Steering-by-wire structure of unmanned transport vehicle

Abstract

The utility model provides an unmanned transport vehicle steer-by-wire structure which comprises a shell, the shell comprises a steering outer shell and a steering driving outer shell, the steering outer shell and the steering driving outer shell are integrally arranged in a crossed mode, a steering assembly is arranged in the steering outer shell, and a steering driving assembly is arranged in the steering driving outer shell. The steering driving assembly is in driving connection with the steering assembly. The steering driving assembly comprises a first steering driving assembly and a second steering driving assembly. The first steering driving assembly and the second steering driving assembly are connected through a connecting shaft. The connecting shaft is in driving connection with the steering assembly. According to the steering structure, the steering driving assemblies are arranged to be the independent first steering driving assembly and the independent second steering driving assembly, the situation that the steering mechanism fails due to mechanical part faults or circuit board faults in the steering structure is avoided, and the reliability and the fault-tolerant capacity of the steering structure are improved.

Description

Technical Field

[0001] This invention belongs to the field of unmanned vehicle technology, specifically relating to a drive-by-wire steering structure for an unmanned transport vehicle. Background Technology

[0002] In today's society, the express delivery and food delivery industries are booming, with continuously growing business demand placing higher demands on transportation efficiency. At the same time, reducing labor costs has become an urgent need for industry development. With the rapid development of autonomous driving technology, unmanned transport vehicles have emerged. These unmanned transport vehicles have many advantages. They can operate 24 hours a day, greatly improving transportation efficiency. Moreover, they adopt autonomous driving technology, eliminating the steering wheel and relying directly on the chassis's drive-by-wire steering system for steering. This results in a more compact vehicle structure and significantly improved utilization of interior space.

[0003] In terms of the transmission system, it adopts a worm gear + rack and pinion transmission, a combination that ensures precise and stable vehicle steering. Meanwhile, to guarantee operational reliability, it uses a single motor paired with an internal double-layer circuit board structure for redundancy. When the primary transmission fails, the redundant part can take over, ensuring the vehicle can maintain basic operation even in the event of unforeseen circumstances with some components. However, this redundancy system has a significant drawback: if any component on the double-layer circuit board fails, or if a mechanical structure malfunctions, the redundancy will fail, thus affecting the vehicle's normal operation.

[0004] Therefore, the above problems urgently need to be solved.

[0005] Practical content

[0006] Practical Purpose: To overcome the above shortcomings, this utility model provides a steer-by-wire structure for an unmanned transport vehicle, which sets up two sets of drive mechanisms to form dual-machine redundancy, thereby avoiding steering system failure due to different types of faults in the electrical system or mechanical components and improving the reliability of the steering system.

[0007] Technical Solution: To achieve the above objectives, this utility model provides a steer-by-wire structure for an unmanned transport vehicle, including a housing. The housing includes a steering outer shell and a steering drive outer shell, which are integrally arranged. A steering component is housed within the steering outer shell, and a steering drive component is housed within the steering drive outer shell. The steering drive components are drivenly connected. The steering drive components include a first steering drive component and a second steering drive component. The first and second steering drive components are connected via a connecting shaft. The connecting shaft is drivenly connected to the steering component. This utility model is applied to unmanned transport vehicles, which possess advanced autonomous driving technology and require no human intervention. Their steering system eliminates the steering wheel; the vehicle's infotainment system controls the steering drive component to move, thereby turning the wheels and controlling the unmanned transport vehicle's steering. The steering drive components are configured as independent first and second steering drive components. During normal use, the first steering drive component drives the steering component to move, achieving vehicle steering. When the first steering drive component experiences an electrical or mechanical component failure, the vehicle's infotainment system controls the second steering drive component to start, and the second steering drive component drives the steering component to move, ensuring the vehicle can steer normally. Compared to the redundant steering structure with double-layer circuit boards, this invention can avoid steering mechanism failure due to mechanical component failure or circuit board failure, improve fault isolation, and enhance the reliability and fault tolerance of the steering structure.

[0008] Furthermore, in the aforementioned unmanned vehicle steer-by-wire structure, the steering assembly includes a rack, which is meshed with a connecting shaft. Tie rods are connected to both ends of the rack, and ball joints are connected to the ends of the tie rods furthest from the rack. When the vehicle needs to turn, the steering drive assembly drives the connecting shaft to rotate, which in turn drives the rack in a linear motion, thereby driving the tie rods. This design is compact, highly reliable, and improves the control accuracy of the steering angle, thus enabling precise control of the vehicle's steering angle.

[0009] Furthermore, in the aforementioned unmanned vehicle's steer-by-wire structure, the tie rod includes a male connector and a female connector. The male and female connectors are threaded together. This threaded connection allows for adjustment of the tie rod length, calibration of the vehicle angle, reduction of tire wear, and improvement of vehicle stability and handling. Tightening a nut into the male connector locks both the male and female connectors in place, preventing the tie rod from loosening during prolonged driving and enhancing the stability of the steering structure.

[0010] Furthermore, in the aforementioned unmanned vehicle steer-by-wire structure, the first steering drive assembly includes an upper housing, a middle housing, and a lower housing. The upper housing, middle housing, and lower housing are connected sequentially, with the lower housing connected to the opening in the steering drive housing. A drive gear set connects the lower housing and the middle housing, and a drive motor is connected to the side of the lower housing away from the middle housing. The motor shaft of the drive motor passes through the lower housing, and the motor shaft and the drive gear set are driven together. This practical steering structure uses a drive motor as the steering power source, facilitating integration with the vehicle's infotainment system to achieve automatic steering control. Furthermore, the drive motor can quickly start and reach the required speed after receiving a control signal, achieving rapid steering and meeting the requirements of rapid response and precise control in unmanned driving. The drive gear set can convert the minute rotations of the drive motor into displacement of the drive linkage, achieving vehicle angle adjustment. It can also amplify the output torque of the drive motor and transmit it to the linkage, providing sufficient power to the linkage.

[0011] Furthermore, in the aforementioned unmanned vehicle's steer-by-wire structure, a circuit board is connected between the upper and middle housings. Separating the circuit board between the upper and middle housings reduces interference between the circuit board and the drive gear set, facilitates individual maintenance of the circuit board, and improves heat dissipation.

[0012] Furthermore, in the aforementioned unmanned vehicle drive-by-wire steering structure, a sealing ring is installed between the middle housing and the lower housing, and the middle housing and the lower housing are connected by the sealing ring. The middle housing and the lower housing form a sealed space to prevent grease leakage from the drive gear set, prevent external dust from entering and affecting the normal operation of the drive gear set, ensure the stability of the steering structure, and extend the service life of the steering structure.

[0013] Furthermore, in the aforementioned unmanned vehicle steer-by-wire structure, the drive gear set includes an output gear and a planetary gear mechanism. The output gear is connected to the motor shaft of the drive motor, and the planetary gear mechanism is keyed to the connecting shaft. The output gear and the planetary gear mechanism are connected via an idler gear. The idler gear shaft is movably connected to the lower housing. The idler gear and planetary gear mechanism allow for adjustment of the drive gear set's transmission ratio, thereby regulating the output torque and speed to meet steering requirements. The planetary gear mechanism also optimizes the spatial layout and improves space utilization.

[0014] Furthermore, in the aforementioned unmanned vehicle steer-by-wire structure, the planetary gear mechanism includes a cage, planetary gears, an external gear ring, a large gear, a sun gear, and a main frame. The large gear meshes with an idler gear, and the large gear shaft is movably connected to the main frame, which is connected to the lower housing. The large gear and sun gear are coaxially and synchronously connected. An external gear ring is located outside the sun gear, and planetary gears are located between the sun gear and the external gear ring, meshing with the sun gear and the external gear ring respectively. The external gear ring is connected to the lower housing. There are two or more planetary gears, each movably connected to the cage shaft, and the cage is keyed to the connecting shaft.

[0015] Furthermore, in the aforementioned unmanned vehicle steer-by-wire structure, the first steering drive assembly and the second steering drive assembly are identically configured. The first and second steering drive assemblies are redundantly configured, with the first steering drive assembly serving as the primary drive assembly and the second steering drive assembly as a backup. When the vehicle's infotainment system does not detect any wheel angle deflection, the second steering drive assembly is activated. This second steering drive assembly drives the steering assembly to deflect the wheel angle, preventing the vehicle from failing to steer due to electrical or mechanical faults in the first steering drive assembly, thus improving the reliability and fault tolerance of the steering structure.

[0016] Furthermore, in the aforementioned unmanned vehicle's drive-by-wire steering structure, a pin is located near the lower housing of the drive motor. This pin passes sequentially through the lower and middle housings. The pin is electrically connected to the circuit board. The circuit board supplies power and control signals to the drive motor via the pin, ensuring a stable connection, reducing electrical wiring layout, and lowering the electrical failure rate.

[0017] As can be seen from the above technical solution, this utility model has the following beneficial effects: The unmanned transport vehicle's steer-by-wire structure, by setting the steering drive components as independent first and second steering drive components, can avoid steering failure due to mechanical or electrical component malfunctions, improving fault isolation and enhancing the reliability and fault tolerance of the steering structure. The drive gear set can convert the minute rotations of the drive motor into displacement of the drive linkage, achieving vehicle angle adjustment. It can also amplify the output torque of the drive motor and transmit it to the linkage, providing sufficient power. Separating the circuit board in the upper and middle housings reduces mutual interference between the circuit board and the drive gear set, facilitating individual maintenance of the circuit board and improving maintenance convenience. Attached Figure Description

[0018] Figure 1 This is a front view of the drive-by-wire steering structure of this practical unmanned transport vehicle;

[0019] Figure 2 for Figure 1 The sectional view shown is along line AA.

[0020] Figure 3 for Figure 1 Enlarged view of a specific area;

[0021] Figure 4 This is an exploded view of the drive-by-wire steering structure of this practical unmanned transport vehicle;

[0022] Figure 5 This is an exploded schematic diagram of the drive gear set.

[0023] In the diagram: 1. Steering housing, 2. Steering drive housing, 3. Steering assembly, 31. Rack, 32. Tie rod, 321. Male connector, 322. Female connector, 33. Ball joint, 4. Steering drive assembly, 41. First steering drive assembly, 411. Upper housing, 412. Middle housing, 413. Lower housing, 414. Drive gear set, 4141. Output gear, 4142. Planetary gear mechanism, 41421. Cage, 41422. Planetary gears, 41423. External gear ring, 41424. Large gear, 41425. Sun gear, 41426. Main frame, 4143. Idler gear, 415. Drive motor, 4151. Pin, 416. Circuit board, 417. Sealing ring, 42. Second steering drive assembly, 43. Connecting shaft. Detailed Implementation

[0024] Example 1

[0025] like Figure 1-3 The diagram illustrates a drive-by-wire steering structure for an unmanned transport vehicle, comprising a housing. The housing includes a steering outer shell 1 and a steering drive outer shell 2, which are integrally formed. A steering assembly 3 is housed within the steering outer shell 1, and a steering drive assembly 4 is housed within the steering drive outer shell 2. The steering drive assembly 4 and the steering assembly 3 are driven together. The steering drive assembly 4 includes a first steering drive assembly 41 and a second steering drive assembly 42. The first steering drive assembly 41 and the second steering drive assembly 42 are connected via a connecting shaft 43. The connecting shaft 43 is driven together with the steering assembly 3. The steering assembly 3 includes a rack 31, which meshes with the connecting shaft 43. Tie rods 32 are connected to both ends of the rack 31, and a ball joint 33 is connected to the end of the tie rod 32 furthest from the rack 31. The tie rod 32 includes a male connector 321 and a female connector 322, which are threaded together. The first steering drive assembly 41 and the second steering drive assembly 42 are redundantly configured, with the first steering drive assembly 41 serving as the primary drive assembly and the second steering drive assembly 42 as a spare.

[0026] This invention applies to unmanned transport vehicles, which possess advanced autonomous driving technology and require no human intervention. Their steering system eliminates the steering wheel; instead, the vehicle's infotainment system controls the steering drive assembly 4 to move the steering assembly 3. The connecting shaft 43 drives the rack 31 in linear motion, which in turn drives the tie rod 32. The tie rod 32 then moves the wheels, achieving wheel deflection and controlling the unmanned transport vehicle's steering. The steering drive assembly 4 is configured as an independent first steering drive assembly 41 and second steering drive assembly 42. During normal operation, the first steering drive assembly 41 drives the steering assembly 3 to achieve vehicle steering. If the first steering drive assembly 41 experiences an electrical or mechanical failure, the vehicle's infotainment system activates the second steering drive assembly 42, which then drives the steering assembly 3 to ensure normal vehicle steering.

[0027] like Figure 4 The illustrated unmanned vehicle's steer-by-wire structure includes a first steering drive assembly 41 comprising an upper housing 411, a middle housing 412, and a lower housing 413. The upper housing 411, middle housing 412, and lower housing 413 are connected sequentially, with the lower housing 413 connected to an opening in the steering drive housing 2. A drive gear set 414 connects the lower housing 413 and the middle housing 412, and a drive motor 415 is connected to the side of the lower housing 413 away from the middle housing 412. The motor shaft of the drive motor 415 passes through the lower housing 413, and the motor shaft of the drive motor 415 is drivenly connected to the drive gear set 414. A circuit board 416 connects the upper housing 411 and the middle housing 412. A sealing ring 417 is provided between the middle housing 412 and the lower housing 413, connecting them via the sealing ring 417. A pin 4151 is provided on the side of the drive motor 415 near the lower housing 413, and the pin 4151 passes sequentially through the lower housing 413 and the middle housing 412. Pin 4151 and circuit board 416 are electrically connected.

[0028] like Figure 5 The illustrated unmanned vehicle's steer-by-wire structure includes a drive gear set 414 comprising an output gear 4141 and a planetary gear mechanism 4142. The output gear 4141 is connected to the motor shaft of the drive motor 415, and the planetary gear mechanism 4142 is keyed to the connecting shaft 43. The output gear 4141 and the planetary gear mechanism 4142 are meshed together via an idler gear 4143. The idler gear 4143 is movably connected to the lower housing 413. The planetary gear mechanism 4142 includes a cage 41421, planetary gears 41422, an external gear ring 41423, a large gear 41424, a sun gear 41425, and a frame 41426. The large gear 41424 meshes with the idler gear 4143, and the large gear 41424 is movably connected to the frame 41426, which is connected to the lower housing 413. The large gear 41424 and the sun gear 41425 are coaxially and synchronously connected. An external gear ring 41423 is located on the outer side of the sun gear 41425. Planet gears 41422 are located between the sun gear 41425 and the external gear ring 41423, and the planet gears 41422 mesh with both the sun gear 41425 and the external gear ring 41423. The external gear ring 41423 is connected to the lower housing 413. There are two or more planet gears 41422, each movably connected to a cage 41421. The cage 41421 and the connecting shaft 43 are keyed together. The first steering drive assembly 41 and the second steering drive assembly 42 have the same configuration.

[0029] The above embodiments are exemplary and are intended to illustrate the technical concept and features of this utility model, so that those skilled in the art can understand its content and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within its scope of protection.

Claims

1. A drive-by-wire steering structure for an unmanned transport vehicle, characterized in that: The device includes a housing, which includes a steering housing (1) and a steering drive housing (2) which are integrally disposed together. The steering housing (1) contains a steering assembly (3) and the steering drive housing (2) contains a steering drive assembly (4). The steering drive assembly (4) and the steering assembly (3) are drivenly connected. The steering drive assembly (4) includes a first steering drive assembly (41) and a second steering drive assembly (42). The first steering drive assembly (41) and the second steering drive assembly (42) are connected by a connecting shaft (43). The connecting shaft (43) and the steering assembly (3) are drivenly connected.

2. The unmanned transport vehicle steer-by-wire structure according to claim 1, characterized in that: The steering assembly (3) includes a rack (31) that meshes with a connecting shaft (43); both ends of the rack (31) are connected to a tie rod (32), and the end of the tie rod (32) away from the rack (31) is connected to a ball head (33).

3. The unmanned transport vehicle steer-by-wire structure according to claim 2, characterized in that: The pull rod (32) includes a male connector (321) and a female connector (322); the male connector (321) and the female connector (322) are threaded together.

4. The unmanned transport vehicle steer-by-wire structure according to claim 1, characterized in that: The first steering drive assembly (41) includes an upper housing (411), a middle housing (412), and a lower housing (413); the upper housing (411), the middle housing (412), and the lower housing (413) are connected in sequence, and the lower housing (413) is connected to the opening of the steering drive housing (2); a drive gear set (414) is connected between the lower housing (413) and the middle housing (412), and a drive motor (415) is connected to the side of the lower housing (413) away from the middle housing (412); the motor shaft of the drive motor (415) passes through the lower housing (413), and the motor shaft of the drive motor (415) and the drive gear set (414) are drivenly connected.

5. The unmanned transport vehicle steer-by-wire structure according to claim 4, characterized in that: A circuit board (416) is connected between the upper housing (411) and the middle housing (412).

6. The unmanned transport vehicle steer-by-wire structure according to claim 4, characterized in that: A sealing ring (417) is provided between the middle shell (412) and the lower shell (413), and the middle shell (412) and the lower shell (413) are connected by the sealing ring (417).

7. The unmanned transport vehicle steer-by-wire structure according to claim 4, characterized in that: The drive gear set (414) includes an output gear (4141) and a planetary gear mechanism (4142); the output gear (4141) is connected to the motor shaft of the drive motor (415), and the planetary gear mechanism (4142) is keyed to the connecting shaft (43); the output gear (4141) and the planetary gear mechanism (4142) are meshed and connected by an idler gear (4143); the idler gear (4143) is movably connected to the lower housing (413).

8. The unmanned transport vehicle steer-by-wire structure according to claim 7, characterized in that: The planetary gear mechanism (4142) includes a cage (41421), planet gears (41422), an external gear ring (41423), a large gear (41424), a sun gear (41425), and a frame (41426); the large gear (41424) meshes with an idler gear (4143), the shaft of the large gear (41424) is movably connected to the frame (41426), and the frame (41426) is connected to the lower housing (413); the large gear (41424) and the sun gear (41425) are coaxially and synchronously connected, and the sun gear (41424) is... 25) An external gear ring (41423) is provided on the outer side, and a planet gear (41422) is provided between the sun gear (41425) and the external gear ring (41423). The planet gear (41422) is meshed with the sun gear (41425) and the external gear ring (41423) respectively. The external gear ring (41423) is connected to the lower housing (413). There are two or more planet gears (41422), and the planet gears (41422) are movably connected to the cage (41421) respectively. The cage (41421) and the connecting shaft (43) are keyed together.

9. The unmanned transport vehicle steer-by-wire structure according to claim 8, characterized in that: The first steering drive component (41) and the second steering drive component (42) are configured identically; the first steering drive component (41) and the second steering drive component (42) are redundantly configured, the first steering drive component (41) is set as the main drive component, and the second steering drive component (42) is set as a spare.

10. The unmanned transport vehicle steer-by-wire structure according to claim 5, characterized in that: The drive motor (415) has a pin (4151) on the side near the lower housing (413). The pin (4151) passes through the lower housing (413) and the middle housing (412) in sequence. The pin (4151) is electrically connected to the circuit board (416).

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