Unmanned freight vehicle assembled with hinged steering mechanism

Abstract

The invention provides an unmanned freight vehicle assembled with a hinged type steering mechanism, which comprises the following components: a steering frame, which is provided with an auxiliary steering axle below the front part; the lower portion rotation output end of the electric rotation assembly is arranged above the rear portion of the steering frame in the advancing direction, and the upper portion of the electric rotation assembly is fixedly connected with the cargo carrying platform. Wherein a hanging frame is fixedly arranged below the cargo carrying platform, a power battery pack is fixedly arranged below the hanging frame, the power battery pack forms a single power source or a main power source for vehicle running, a power battery used for providing power for vehicle running is not arranged on the steering frame, and the power battery pack is arranged below the cargo carrying platform in a centralized mode. The steering frame is not provided with a power battery, the structure is simplified, model selection and arrangement of axles on the steering frame are facilitated, and an electric drive axle and a follow-up axle can be flexibly configured according to use scenes to adapt to different load and power requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned freight vehicles, in particular to an unmanned freight vehicle equipped with a hinged steering mechanism. BACKGROUND

[0002] Currently, there is no substantial unmanned heavy freight vehicle. Referring to a hinged train with a driver, if the semi-trailer tractor is purely electric, the power battery and the drive system are concentrated in the middle of the semi-trailer tractor chassis. The battery pack is usually back-mounted or side-mounted. This structure causes the center of gravity of the tractor to be too high, or the overall length of the tractor to increase, which adversely affects the stability and turning radius of the entire vehicle.

[0003] Meanwhile, in a complex transportation environment, the front power bridge of the current vehicle is deployed for traction, and the rear cargo platform is in a powerless state, increasing the driving load of the front power bridge and the associated frame. The drive axle and the follow-up axle of the current vehicle are configured in a fixed position, which results in poor adaptability of such vehicle models in complex transportation environments.

[0004] Meanwhile, in the narrow space inside the yard, the turning angle is not enough due to the excessive length of the hinged train, which cannot be moved to the designated line, causing potential accident risks, which is a structural deficiency of such products.

[0005] Therefore, the present application provides an unmanned freight vehicle equipped with a hinged steering mechanism. Based on the current mature vehicle control system and battery management system, the deployment position of the hardware is adjusted, the power battery pack and high-voltage power distribution system are concentrated in the middle of the cargo platform, the center of gravity of the vehicle is improved, the length of the vehicle is shortened, the driving stability of the vehicle in actual working conditions is improved, the flexible power axle configuration scheme is reasonable, the energy consumption is reduced, and the transportation needs of different customers are met. SUMMARY

[0006] 1. Technical problems solved by the application: The present application provides an unmanned freight vehicle equipped with a hinged steering mechanism, which solves the technical problem of the heavy unmanned freight vehicle steering mechanism vehicle layout scheme, adjusts the center of gravity of the vehicle, shortens the length of the vehicle, improves the driving stability of the vehicle, and reduces the energy consumption.

[0007] 2. Technical solutions: To achieve the above-mentioned purpose, the technical solutions provided by the present application are as follows: an unmanned freight vehicle equipped with a hinged steering mechanism, comprising the following components: A steering frame is provided with an auxiliary steering axle under the front part and at least one functional axle under the rear part, which can be selected as an electric drive axle and / or a follow-up axle.

[0008] The electric rotary assembly is arranged above the rear part of the steering frame in the forward direction, and the upper part is fixedly connected with the loading platform.

[0009] The lower part of the loading platform is fixedly provided with a hanger, and the lower part of the hanger is fixedly provided with a power battery pack, the power battery pack constitutes a single or main power source for vehicle driving, and the steering frame is not provided with a power battery for providing power for vehicle driving.

[0010] Further, the electric drive axle is a complete product integrated by a driving motor, a reducer, a differential and an axle housing. The electric drive axle is a current existing product, and the brake mode can be selected according to the needs of customers, and the reducer, the differential and other components are adjusted.

[0011] Further, the rear part of the loading platform is provided with at least one rear axle, and the rear axle can be an electric drive axle and / or a following axle. When the loading platform is assembled with a single rear axle, the rear axle is an electric drive axle.

[0012] Further, the whole vehicle high-voltage power distribution system is further included, and the power battery pack provides driving electric energy for the electric drive axle and the electric rotary assembly of the whole vehicle through the whole vehicle high-voltage power distribution system.

[0013] Further, the whole vehicle high-voltage power distribution system includes a battery management system, a high-voltage power distribution box and a corresponding high-voltage wire harness. The high-voltage power distribution box is arranged below the middle part of the loading platform, and the power battery pack and the driving motor are electrically connected through the high-voltage wire harness.

[0014] Further, the whole vehicle control system is further included, and the whole vehicle control system includes: The whole vehicle controller is used for receiving driving instructions and coordinating the work of each subsystem.

[0015] The battery management system is integrated in the power battery pack and is used for monitoring and managing the state of the battery.

[0016] The motor controller is arranged one-to-one corresponding to the driving motor and is used for controlling the operation of the corresponding driving motor.

[0017] The whole vehicle controller communicates with the battery management system and each motor controller through a CAN bus.

[0018] Further, the whole vehicle control system executes the following control logic: The system is powered on, and self-checking and high-voltage interlocking detection are completed.

[0019] According to the driving requirements, the torque distribution ratio of the front and rear driving motors is calculated.

[0020] The corresponding branch is controlled to be turned on or turned off through the high-voltage distribution box, and the target driving motor is supplied with power.

[0021] Real-time monitoring of the state of each driving motor and power battery pack is performed to dynamically adjust power.

[0022] 3. Beneficial effects: Compared with the prior art, the technical scheme provided by the application has the following beneficial effects: The unmanned cargo vehicle provided by the application is equipped with a hinged steering mechanism, power battery packs are arranged centrally below a cargo carrying platform, the gravity center of the vehicle is lowered, the overall length of the vehicle is shortened, and the driving stability is improved, the power battery is not arranged in the steering frame, the structure is simplified, the selection and arrangement of the axle on the steering frame are facilitated, the electric drive axle and the follow-up axle can be flexibly configured according to the use scene, and different load and power requirements are adapted; The parts not involved in the device are the same as or can be realized by the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic diagram of the overall structure of the application Figure 1 ; Figure 2 is a schematic diagram of the overall structure of the application Figure 2 ; Figure 3 is an assembly diagram of the steering frame and the cargo carrying platform of the application; Figure 4 is a perspective view of the steering frame structure of the application; Figure 5 is an assembly diagram of the steering frame and the electric rotary assembly structure of the application; Figure 6 is an assembly diagram of the cargo carrying platform and the power battery pack structure of the application; Figure 7 is a flowchart of the structure of the application Figure 1 ; Figure 8 is a flowchart of the structure of the application Figure 2 .

[0024] REFERENCE NUMERALS: 1 - steering frame; 2 - auxiliary steering axle; 3 - electric drive axle; 31 - driving motor; 4 - follow-up axle; 5 - cargo carrying platform; 6 - electric rotary assembly; 7 - hanger; 8 - power battery pack. DETAILED DESCRIPTION

[0025] In order to facilitate the understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings, wherein several embodiments of the present application are shown, but the present application can be realized in many different forms and is not limited to the embodiments described herein, on the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0026] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can be an intervening element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or there can be an intervening element; the terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.

[0027] In the present application, the "cargo platform" is a general term, and the specific form can be a flat type, a bar type, a warehouse grid type, a skeleton type, a van type, and a side curtain type, etc. according to actual needs.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application; the term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0029] Referring to the accompanying drawings Figures 1-8 The present application provides an unmanned cargo vehicle equipped with a hinged steering mechanism, comprising the following components: A steering frame 1, which is provided with an auxiliary steering bridge 2 below the front part and at least one functional bridge below the rear part, which can be selected as an electric drive bridge 3 and / or a follow-up bridge 4.

[0030] An electric rotary assembly 6, which is provided with a lower rotary output end above the rear part in the forward direction of the steering frame 1, and an upper part fixedly connected with the cargo platform 5, which is provided on the rear part of the steering frame 1 and used for carrying goods.

[0031] Among them, the lower part of the cargo platform 5 is fixedly provided with a hanger 7, the lower part of the hanger 7 is fixedly provided with a power battery pack 8, the power battery pack 8 constitutes a single or main power source for vehicle driving, and the steering frame 1 is not provided with a power battery for providing power for vehicle driving.

[0032] In the present embodiment, the electric drive bridge 3 is a complete product integrated by driving motor 31, reducer, differential and axle housing, etc., and at least one rear axle is provided below the rear part of the cargo platform 5, which can be selected as an electric drive bridge 3 and / or a follow-up bridge 4, wherein the cargo platform 5 is equipped with a single rear axle, and the rear axle is an electric drive bridge 3.

[0033] The electric drive axle 3 is designed to be powered by the power battery pack 8. In the axle configuration of the loading platform 5, at least one electric drive axle 3 is required to be configured, and the remaining axles are supplemented by the follow-up axle 4 to complete the axle matching design required for driving and supporting the loading platform 5.

[0034] In the scheme in which the loading platform 5 forms a steering angle with the steering frame 1 through the electric rotary assembly 6, the steering axle 2 can be matched with the electric rotary assembly 6 on the steering frame 1, wherein the steering axle 2 plays a role in assisting steering at low speed. When the steering frame 1 is fully configured with the follow-up axle 4 and / or the electric drive axle 3, steering is realized by the electric rotary assembly 6, and when the electric drive axle 3 is configured on the loading platform 5 and the steering frame 1, the driving mode of front pulling and rear pushing can be completed after the overall forward direction is adjusted by the electric rotary assembly 6.

[0035] The arrangement of the follow-up axle 4 on the loading platform 5 and the steering frame 1 can effectively share the load and improve the carrying capacity of the vehicle.

[0036] The power battery pack 8 is arranged centrally below the loading platform 5, which lowers the center of gravity of the vehicle and improves the driving stability. The steering frame 1 is not provided with a power battery, and the structure is simplified, which facilitates the selection and arrangement of axles on the steering frame 1. The electric drive axle 3 and the follow-up axle 4 can be flexibly configured according to the use scene to adapt to different load and power requirements.

[0037] In the embodiment, a high-voltage power distribution system is also included. The power battery pack 8 provides driving power for the electric drive axle 3 and the electric rotary assembly 6 of the whole vehicle through the high-voltage power distribution system.

[0038] The high-voltage power distribution system is used for the cooperative processing of the power battery pack 8 and the driving motor 31 to complete the start-stop adjustment of the driving motor 31.

[0039] In the embodiment, the high-voltage power distribution system includes a battery management system, a high-voltage power distribution box, and a corresponding high-voltage wire harness. The high-voltage power distribution box is arranged below the middle part of the loading platform 5 and establishes the electrical connection between the power battery pack 8 and the driving motor 31 through the high-voltage wire harness.

[0040] The battery management system, the high-voltage power distribution box, and the high-voltage wire harness complete the physical circuit communication between the power battery pack 8 and the driving motor 31.

[0041] In the embodiment, a vehicle control system is also included. The vehicle control system includes: A vehicle controller is used to receive driving instructions and coordinate the work of each subsystem.

[0042] A battery management system is integrated in the power battery pack 8 and is used to monitor and manage the battery state.

[0043] A motor controller is arranged one-to-one with the driving motor 31, and is used to control the operation of the corresponding driving motor 31.

[0044] The vehicle controller communicates with the battery management system and each motor controller through the CAN bus.

[0045] In this embodiment, the vehicle control system executes the following control logic: The system is powered on, and self-checking and high-voltage interlocking detection are completed.

[0046] According to the driving requirement, the torque distribution ratio of the front and rear driving motors 31 is calculated.

[0047] The high-voltage distribution box controls the on-off of the corresponding branch to supply power to the target driving motor 31.

[0048] The state of each driving motor 31 and the power battery pack 8 is monitored in real time, and dynamic power adjustment is performed.

[0049] Through the articulated steering, the electric drive axle 3 combination and the centralized battery layout, a cargo vehicle suitable for unmanned and flexible scenarios is realized. The product has significant advantages in high flexibility, high load capacity and zero emission brought by axle configuration selection, and is suitable for scenarios such as warehouse logistics and park transportation.

[0050] The above-described embodiments only express some embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application; it should be pointed out that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application; therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A self-assembly articulated steering mechanism for a driverless freight vehicle, characterized by: The utility model relates to a kind of electric drive truck, including the following components: Steering frame (1), its front lower part is equipped with auxiliary steering bridge (2), its rear lower part is equipped with at least one function bridge, the function bridge can be selected as electric drive bridge (3) and / or follow-up bridge (4); Electric slewing assembly (6), its lower slewing output end is arranged on the rear of steering frame (1) in the direction of advance, and upper part is fixedly connected with cargo platform (5), and the cargo platform (5) is arranged on the rear of steering frame (1), for carrying goods; Wherein, the lower part of the cargo platform (5) is fixedly provided with hanger (7), the lower part of the hanger (7) is fixedly provided with power battery pack (8), and the power battery pack (8) constitutes single or main power source for vehicle travel, and the steering frame (1) is not provided with power battery for providing power for vehicle travel.

2. The self-propelled, unmanned cargo vehicle equipped with a hinged steering mechanism according to claim 1, characterized in that: The electric drive bridge (3) is a complete product integrated by driving motor (31), speed reducer, differential and axle housing and other components.

3. The unmanned cargo delivery vehicle of claim 1, wherein: The rear of the cargo platform (5) is equipped with at least one rear axle, and the rear axle can be selected as electric drive bridge (3) and / or follow-up bridge (4), wherein when the cargo platform (5) is equipped with single rear axle, the rear axle is electric drive bridge (3).

4. The self-guided, self-piloted, self-loading, self-unloading, and self-communicating unmanned cargo vehicle of claim 1, wherein: It also includes a whole vehicle high-voltage power distribution system, and the power battery pack (8) provides driving electric energy for the electric drive bridge (3) and the electric slewing assembly (6) of the whole vehicle through the whole vehicle high-voltage power distribution system.

5. A trolley vehicle as claimed in claim 4, wherein: The whole vehicle high-voltage power distribution system includes a battery management system, a high-voltage power distribution box and a corresponding high-voltage wire harness, the high-voltage power distribution box is arranged below the middle part of the cargo platform (5), and the power battery pack (8) and the driving motor (31) are electrically connected through the high-voltage wire harness.

6. The articulated steering mechanism equipped unmanned cargo vehicle according to claim 1, wherein: It also includes a whole vehicle control system, and the whole vehicle control system includes: A whole vehicle controller for receiving travel instructions and coordinating the work of each subsystem; A battery management system integrated in the power battery pack (8) for monitoring and managing battery status; A motor controller corresponding to each driving motor (31) for controlling the operation of the corresponding driving motor (31). The whole vehicle controller communicates with the battery management system and each motor controller through CAN bus.

7. A trolley vehicle as claimed in claim 6, wherein: The whole vehicle control system executes the following control logic: System power-on, complete self-checking and high-voltage interlock detection; According to the travel demand, the torque distribution ratio of front and rear driving motors (31) is calculated; The high-voltage power distribution box controls the on-off of the corresponding branch to supply power to the target driving motor (31); Real-time monitoring of the state of each driving motor (31) and power battery pack (8) for dynamic power adjustment.

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