Harbor unmanned container truck driving walking device assembly

Abstract

The invention discloses a port unmanned container truck driving walking device assembly. Comprising a tire, a driving motor, a rim, a transmission shaft, a steering hydraulic cylinder, a balance rod mounting base, a balance rod, a rubber suspension mounting base, a driving motor mounting base, a driving axle steering tie rod, a driving axle assembly, a driven axle assembly, a parking brake, a steering angle sensor, a lower thrust rod support, a driven axle steering tie rod, a lower thrust rod, a steering knuckle and a rubber suspension. The device comprises a large corner plate, a steering base, a double-end stud, an axle housing, a small corner plate, a stator end universal hinge, a hinge connecting shaft, a trapezoidal arm and a fixed end universal hinge. The problems that in the prior art, an unmanned container truck has the rollover risk during heavy load, only four wheels are arranged, the pressure of a single wheel on the road surface is large, and an existing magnetic sensitive angle sensor or a capacitance type angle sensor is adopted for an angle sensor are solved, and mechanical assemblies are matched, so that the unmanned container truck is more flexible and reliable. And the stability and the accuracy of the unmanned container truck in a no-load or full-load state are improved.

Description

Technical Field

[0001] The invention relates to the technical field of seedling cultivation, and in particular to a driving walking device assembly of an unmanned container truck at a port. Background Art

[0002] As an unmanned automatic vehicle, the unmanned container truck has good perception ability, accurate positioning, intelligent path planning and precise control. It has a powerful database support in the background. Through 5G communication and collaborative operation between vehicles, it can achieve efficient and safe transportation tasks. It can play its advantages in some occasions where manual operation is difficult, and can accurately drill under the container to carry out lifting operations, further improving transportation efficiency and safety.

[0003] Unmanned container trucks at ports are used to transport containers at port terminals. They have a load capacity of up to 60 tons and an empty-load speed of 30m / h. They can accurately and automatically transport containers along the set trajectory. How to ensure that the vehicle can strictly follow the set speed and trajectory within an effective distance when fully loaded or empty is a major challenge to solving the autonomous driving of unmanned container trucks.

[0004] At present, the running gear of port container carriers generally adopts a 4×4 layout structure, and the axle is connected to the frame through a balance bar. There is no buffer device between the axle and the frame. During heavy-load transportation, the road surface has a greater impact on the tires, causing greater wear on the tires. When traveling on bumpy roads, the impact on the entire vehicle is greater, and there is a greater risk of rollover.

[0005] The steering car of the port container carrier uses an angle sensor to measure the size of the turning angle, and feeds back the signal to the driving computer. The driving computer corrects the vehicle angle through the controller. The angle sensors used are laser and infrared sensors. Such sensors are generally expensive, have high maintenance costs, and have a short service life in the dock environment. Conventional cheap magnetic angle sensors or capacitive angle sensors cannot be reasonably arranged and installed on the stator part of the axle and are easily affected by the deformation of the axle, so they are not suitable for port unmanned container trucks. Summary of the invention

[0006] The purpose of the present invention is to provide a driving walking device assembly for an unmanned container truck in a port, which solves the problem that the unmanned container truck in the prior art has the risk of overturning when overloaded, has only four wheels, and the pressure of a single wheel on the road surface is large, and the angle sensor uses an existing magnetic angle sensor or a capacitive angle sensor, and cooperates with mechanical components to improve the stability and accuracy of the unmanned container truck when it is empty or fully loaded.

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] A driving travel device assembly for an unmanned container truck at a port, comprising:

[0009] Tires, drive motors, rims, drive shafts, steering hydraulic cylinders, balance bar mounting bases, balance bars, rubber suspension mounting bases, drive motor mounting bases, drive axle steering tie rods, drive axle assembly, driven axle assembly, parking brake, steering angle sensor, lower thrust rod support, driven axle steering tie rod, lower thrust rod, steering knuckle, rubber suspension, large turning plate, steering base, studs, axle housing, small turning plate, stator end universal hinge, hinge connecting shaft, trapezoidal arm and fixed end universal hinge.

[0010] The tire matches the rim, the drive motor is fixed to the motor bracket through the drive motor mounting base, the rim is fixed to the drive axle assembly and the driven axle assembly through bolts, the parking brake is located at the end of the flange of the drive axle assembly, the small hole end of the small corner plate is connected to the fixed end universal hinge, and the stator end universal hinge is fixed to the small hole end of the large corner plate.

[0011] In the above-mentioned port unmanned container truck driving walking device assembly, one end of the transmission shaft is connected to the driving motor through a spline, and the other end of the transmission shaft is connected to the driving axle assembly through a flange.

[0012] In the above-mentioned port unmanned container truck driving walking device assembly, one end of the steering hydraulic cylinder is connected to the bridge body, and the other end of the steering hydraulic cylinder is connected to the steering knuckle.

[0013] In the above-mentioned port unmanned container truck driving walking device assembly, the balance bar mounting base is connected to the frame by bolts.

[0014] In the above-mentioned port unmanned container truck driving walking device assembly, one end of the balance bar is connected to the driving axle assembly and the driven axle assembly, and the other end of the balance bar is connected to the balance bar mounting base.

[0015] In the above-mentioned port unmanned container truck driving walking device assembly, the rubber suspension mounting base is connected to the vehicle frame, and the driving axle steering tie rod is connected to the trapezoidal arm.

[0016] In the above-mentioned port unmanned container truck driving walking device assembly, the angle sensor is a magnetic sensitive or capacitive sensor, and the stator of the angle sensor is fixed to the large angle plate by bolts, and the rotor of the angle sensor is fixedly connected to the steering base.

[0017] The above-mentioned port unmanned container truck drive walking device assembly, wherein the lower thrust rod support is used to connect the driving axle assembly and the driven axle assembly to the lower thrust rod, the driven axle steering tie rod is connected to the trapezoidal arm, the rubber suspension is connected to the frame through the rubber suspension mounting base, and is connected to the driving axle assembly and the driven axle assembly through the lower thrust rod support, and the steering base is fixedly connected to the trapezoidal arm by bolts.

[0018] In the above-mentioned port unmanned container truck driving walking device assembly, one end of the stud is fixed on the bridge housing, and the other end of the stud is fixed to the small corner plate.

[0019] The above-mentioned port unmanned container truck driving walking device assembly, wherein one end of the hinge connecting shaft is connected to the stator end universal hinge, and the other end of the hinge connecting shaft is connected to the fixed end universal hinge, and the distance between the two universal hinges can be adjusted by rotating the bolt.

[0020] Compared with the prior art, the advantages and positive effects of the present invention are:

[0021] 1. The driving walking device assembly of the unmanned container truck of the present invention solves the problems in the prior art that the unmanned container truck has the risk of rolling over when overloaded, has only four wheels, and has a large pressure on the road surface, and uses the existing magnetic angle sensor or capacitive angle sensor for the angle sensor, and cooperates with the mechanical components to improve the stability and accuracy of the unmanned container truck when it is empty or fully loaded;

[0022] 2. The present invention designs an unmanned container truck driving travel device assembly, adopts an 8×8 structure, reduces tire wear, and integrates and modularizes the drive motor, transmission shaft, driving axle, driven axle, balance bar and rubber suspension, which can increase the buffering performance of the whole vehicle. When fully loaded, the risk of rollover is greatly reduced when driving on potholes.

[0023] 3. The present invention designs an angle sensor assembly in the walking device assembly, and adopts a magnetic angle sensor or a capacitive angle sensor with long life, low cost and maintenance-free. It is better to use it in a port terminal environment to reduce the cost of maintenance and replacement. The problems of low angle accuracy and failure can be solved by the fixed-end universal hinge and the stator-end universal hinge. When the steering knuckle rotates, the large angle plate limits the rotation of the stator, so that a rotation angle can be formed with the rotor. When the whole vehicle is hit by an external impact and the axle is deformed, the angle sensor can maintain its original state under the action of the two universal hinges, and no angle interference signal will be generated, thereby ensuring the stability, safety and accuracy of the unmanned container truck when fully loaded or empty. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0025] Figure 1 It is a structural schematic diagram of the driving walking device assembly of the unmanned container truck at the port of the present invention;

[0026] Figure 2 It is a schematic structural diagram of a top view of a driving walking device assembly of an unmanned container truck at a port according to the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the turning angle sensor in the driving walking device assembly of the unmanned container truck in the port according to the present invention.

[0028] Description of Figure Numbers:

[0029] 1. Tire; 2. Drive motor; 3. Rim; 4. Drive shaft; 5. Steering hydraulic cylinder; 6. Balance bar mounting base; 7. Balance bar; 8. Rubber suspension mounting base; 9. Drive motor mounting base; 10. Driving axle steering tie rod; 11. Driving axle assembly; 12. Driven axle assembly; 13. Parking brake; 14. Angle sensor; 15. Lower thrust rod support; 16. Driven axle steering tie rod; 17. Lower thrust rod; 18. Steering knuckle; 19. Rubber suspension; 20. Large turning plate; 21. Steering base; 22. Stud; 23. Axle housing; 24. Small turning plate; 25. Stator end universal hinge; 26. Hinge connecting shaft; 27. Trapezoidal arm; 28. Fixed end universal hinge. DETAILED DESCRIPTION

[0030] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0031] Please refer to Figures 1 to 3 As shown, an embodiment of the present invention provides a port unmanned container truck driving walking device assembly, including: a tire 1, a drive motor 2, a rim 3, a transmission shaft 4, a steering hydraulic cylinder 5, a balance bar mounting base 6, a balance bar 7, a rubber suspension mounting base 8, a drive motor mounting base 9, a driving axle steering tie rod 10, a driving axle assembly 11, a driven axle assembly 12, a parking brake 13, an angle sensor 14, a lower thrust rod support 15, a driven axle steering tie rod 16, a lower thrust rod 17, a steering knuckle 18, a rubber suspension 19, a large turning angle plate 20, a steering base 21, a stud 22, a bridge housing 23, a small turning angle plate 24, a stator end universal hinge 25, a hinge connecting shaft 26, a trapezoidal arm 27, and a fixed end universal hinge 28.

[0032] The tire 1 matches the rim 3, the drive motor 2 is fixed to the motor bracket through the drive motor mounting base 9, the rim 3 is fixed to the drive axle assembly 11 and the driven axle assembly 12 by bolts, one end of the transmission shaft 4 is connected to the drive motor 2 through a spline, and the other end is connected to the drive axle assembly 11 through a flange, one end of the steering hydraulic cylinder 5 is connected to the bridge body, and the other end is connected to the steering knuckle 18, the balance bar mounting base 6 is connected to the frame by bolts, one end of the balance bar 7 is connected to the drive axle assembly 11 and the driven axle assembly 12, and the other end is connected to the balance bar mounting base 6, the rubber suspension mounting base 8 is connected to the frame, the drive axle steering tie rod 10 is connected to the trapezoidal arm 27, the parking brake 13 is located at the end of the flange of the drive axle assembly 11, the angle sensor 14 is a magnetic or capacitive sensor, and the stator of the angle sensor 14 is fixed to the large angle plate 20 by bolts, and the rotation of the angle sensor 14 The steering base 21 is fixedly connected to the steering base 21, the lower thrust rod support 15 is used to connect the driving axle assembly 11 and the driven axle assembly 12 and is connected to the lower thrust rod 17, the driven axle steering tie rod 16 is connected to the trapezoidal arm 27, the rubber suspension 19 is connected to the frame through the rubber suspension mounting base 8, and is connected to the driving axle assembly 11 and the driven axle assembly 12 through the lower thrust rod support 15, the steering base 21 is fixedly connected to the trapezoidal arm 27 through bolts, one end of the stud 22 is fixed to the bridge housing 23, the other end of the stud 22 is fixed to the small corner plate 24, the small hole end of the small corner plate 24 is connected to the fixed end universal hinge 28, the stator end universal hinge 25 is fixed to the small hole end of the large corner plate 20, one end of the hinge connecting shaft 26 is connected to the stator end universal hinge 25, the other end of the hinge connecting shaft 26 is connected to the fixed end universal hinge 28, and the distance between the two universal hinges can be adjusted by rotating the bolt.

[0033] The working principle of the present invention is as follows: two sets of unmanned container truck driving walking device assemblies in this patent are arranged on the port unmanned container truck carrier, symmetrically arranged in the whole vehicle, and the motor end faces the center of the vehicle body to form an 8×8 structure. Each axle is equipped with a single tire, and each axle can turn. When traveling, the drive motor 2 transmits power to the two drive axles through the transmission shaft 4, and the drive axles drive the wheels to rotate to realize the forward and backward movement of the whole vehicle. When braking, the brake pressure is provided by the installed hydraulic control system and transmitted to each wheel brake to realize deceleration braking. When the speed is 0, the hydraulic system outputs the parking brake 13 pressure to the whole vehicle parking brake 13. When turning, the steering pressure is provided by the installed hydraulic control system, and the steering hydraulic cylinder 5 drives the steering knuckle 18 to rotate to achieve the purpose of steering.

[0034] As for the collection of steering angles, when the unmanned container truck at the port turns with full load or no load, the rotation angles of the four wheels of the driving axle and the driven axle are different, so the signals received by each angle sensor are also different. In this patent, when the steering knuckle 18 is rotated by the thrust of the steering hydraulic lever, since the rotor of the angle sensor is fixed to the rotation center of the trapezoidal arm 27 through the rotor fixing base, the angle sensor will rotate accordingly. The stator of the angle sensor is fixed to the bridge housing 23 through the large turning angle plate 20, the universal hinge, the hinge connecting rod, the small turning angle plate 24 and the stud 22, so that the stator and the rotor form a relative angle, and the changes in the electrical signal are transmitted to the ECU. The ECU can identify the operating status of the unmanned container truck by analyzing the changes in the electrical signals of the angle sensors at each wheel, and determine whether it is driving according to the preset trajectory, and provide the calculated data to the execution device to correct the wheel angle, so that the vehicle can drive according to the specified route. When the vehicle is hit by external force and the axle is slightly deformed, the fixed end universal hinge 28 and the stator end universal hinge 25 will rotate by themselves without causing the stator fixed end to rotate, so that the angle sensor will not generate a change signal, ensuring driving safety.

[0035] The above description shows and describes several preferred embodiments of the present invention, but as before, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. And the changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A driving travel device assembly for an unmanned container truck at a port, characterized in that: The invention comprises a tire (1), a driving motor (2), a wheel rim (3), a transmission shaft (4), a steering hydraulic cylinder (5), a balancing rod mounting base (6), a balancing rod (7), a rubber suspension mounting base (8), a driving motor mounting base (9), a driving axle steering tie rod (10), a driving axle assembly (11), a driven axle assembly (12), a parking brake (13), a turning angle sensor (14), a lower thrust rod support (15), a driven axle steering tie rod (16), a lower thrust rod (17), a steering knuckle (18), a rubber suspension (19), a large turning angle plate (20), a steering base (21), a stud (22), an axle housing (23), a small turning angle plate (24), a stator end universal hinge (25), a hinge connecting shaft (26), a trapezoidal arm (27) and a fixed end universal hinge (28). The tire (1) is matched with the wheel rim (3), the drive motor (2) is fixed to the motor bracket via the drive motor mounting base (9), the wheel rim (3) is fixed to the drive axle assembly (11) and the driven axle assembly (12) via bolts, the parking brake (13) is located at the end of the flange of the drive axle assembly (11), the small hole end of the small corner plate (24) is connected to the fixed end universal hinge (28), and the stator end universal hinge (25) is fixed to the small hole end of the large corner plate (20).

2. The driving travel device assembly of an unmanned container truck at a port according to claim 1 is characterized in that: One end of the transmission shaft (4) is connected to the drive motor (2) via a spline, and the other end of the transmission shaft (4) is connected to the drive axle assembly (11) via a flange.

3. The driving travel device assembly of an unmanned container truck at a port according to claim 2 is characterized in that: One end of the steering hydraulic cylinder (5) is connected to the bridge body, and the other end of the steering hydraulic cylinder (5) is connected to the steering knuckle (18).

4. The driving travel device assembly of an unmanned container truck at a port according to claim 3 is characterized in that: The balance bar mounting base (6) is connected to the vehicle frame via bolts.

5. The driving travel device assembly of an unmanned container truck at a port according to claim 4 is characterized in that: One end of the balancing rod (7) is connected to the driving axle assembly (11) and the driven axle assembly (12), and the other end of the balancing rod (7) is connected to the balancing rod mounting base (6).

6. The driving travel device assembly of an unmanned container truck at a port according to claim 5 is characterized by: The rubber suspension mounting base (8) is connected to the vehicle frame, and the driving axle steering tie rod (10) is connected to the trapezoidal arm (27).

7. The driving travel device assembly of an unmanned container truck at a port according to claim 6 is characterized by: The rotation angle sensor (14) is a magnetic sensitive or capacitive sensor, and the stator of the rotation angle sensor (14) is fixed to the large rotation angle plate (20) by bolts, and the rotor of the rotation angle sensor (14) is fixedly connected to the steering base (21).

8. The driving travel device assembly of an unmanned container truck at a port according to claim 7 is characterized by: The lower thrust rod support (15) is used to connect the driving axle assembly (11) and the driven axle assembly (12) to the lower thrust rod (17); the driven axle steering tie rod (16) is connected to the trapezoidal arm (27); the rubber suspension (19) is connected to the vehicle frame through the rubber suspension mounting base (8) and is connected to the driving axle assembly (11) and the driven axle assembly (12) through the lower thrust rod support (15); and the steering base (21) is fixedly connected to the trapezoidal arm (27) through bolts.

9. The driving travel device assembly of an unmanned container truck at a port according to claim 8 is characterized in that: One end of the stud bolt (22) is fixed on the bridge housing (23), and the other end of the stud bolt (22) is fixed to the small corner plate (24).

10. The driving travel device assembly of an unmanned container truck at a port according to claim 9, characterized in that: One end of the hinge connecting shaft (26) is connected to the stator end universal hinge (25), and the other end of the hinge connecting shaft (26) is connected to the fixed end universal hinge (28), and the distance between the two universal hinges can be adjusted by rotating the bolt.

Images