间固定连接有第五弹簧409a。在弹簧的作用下，推动定位销409具有向转动筒402方向移动的趋势，初始状态下即安装连接轴前，定位销409与第三通孔402g同轴，此时，定位销409一端嵌入第三通孔402g内，因此可以限制转动筒402转动，较佳的，转动筒402内侧沿轴线设置有导向凹槽402h，限位挡块408a设置有嵌入导向凹槽402h内的限位凸起。
本实施例中，当开始安装连接轴500时，首先将圆台501放置在第二半环件402a中，在放置的过程中，圆台501与斜面408c接触并推动固定轴408，固定轴408又推动定位销409使定位销409从第三通孔402g内脱离，接着在第一弹簧403的作用下，推动转动筒402使其螺旋运动，并且直至凸台402c移动至长槽401g末端，此时第一半环凸台401b与第二半环凸台402b内外两端面均重合，第一半环凸台401b、第二半环凸台402b形成环形圈将圆台501固定在固定圆筒401内部。当需要取下连接轴500时，按下复位杆406，复位杆406一端推动限位销404使其收缩至凸台402c内，然后将转动筒402向固定圆筒401内部按压，至转动筒402翻转180°，此时定位销409与第三通孔402g同轴定位销409一端嵌入第三通孔402g内，即可取出连接轴。
应说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的精神和范围，其均应涵盖在本发明的权利要求范围当中。

Claims (10)

  1. 一种绿色智慧综合供能无杆牵引车，其特征在于：包括，
    底盘单元(100)，包括整车控制器(101)、与所述整车控制器(101)连接的电源模块(102)、集成控制器(103)，所述电源模块(102)与集成控制器(103)连接，所述集成控制器(103)连接有液压模块(104)，所述液压模块(104)连接有制动器(105)；
    智能驾驶单元(200)，包括与所述整车控制器(101)连接的智能驾驶控制器(201)，所述驾驶控制器(201)连接有雷达(202)；
    雷达安装单元(300)，包括固定设置在车架的固定座(301)，所述固定座(301)连接有连接单元(400)，所述连接单元(400)连接有连接轴(500)，
    所述雷达(202)安装在连接轴(500)一端。
  2. 根据权利要求1所述的绿色智慧综合供能无杆牵引车，其特征在于：所述电源模块(102)包括高压电池包、电池管理系统，用于为整车提供电源。
  3. 根据权利要求2所述的绿色智慧综合供能无杆牵引车，其特征在于：所述液压模块(104)还连接有抱牵机构(107)，液压模块(104)包括液压油泵电机、液压油泵，所述液压油泵控制制动器(105)、抱牵机构的动作，所述制动器(105)分布在前桥车轮和后桥车轮。
  4. 根据权利要求3所述的绿色智慧综合供能无杆牵引车，其特征在于：所述集成控制器(103)连接有驱动单元(106)，所述驱动单元(106)包括主驱动电机、集成减速器，所述集成减速器连接有电控液压油缸。
  5. 根据权利要求4所述的绿色智慧综合供能无杆牵引车，其特征在于：所述固定座(301)设置有支架(301a)，所述支架(301a)连接有球形头(301b)；
    雷达安装单元(300)还包括与所述连接单元(400)连接的连接件(302)，所述连接件(302)设置有球形槽(302a)，所述球形头(301b)位于球形槽(302a)内。
  6. 根据权利要求5所述的绿色智慧综合供能无杆牵引车，其特征在于：所述连接件(302)外部设置有贯穿至球形槽(302a)内的螺纹孔(302b)，所述螺纹孔(302b)连接有紧固螺栓(303)；
    所述紧固螺栓(303)一端抵触在球形头(301b)表面，所述紧固螺栓(303)设置有贯穿的拆卸孔(303a)，所述紧固螺栓(303)侧面设置有沿轴向延伸的条形槽(303b)；
    所述拆卸孔(303a)内设置有拆卸杆(304)，所述紧固螺栓(303)套设有第一端面棘轮(306)，所述拆卸杆(304)与第一端面棘轮(306)之间设置有穿过条形槽(303b)的连接块(306a)；
    所述螺纹孔(302b)开口端面设置有第二端面棘轮(302c)，所述第一端面棘 轮(306)与第二端面棘轮(302c)配合连接；
    所述第一端面棘轮(306)与紧固螺栓(303)的六角凸台之间设置有弹性件(305)。
  7. 根据权利要求6所述的绿色智慧综合供能无杆牵引车，其特征在于：所述连接单元(400)包括与连接件(302)连接的固定圆筒(401)，所述固定圆筒(401)连接有连接轴(500)，所述雷达(202)安装在连接轴(500)一端；
    所述固定圆筒(401)开口一端设置有第一半环件(401a)，所述第一半环件(401a)端部设置有第一半环凸台(401b)；
    所述固定圆筒(401)内活动连接有转动筒(402)，所述转动筒(402)靠近第一半环件(401a)的一端连接有第二半环件(402a)，所述第二半环件(402a)端部设置有第二半环凸台(402b)；
    所述连接轴(500)一端设置有圆台(501)，所述圆台(501)直径大于第一半环凸台(401b)、第二半环凸台(402b)内径；
    所述固定圆筒(401)内侧设置有螺旋凹槽(401c)，所述转动筒(402)外侧设置有凸台(402c)，所述凸台(402c)嵌入所述螺旋凹槽(401c)内；
    所述固定圆筒(401)内远离第一半环件(401a)的一端面设置有弹簧槽(401h)，所述弹簧槽(401h)与转动筒(402)之间设置有第一弹簧(403)；
    所述凸台(402c)设置有沿转动筒(402)径向延伸的第一通孔(402d)，所述第一通孔(402d)内设置有第一限位槽(402e)，所述第一通孔(402d)内设置有限位销(404)，所述限位销(404)位于第一限位槽(402e)内的一端设置有第一限位盘(404a)，所述第一限位盘(404a)与第一限位槽(402e)之间设置有第二弹簧(405)；
    所述螺旋凹槽(401c)靠近第一半环件(401a)的一端沿轴向延伸形成长槽(401g)，所述长槽(401g)的端部设置有沿径向贯穿的第二通孔(401d)。
  8. 根据权利要求7所述的绿色智慧综合供能无杆牵引车，其特征在于：所述第二通孔(401d)内设置有第二柱形槽(401e)，第二通孔(401d)内设置复位杆(406)，所述复位杆(406)位于第二柱形槽(401e)内的部分设置有第二限位盘(406a)，第二限位盘(406a)与第二柱形槽(401e)靠近转动筒(402)的一端面之间设置有第三弹簧(407)；
    所述转动筒(402)内侧两端均设置有凸块(402f)，凸块(402f)设置有贯穿的第三通孔(402g)，第三通孔(402g)内设置有固定轴(408)，固定轴(408)位于两个凸块(402f)之间的部分设置有限位挡块(408a)，限位挡块(408a)与靠近弹簧槽(401h)的一个凸块(402f)之间设置有第四弹簧(408b)，固定轴(408)位于第二半环件(402a)一侧的端部设置有斜面(408c)形成楔形；转动筒(402)内侧沿轴线设置有导向凹槽(402h)，限位挡块(408a)设置有嵌入导向凹槽(402h)内的限位凸起。
  9. 根据权利要求8所述的绿色智慧综合供能无杆牵引车，其特征在于：所述第三通孔(402g)、固定轴(408)设置在转动筒(402)连接第二半环件(402a)的一侧。
  10. 根据权利要求9所述的绿色智慧综合供能无杆牵引车，其特征在于：所述固定圆筒(401)内远离第一半环件(401a)的一端面设置有弹簧孔(401f)，所述弹簧孔(401f)内设置有定位销(409)，所述定位销(409)与弹簧孔(401f)之间固定连接有第五弹簧(409a)。
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