CN114620129A - Novel unmanned drive-by-wire chassis - Google Patents
Novel unmanned drive-by-wire chassisDownload PDFInfo
- Publication number
- CN114620129A CN114620129ACN202011480464.9ACN202011480464ACN114620129ACN 114620129 ACN114620129 ACN 114620129ACN 202011480464 ACN202011480464 ACN 202011480464ACN 114620129 ACN114620129 ACN 114620129A
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- Prior art keywords
- wire
- frame
- drive
- brake
- main controller
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 239000003381stabilizerSubstances0.000claimsabstractdescription5
- 239000006096absorbing agentSubstances0.000claimsdescription13
- 230000035939shockEffects0.000claimsdescription13
- 238000003745diagnosisMethods0.000claimsdescription6
- 238000013016dampingMethods0.000claimsdescription3
- 230000008054signal transmissionEffects0.000claimsdescription3
- 230000006870functionEffects0.000abstractdescription3
- 230000004044responseEffects0.000abstractdescription2
- 238000005516engineering processMethods0.000description3
- 230000008859changeEffects0.000description2
- 230000007547defectEffects0.000description2
- 230000006872improvementEffects0.000description2
- 230000009286beneficial effectEffects0.000description1
- 239000008358core componentSubstances0.000description1
- 238000013135deep learningMethods0.000description1
- 210000001503jointAnatomy0.000description1
- 238000012423maintenanceMethods0.000description1
- 238000007726management methodMethods0.000description1
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Images
Classifications
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
- 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
- B60R16/04—Arrangement of batteries
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Technical Field
The invention relates to the field of unmanned driving technical devices, in particular to a novel unmanned drive-by-wire chassis.
Background
The unmanned technology is the leading edge technology of the next door, and the direction of efforts of enterprises and scientific researchers is in the future. The development of the unmanned technology breeds a wire control chassis meeting the requirements of people, and the wire control chassis can be applied to various fields of life by carrying different upper parts, such as the fields of municipal fire fighting, agricultural and forestry machinery, last three kilometers of logistics distribution and the like.
The unmanned delivery vehicle can realize intelligent planning of a delivery route, is in butt joint with a TMS (transportation management system), plans an optimal delivery path, and delivers the packages to a specified position timely and efficiently; meanwhile, dynamic identification and timely avoidance are achieved, different entities such as pedestrians and vehicles in the environment are identified based on deep learning by utilizing a SLAM scheme of laser and vision in parallel, and a self-adaptive particle filter algorithm is applied to accurately predict the track of the dynamic entities.
The existing unmanned drive-by-wire chassis generally has the defects of complex structure, incapability of meeting the requirement of remote control and the like, and the improvement on the prior art is necessary to meet the continuously improved requirement of people on the unmanned control.
Disclosure of Invention
The invention aims to solve the technical problem of providing a novel unmanned drive-by-wire chassis to overcome the defects in the prior art.
The technical scheme for solving the technical problems is as follows:
a novel unmanned drive-by-wire chassis comprises a frame and a vehicle body stabilizer bar positioned at the lower part of the rear part of the frame, wherein the frame is respectively provided with a corresponding interface which is fixedly connected with a suspension system, a drive-by-wire steering system, a drive-by-wire braking system and a drive-by-wire parking system; the rear suspension system is fixed behind the frame, and the drive-by-wire system drives the tires to rotate; the front tyre of the frame is fixed on the frame through a front suspension system, and an illuminating lamp is arranged in front of the frame;
the middle part of the frame is provided with a frame structure for accommodating an electrical box, a battery pack, a main controller and a signal transceiver which is connected with the main controller and is used for signal transmission with an external manual remote control system are arranged in the electrical box;
the main controller is connected with the steer-by-wire system, the brake-by-wire system and the parking-by-wire system through signal lines;
furthermore, a steer-by-wire system is arranged in front of the frame, the steer-by-wire system comprises a steering motor connected with the main controller, and the steering motor is connected with a steering gear and a universal joint;
furthermore, the rear suspension system is a rear axle, and the front suspension system is a double-fork-arm structure consisting of an upper fork arm and a lower fork arm;
furthermore, the brake-by-wire system comprises a servo motor, an electric cylinder driven by the servo motor, a brake master cylinder, a front brake cylinder, a rear brake cylinder, a servo motor driver and a brake control system, wherein the front brake cylinder and the rear brake cylinder are respectively connected with the brake master cylinder through hydraulic pipelines, and the servo motor driver is used for connecting the servo motor and the main controller; the front brake cylinder is connected with the butterfly brake, and the rear brake cylinder is connected with the traveling and parking integrated butterfly brake;
furthermore, the drive-by-wire system consists of a rear axle motor controller connected with the main controller, a rear axle motor and a rear axle driven by the rear axle motor; wherein the rear axle is of a semi-suspension structure;
furthermore, the wire-controlled parking system consists of a motor controller connected with the main controller, a parking motor and a manual button for controlling the switch of the parking motor;
furthermore, a slide rail is arranged on the inner side of the frame structure, and a pulley is arranged at a position of the battery pack corresponding to the slide rail for the battery pack to slide in and out of the electrical box;
further, the front end and the rear end of the frame are provided with safety contact edges connected with the main controller;
furthermore, a front shock absorber and a rear shock absorber are respectively arranged at the front and the rear of the frame, and both the front shock absorber and the rear shock absorber are damping spring type shock absorbers;
furthermore, the main controller is connected with an independent diagnosis interface to support online fault diagnosis;
the invention has the beneficial effects that: the chassis is used as a core component of an unmanned distribution vehicle, can be sensed and controlled by a remote and driving system, achieves the functions of quick response, quick real-time feedback and controlled full-automatic driving control, and solves the problems of labor cost rise and personnel shortage at present.
Drawings
FIG. 1 is a schematic structural view of the present invention;
the reference numerals are explained below:
1. the device comprises a vehicle body stabilizer bar, 2, a brake lamp, 3, a hydraulic pipeline, 4, a brake master cylinder, 5, an electric cylinder, 6, a vehicle frame, 7, a rear axle motor controller, 8, an electric box, 9, a steering motor, 10, a front shock absorber, 11, a manual button, 12, a lighting lamp, 13, a safety contact edge, 14, a steering engine, 15, a universal joint, 16, a lower fork arm, 17, an upper fork arm, 18, a steering motor, 19, a front brake sub-pump, 20, a battery pack, 21, a slide rail, 22, a rear axle motor, 23, a rear axle, 24, a rear brake sub-pump, 25 and a tire;
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a novel unmanned drive-by-wire chassis comprises aframe 6 and a vehicle body stabilizer bar 1 positioned at the lower part of the rear part of the frame, wherein theframe 6 is respectively provided with a corresponding interface which is fixedly connected with a suspension system, a drive-by-wire steering system, a drive-by-wire brake system and a drive-by-wire parking system; the rear suspension system is fixed behind theframe 6 and drives the tire 25 to rotate; the front tyre of the frame is fixed on theframe 6 through a front suspension system, and the front of the frame is provided with anilluminating lamp 12; (ii) a
The middle part of the frame is provided with a frame structure for accommodating anelectric appliance box 8, and abattery pack 20, a main controller and a signal transceiver which is connected with the main controller and is used for signal transmission with an external manual remote control system are arranged in theelectric appliance box 8;
the main controller is connected with the steer-by-wire system, the brake-by-wire system and the parking-by-wire system through signal lines;
a steer-by-wire system is arranged in front of the frame, the steer-by-wire system comprises asteering motor 9 connected with a main controller, and the steering motor is connected with asteering gear 14 and auniversal joint 15;
the rear suspension system is arear axle 23, and the front suspension system is a double-fork-arm structure consisting of anupper fork arm 17 and alower fork arm 16;
the brake-by-wire system comprises a servo motor, anelectric cylinder 5 driven by the servo motor, abrake master pump 4, afront brake cylinder 19 and a rear brake cylinder 24 which are respectively connected with thebrake master pump 4 through ahydraulic pipeline 3, and a servo motor driver for connecting the servo motor and the main controller; the front brake cylinder is connected with a butterfly brake, and the rear brake cylinder is connected with a traveling-parking integrated butterfly brake;
the drive-by-wire system consists of a rearaxle motor controller 7 connected with the main controller, arear axle motor 22 and arear axle 23 driven by the rear axle motor; wherein, therear axle 23 is a semi-suspension structure;
the wire-controlled parking system consists of a motor controller connected with the main controller, a parking motor and amanual button 11 for controlling the switch of the parking motor;
aslide rail 21 is arranged on the inner side of the frame structure, and a pulley is arranged at the position of thebattery pack 20 corresponding to theslide rail 21 for the battery pack to slide in and out of theelectrical box 8;
the front end and the rear end of the frame are provided withsafety contact edges 13 connected with the main controller;
a front shock absorber 10 and a rear shock absorber are respectively arranged at the front and the rear of the frame, and both the front shock absorber and the rear shock absorber are damping spring type shock absorbers;
the main controller is connected with an independent diagnosis interface to support online fault diagnosis;
the invention has the advantages that:
1. increasing a parking mode;
2. when the red light is on, if the time exceeds ten seconds, the braking force provided by the brake is converted into the braking force provided by the parking, so that the motor is prevented from being burnt out due to the heat generated by the locked rotor of the brake motor.
3. The electrical box adopts a modular design and can be drawn out from the vehicle body for maintenance on the premise of not disassembling and assembling;
4. the battery pack has a power change function, and wheels are additionally arranged on the battery pack shell to facilitate quick change of the battery pack.
5. The front wheel adopts a double-fork arm structure, so that the multifunctional frame is convenient to refit.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A novel unmanned drive-by-wire chassis which is characterized in that: the parking system comprises a frame and a vehicle body stabilizer bar positioned at the lower part of the rear part of the frame, wherein the frame is respectively provided with a corresponding interface which is fixedly connected with a suspension system, a steer-by-wire system, a brake-by-wire system and a parking-by-wire system; the rear suspension system is fixed behind the frame, and the drive-by-wire system drives the tire to rotate; the front tyre of the frame is fixed on the frame through a front suspension system, and an illuminating lamp is arranged in front of the frame;
the middle part of the frame is provided with a frame structure for accommodating an electrical box, a battery pack, a main controller and a signal transceiver which is connected with the main controller and is used for signal transmission with an external manual remote control system are arranged in the electrical box;
and the main controller is connected with the steer-by-wire system, the brake-by-wire system and the parking-by-wire system through signal lines.
2. The novel unmanned drive-by-wire chassis of claim 1, wherein: the steering-by-wire system is arranged in front of the frame and comprises a steering motor connected with the main controller, and the steering motor is connected with the steering gear and the universal joint.
3. The novel unmanned drive-by-wire chassis of claim 2, wherein: the rear suspension system is a rear axle, and the front suspension system is a double-fork-arm structure consisting of an upper fork arm and a lower fork arm.
4. The novel drone drive-by-wire chassis of claim 3, wherein: the brake-by-wire system comprises a servo motor, an electric cylinder, a brake master pump, a front brake cylinder, a rear brake cylinder and a servo motor driver, wherein the electric cylinder is driven by the servo motor, the front brake cylinder and the rear brake cylinder are respectively connected with the brake master pump through hydraulic pipelines, and the servo motor driver is used for connecting the servo motor and the master controller; wherein, the front brake cylinder is connected with the butterfly brake, and the rear brake cylinder is connected with the traveling and parking integrated butterfly brake.
5. The novel drone drive-by-wire chassis of claim 4, wherein: the drive-by-wire system consists of a rear axle motor controller connected with the main controller, a rear axle motor and a rear axle driven by the rear axle motor; wherein, the rear axle is a semi-suspension structure.
6. The novel drone drive-by-wire chassis of claim 5, wherein: the wire-controlled parking system consists of a motor controller connected with the main controller, a parking motor and a manual button for controlling the parking motor to be switched on and off.
7. The novel drone drive-by-wire chassis of claim 6, wherein: the inner side of the frame structure is provided with a slide rail, and the battery pack is provided with a pulley at a position corresponding to the slide rail for the battery pack to slide in and out of the electrical box.
8. The novel drone drive-by-wire chassis of claim 7, wherein: safe touch edges connected with the main controller are arranged at the front end and the rear end of the frame.
9. The novel drone drive-by-wire chassis of claim 8, wherein: the front and rear shock absorbers are respectively arranged at the front and rear parts of the frame and are damping spring type shock absorbers.
10. The novel drone drive-by-wire chassis of claim 9, wherein: the main controller is connected with an independent diagnosis interface to support online fault diagnosis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011480464.9ACN114620129A (en) | 2020-12-10 | 2020-12-10 | Novel unmanned drive-by-wire chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011480464.9ACN114620129A (en) | 2020-12-10 | 2020-12-10 | Novel unmanned drive-by-wire chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114620129Atrue CN114620129A (en) | 2022-06-14 |
Family
ID=81896868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011480464.9APendingCN114620129A (en) | 2020-12-10 | 2020-12-10 | Novel unmanned drive-by-wire chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114620129A (en) |
- 2020
- 2020-12-10CNCN202011480464.9Apatent/CN114620129A/enactivePending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20220614 | |
| WD01 | Invention patent application deemed withdrawn after publication |