Background
The drive-by-wire chassis mainly comprises five subsystems, namely a drive-by-wire steering subsystem, a drive-by-wire suspension subsystem, a shift-by-wire subsystem and other subsystems.
The drive-by-wire chassis system cancels a large number of mechanical connection devices and hydraulic/pneumatic auxiliary devices, is beneficial to the improvement of safety of vehicles, has the characteristics of high response speed and high control precision, reduces the energy loss of force in the transmission process, and reduces the maintenance cost of abradable components. Meanwhile, the development of the drive-by-wire chassis technology can greatly improve the energy utilization efficiency of the automobile and the cruising ability of the new energy automobile. The new energy automobile chassis designed and produced based on the new energy special platform is redesigned, so that the new energy automobile chassis can better adapt to the layout of each drive-by-wire device, and meanwhile, the normal operation of the drive-by-wire chassis system can be effectively supported by a higher electrification level.
The wire control technology refers to a technology of realizing control by transmitting control through an electric wire or an electric signal instead of hard connection of a traditional mechanical connecting device, and the electric signal transmits information, and is faster in response and higher in precision. The drive-by-wire chassis is composed of five systems of steering, braking, gear shifting, accelerator and suspension. The drive-by-wire system cancels partial heavy pneumatic, hydraulic and mechanical connection with lower precision, and replaces a sensor, a control unit and an electromagnetic actuating mechanism driven by electric signals, so that the drive-by-wire system has the advantages of compact structure, good controllability, high response speed and the like, and has good development prospect. In addition, the drive-by-wire chassis is highly integrated, compact in structure, lighter in weight and is an electric and intelligent bridge.
Meanwhile, the drive-by-wire chassis is a key basic stone for realizing high-order automatic driving, and the high-order automatic driving requires the system to respond faster and has higher precision, so the drive-by-wire chassis is a key ring for realizing the automatic driving with the speed of more than L2+.
The existing drive-by-wire chassis generally adopts a suspension type design, is used for force transmission connection between a frame and an axle (or wheels) of a vehicle, transmits force and force torsion between the wheels and the frame, buffers impact force transmitted to the frame or the vehicle body by an uneven road surface, and reduces vibration caused by the impact force so as to ensure that the vehicle can run smoothly, but the suspension design has larger change due to different loads and height difference in the running process (and in the parking process), and cannot meet the accurate butt joint transmission in the cargo transportation process of the vehicle, so that some specific scenes cannot be realized.
The existing factory logistics vehicle safety protection device (bumper) is generally hard connected, the function of stopping suddenly when encountering obstacles is guaranteed by means of safe contact edges, because the bumper is hard connected, although the safety contact edges exist, the design may cause risks of damaging personnel and public objects, meanwhile, the bumper may be damaged to cause repair risks, and after a vehicle failure stops, a motor is locked, normal trailer operation cannot be realized, meanwhile, the requirement of a line control chassis on reliability is high, and a backup system is needed to guarantee the reliability; the power of the motor is limited to be insufficient; the working environment is bad, and the semiconductor components near the brake pad cannot bear high temperature, so an intelligent control factory logistics system is needed to solve the problems.
Disclosure of utility model
In order to overcome the technical problems, the utility model aims to provide an intelligent control factory logistics system, which is used for solving the problems that in the background art, force and force torsion are transmitted between wheels and a vehicle frame, impact force transmitted to the vehicle frame or the vehicle body by an uneven road surface is buffered, vibration caused by the impact force is reduced, so that the vehicle can run smoothly, but the suspension design has large height difference change in different loads and running processes (and parking processes), and accurate butt joint transmission in the process of transporting goods by the vehicle cannot be met.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides an intelligent control factory logistics system, includes the frame, frame outside fixed mounting has the upper cover plate, and installs the steering axle in the inside left side of frame, install steering booster on one side of steering axle, and install the main drive axle on the inside right side of frame, install hinge mechanism on one side of main drive axle, and hinge mechanism and main drive axle mutually support, install driving motor on the main drive axle mid-side, and driving motor is connected with the main drive axle, hydraulic pump control unit is installed in the inside left side of frame, install industrial control system chip on the frame on steering axle right side, and install VCU on the frame on industrial control system chip right side, all fixed mounting has solid tire on the both sides of steering axle and main drive axle.
Preferably, the hinge mechanism comprises connecting plates fixedly connected to two sides of the outer portion of the main drive axle through threads, the frame is fixedly connected with a mounting plate through bolts, the connecting plates are inserted into the mounting plate, and the two sides of the connecting plates and the two sides of the inner portion of the mounting plate are movably connected through hinge pins.
Preferably, the two sides of the top end of the upper cover plate are fixedly connected with autonomous navigation suite supports, and the left side of the top end of the upper cover plate is provided with an oil filling port.
Preferably, two groups of side marker lamps are respectively arranged on two sides of the front end and the rear end of the upper cover plate, emergency stop buttons are fixedly arranged on the front end and the rear end of the upper cover plate, and an operation panel is arranged on one side of the rear end of the upper cover plate.
Preferably, the left side of the front end of the upper cover plate is provided with an access hole, cameras are embedded and installed on the middle sides of the front end, the rear end, the left end and the right end of the upper cover plate, and the right side of the front end of the upper cover plate is provided with a charging interface.
Preferably, the steering lamps are embedded and installed on the two sides of the left end and the right end of the upper cover plate.
Preferably, two groups of transportation hanging points are respectively and fixedly arranged at the left end and the right end of the upper cover plate.
Preferably, ultrasonic radars are fixedly installed at two ends of the upper cover plate, millimeter wave radars are embedded and installed on the upper cover plates at one side of the ultrasonic radars, tail lamps are embedded and installed on the upper cover plates at the lower sides of the millimeter wave radars at the right sides, and front headlamps are embedded and installed on two sides of the left end of the upper cover plate.
Preferably, a battery pack is fixedly mounted on the middle side of the interior of the frame, and a VCU is fixedly mounted on one side of the battery pack.
Preferably, the left and right sides of upper cover plate are all provided with safety protection mechanism, safety protection mechanism includes the stop collar, the stop collar is provided with three groups, the frame both ends all are three sets of stop collars of fixedly connected with respectively, and three groups the inside movable inserted bar that all inserts of stop collar, and the right-hand member of movable inserted bar extends to the outside of frame right-hand member, the outside left side cover of movable inserted bar is established and is installed the linking bridge, and three groups the outside cover of linking bridge is equipped with the protection frame, and has mounting bolt through threaded connection on the protection frame, mounting bolt extends to the inside and runs through movable inserted bar of protection frame, the inside right side of movable inserted bar is inserted and is equipped with the spacer pin, and the outside left side all overlaps of movable inserted bar is equipped with the spring, the both ends of spring respectively with linking bridge and frame tip butt.
Compared with the prior art, the utility model has the beneficial effects that:
1. The intelligent control factory logistics system adopts the hinged bridge connection, the chassis main body adopts the front and rear axle layout, the rear wheels are driven, the front wheels are steered, the hinged rear axles are adopted to fill the defects caused by no suspension, the material butt joint function is simultaneously met, and the vehicle body is free from weight change to generate larger height difference.
2. This intelligent control factory logistics system mechanical part adopts the buffer type design of being convenient for change, and furthest guarantees vehicle security performance and collision buffer function, reduces the threat of vehicle to pedestrian and public thing at the operation in-process, and bolted connection's mode has simultaneously reduced the work load of changing because of protector damages greatly. Meanwhile, an electrical safety touch edge is added on the basis of mechanical protection.
3. The intelligent control factory logistics system is provided with an internal contracting brake releasing device: the electromagnetic axle is fixed to the vehicle, so that the rear trailer of the bolt can be loosened.
4. The intelligent control factory logistics system is designed in a modularized mode, the installation positions of the sensors are relatively independent, the sensors are not dismounted as much as possible during maintenance of the vehicle body, the position calibration relation between the sensors and the vehicle body is kept unchanged, meanwhile, electric devices installed in the vehicle body, such as a combined inertial navigation receiver, an industrial personal computer and the like, are arranged in the same cabin, and the cabin is convenient to open and maintain.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-5, an embodiment of the present utility model is provided: the utility model provides an intelligent control factory area logistics system, including frame 17, frame 17 outside fixed mounting has upper cover plate 14, and install steering axle 19 on the inside left side of frame 17, install steering booster 27 on one side of steering axle 19, and install main transaxle 25 on the inside right side of frame 17, install hinge mechanism 26 on one side of main transaxle 25, and hinge mechanism 26 and main transaxle 25 mutually support, install driving motor 24 on the side in main transaxle 25, and driving motor 24 and main transaxle 25 are connected, hydraulic pump control unit 20 is installed on the inside left side of frame 17, install industrial control system chip 21 on frame 17 on the right side of steering axle 19, and all fixed mounting has solid tire 8 on the both sides of industrial control system chip 21, adopt this kind of design to be convenient for through hinge mechanism 26 and main transaxle 25's cooperation, thereby make front and back axle overall arrangement, the front wheel steer, adopt the articulated back axle to fill because of not having satisfied the function of the butt joint material that produces simultaneously.
Further, the hinge mechanism 26 includes a connecting plate 261 fixedly connected to two sides of the outer portion of the main driving axle 25 through threads, and the frame 17 is fixedly connected with a mounting plate 262 through bolts, the connecting plate 261 is inserted into the mounting plate 262, and two sides of the connecting plate 261 and two sides of the inner portion of the mounting plate 262 are movably connected through hinge pins 263.
Further, the autonomous navigation kit support 1 is fixedly connected to both sides of the top end of the upper cover plate 14, and the left side of the top end of the upper cover plate 14 is provided with the oil filling port 2.
Further, two sets of side marker lamps 3 are respectively mounted on two sides of the front and rear ends of the upper cover plate 14, the emergency stop button 4 is fixedly mounted on the front and rear ends of the upper cover plate 14, and an operation panel 15 is mounted on one side of the rear end of the upper cover plate 14.
Further, an access opening 5 is provided on the left side of the front end of the upper cover plate 14, cameras 6 are embedded and installed on the middle sides of the front end, the rear end, the left end and the right end of the upper cover plate 14, and a charging interface 7 is installed on the right side of the front end of the upper cover plate 14.
Further, the turn signal lamp 9 is embedded and installed on both sides of the left and right ends of the upper cover plate 14.
Further, two groups of transportation hanging points 10 are fixedly installed on the left end and the right end of the upper cover plate 14 respectively.
Further, the two ends of the upper cover plate 14 are fixedly provided with the ultrasonic radars 11, the upper cover plates 14 on one side of the two groups of ultrasonic radars 11 are provided with the millimeter wave radars 12 in an embedded manner, the upper cover plate 14 on the lower side of the right millimeter wave radars 12 is provided with the tail lamp 13 in an embedded manner, and the two sides of the left end of the upper cover plate 14 are provided with the front headlight 16 in an embedded manner.
Further, a battery pack 23 is fixedly arranged on the middle side of the inside of the frame 17, a VCU22 is fixedly arranged on one side of the battery pack 23, and an electromagnetic axle is arranged on the frame 17, so that the vehicle is started by a key when the device is used, and when the driving instruction speed is 0, the brake is automatically locked to prevent the chassis from sliding; when the driving instruction is not 0, the chassis is driven to move after the band-type brake is automatically unlocked.
The electromagnetic band-type brake mainly comprises two parts: one is a brake electromagnet, the other is a shoe brake, the brake electromagnet consists of an iron core, an armature and a coil, the shoe brake consists of a brake wheel, a brake shoe and a spring, the brake wheel and the motor are arranged on the same shaft, the working principle is that when the automatic unlocking motor is electrified, the coil of the electromagnetic brake must be electrified simultaneously, the armature attracts in and overcomes the tension of the spring to separate the brake shoe and the brake wheel of the brake, the motor normally operates, when the automatic locking is carried out, a switch and a contactor are disconnected, the motor is powered off, meanwhile, the electromagnetic brake coil is powered off, the armature is separated from the iron core under the action of the tension of the spring, the brake shoe is tightly held on the brake wheel, and the motor brakes and stops rotating.
Further, all be provided with safety protection mechanism 18 on the left and right sides of upper cover plate 14, safety protection mechanism 18 includes stop collar 181, stop collar 181 is provided with three groups, frame 17 both ends all are fixedly connected with three groups of stop collar 181 respectively, three groups of stop collar 181 are inside all to insert and are equipped with movable inserted bar 182, and the right-hand member of movable inserted bar 182 extends to the outside of frame 17 right-hand member, the outside left side cover of movable inserted bar 182 is established and is installed linking bridge 183, three groups of linking bridge 183 outside cover is equipped with protection frame 184, and there is mounting bolt 185 on the protection frame 184 through threaded connection, mounting bolt 185 extends to the inside and runs through movable inserted bar 182 of protection frame 184, the inside right side of movable inserted bar 182 is equipped with the spacer pin, and the outside left side of movable inserted bar 182 all overlaps and is equipped with spring 186, the both ends of spring 186 respectively with linking bridge 183 and frame 17 tip butt, adopt this kind of design to be convenient for when the device when taking place the collision carelessly, can make protection frame 184 and linking bridge 183 to move to the one side that is close to frame 17, thereby make linking bridge 186 extrude spring 186, and then make the inside deformation device take place in the spring 186 and the deformation effect take place, thereby avoid the deformation of the device takes place in the original device.
The drive-by-wire system comprises a VCU, a CAN bus, an actuator motor driver, a light controller and the like, wherein the VCU is internally required to comprise a motion control algorithm such as differential control and the like, receives commands such as speed, steering angle and the like issued by an upper autonomous system, converts the commands into control commands of each driver and then issues the control commands to the actuator, and realizes upper control requirements. The method comprises the following steps:
CAN bus communication: all control instructions such as driving, steering, lamplight and the like have CAN communication capability with 500K baud rate; considering the running speed of the chassis main drive axle of 25km, the steering precision of the chassis main drive axle must be controlled, the scheme adopts the composite electro-hydraulic to precisely control the steering system, and the steering angle information is fed back in real time through the steering angle sensor, so that the system can reach the control target rapidly and stably by utilizing the PID.
The chassis steering line control adopts hydraulic control and mainly comprises a VCU, a fuzzy PID controller, a servo motor, a hydraulic pump, a hydraulic power cylinder, a corner sensor and the like. When an operator issues a steering instruction to the AGV, the VCU obtains the steering instruction through the communication system, and outputs a corresponding electric signal to the fuzzy PID controller, the fuzzy PID controller issues a rotating speed signal to the servo motor after resolving, and further the displacement hydraulic pump is controlled to provide corresponding hydraulic flow for the steering system, and finally the control of the tire steering angle is realized.
Upper layer CAN communication interface: the autonomous system CAN send a control instruction to the VCU through a 500K CAN bus;
Remote control function: the remote controller controls the chassis to move forward, backward, turn, scram and the like and light; the remote control and autonomous control are provided with a control mode switching function;
Safety protection function: mechanical and electrical dual protection;
VCU function
The VCU receives control instructions such as vehicle speed, angle and the like issued by the main system/remote controller, and issues the control instructions to the motor driver executing mechanism after the control instructions are resolved into motor movement instructions.
The specific functions are as follows:
(1) The CAN bus communication baud rate is 500K;
(2) The system has the state feedback capability: real-time information such as vehicle speed, angle, gear and the like is fed back through a CAN bus, and a chassis communication protocol is adopted;
(3) The CAN message receiving capability is provided with the capability of receiving the control instruction: the control command of the main system can be received, such as forward, backward, gear, lamplight and the like;
(4) The remote control device has the capability of receiving control instructions of a remote controller: the control instruction issued by the remote controller can be received;
(5) The control mode switching capability is provided: the remote controller control mode and the autonomous control mode can be switched by the remote controller instruction;
(6) The self-locking/unlocking band-type brake has the capability of self-locking/unlocking: when the system is in a remote control or autonomous control mode and the driving instruction speed is 0, the band-type brake is automatically locked to prevent the chassis from sliding; when the driving instruction is not 0, the brake is automatically unlocked and then the chassis is driven to move;
(7) Steering and light follow-up: after receiving the steering instruction, automatically turning on a corresponding steering lamp;
the emergency brake device is provided with emergency brake capability: and when the emergency braking is triggered through the chassis physical emergency stop button, the execution of the autonomous system instruction is refused, and the double flashing of the steering lamp is started.
The design satisfies the requirements of the remote control operation of the wire control chassis in the aluminum profile factory and the design of the unmanned interface, and satisfies the functions of carrying and conveying the aluminum profile goods. The drive-by-wire chassis system comprises a dispatching system, a steering driving system, a frame, a battery pack, a VCU, an anti-collision touch edge, a remote controller, a car lamp, a skin and a top-loading sensor interface part.
The weight of the load above the drive-by-wire chassis is rated to 3T, the chassis main body adopts front and rear axle type layout, rear wheels are driven, and front wheels are turned. The wire control chassis abandons the traditional suspension structure, adopts a hinged rear axle to fill the defects caused by no suspension, simultaneously meets the function of material butt joint, and avoids the large height difference caused by weight change of the vehicle body.
The mechanical part of the safety protection system adopts a buffer type design convenient to replace, the safety performance and the collision buffer function of the vehicle are guaranteed to the greatest extent, the threat of the vehicle to pedestrians and public objects in the running process is reduced, and meanwhile, the workload of replacement due to damage of the protection device is greatly reduced in a bolt connection mode.
The mounting positions of the sensors are relatively independent, and the sensors are not dismounted as much as possible when the vehicle body is maintained, so that the calibration relation between the sensors and the vehicle body is kept unchanged. Meanwhile, the electric devices installed in the vehicle body, such as a combined inertial navigation receiver, an industrial personal computer and the like, are arranged in the same cabin, and the cabin is convenient to open and maintain
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.