CN107415904A - Harbour container is horizontal to carry unmanned vehicle exchange system and method - Google Patents
Harbour container is horizontal to carry unmanned vehicle exchange system and method Download PDFInfo
- Publication number
- CN107415904A CN107415904A CN201710573266.9A CN201710573266A CN107415904A CN 107415904 A CN107415904 A CN 107415904A CN 201710573266 A CN201710573266 A CN 201710573266A CN 107415904 A CN107415904 A CN 107415904A
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- Prior art keywords
- hydraulic
- wheel carrier
- driving shaft
- fixing device
- vehicle frame
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
- B60S9/12—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure of telescopic type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
Abstract
The present invention relates to a kind of horizontal carrying unmanned vehicle exchange system of harbour container, including vehicle frame, also include hydraulic support system, unidirectional driving shaft, motor, wheel carrier, the driving wheel that can be rotated relative to the wheel carrier is set on the wheel carrier, the driving wheel and the unidirectional driving one axis connection, the first hydraulic fixing device, the second hydraulic fixing device are provided with the wheel carrier；Commutation is realized in first hydraulic fixing device, the switching of the second hydraulic fixing device working condition.It can realize so that displacement is adjusted in short space for unmanned vehicle and posture adds the operational flexibility of unmanned vehicle, the utilization rate in harbour space is ensure that simultaneously, so that the utilization scene of transporting container unmanned vehicle is extensive, particularly in the transformation of existing harbour environment, the cost of harbour transformation is reduced.
Description
Technical field
The present invention relates to the horizontal carrying unmanned vehicle traveling control field of harbour container, in particular to a kind of harbour
Container level carries unmanned vehicle exchange system and a kind of horizontal carrying unmanned vehicle commutation method of harbour container.
Background technology
In harbour environment, conveying container routine needs artificially start truck and carried back and forth, less efficient, usually
There is situation about waiting in line, cause the wasting of resources；Existing container Automatic Guided Vehicle, passes through airmanship and dispatching technique
So that Automatic Guided Vehicle unmanned operation in harbour environment, but in practical operation situation, existing container automatic transporting
Unmanned vehicle only has a moving direction, can not be reached for narrow space position so that and some carrying tasks can not be completed, in order to
Unmanned operation is realized, is added to harbour environment requirement, it is necessary to which the place run to container Automatic Guided Vehicle changes
Make so that place is more regular；But the cost required for transformation harbour environment is higher so that the container Automatic Guided Vehicle
Reduced with prospect；On the other hand, due to existing container Automatic Guided Vehicle can only one direction operation, in order to ensure that packaging
Case Automatic Guided Vehicle can be rested on the station specified, it is often necessary to extra increase running space so that the consideration of scheduling
Factor increase, operating efficiency reduce, the problem of also result in harbour low space utilization.
The content of the invention
The present invention requires harbour environment high caused relatively low with prospect for existing container Automatic Guided Vehicle
The problem of improved, there is provided one kind be easy to improve management and running efficiency, lifted harbour space availability ratio a kind of harbour
Container level carries unmanned vehicle exchange system, including vehicle frame, in addition to is fixed for the vehicle frame supporting the vehicle frame
Hydraulic support system, it can be rotated relative to the vehicle frame, rotation axis is vertical unidirectional driving shaft, fixed with the vehicle frame
For driving the motor of the unidirectional driving shaft rotation；Also include wheel carrier, being set on the wheel carrier can be relatively described
The driving wheel of wheel carrier rotation, the wheel shaft of the driving wheel is connected with the output end of the unidirectional driving shaft, on the wheel carrier
It is provided with for the relatively described vehicle frame of the wheel carrier can be made to fix or free first hydraulic fixing device, is also set on the wheel carrier
It is equipped with the second hydraulic fixing device for the unidirectional driving shaft can be made to fix or rotate relative to the wheel carrier；Work as institute
When stating the first hydraulic fixing device and being used to making the wheel carrier and the vehicle frame be relatively fixed, second hydraulic fixing device is used for
The unidirectional driving shaft is set to be rotated relative to the wheel carrier；When first hydraulic fixing device be used for make the wheel carrier with
When the vehicle frame is relatively free, second hydraulic fixing device is used to make the unidirectional driving shaft can relatively described wheel carrier
It is fixed；Also include controller, the controller is used to connecting the motor, first hydraulic fixing device, described the
Two hydraulic fixing devices.
Further, the hydraulic support system is used to support the vehicle frame to make described in the driving wheel disengaging on the ground
Ground；The hydraulic support system include with the vehicle frame fix first hydraulic cylinder, can be by hydraulic pressure in the first hydraulic cylinder
The support bar of the relatively described first hydraulic cylinder linear motion of oil driving, the supporting pad for being arranged on the support bar end.
Further, the motor is fixed with the vehicle frame, and the drive shaft of the motor is provided with the first tooth
Wheel, the unidirectional driving shaft input are provided with second gear, and the second gear engages with the first gear, described
Unidirectional driving shaft passes through bearing hinge connection with the vehicle frame.
Further, the axle bearing of the driving wheel is on the bearing of wheel carrier, away from the driving wheel on the wheel shaft
One end first bevel gear is installed, the output end of the unidirectional driving shaft is provided with second bevel gear, second cone
Gear engages with the first bevel gear.
Further, first hydraulic fixing device includes the second hydraulic cylinder fixed with the wheel carrier, can be described
First fix bar of hydraulic oil driving second hydraulic cylinder linear motion relatively in second hydraulic cylinder, relative institute on the vehicle frame
The end for stating the first fix bar is provided with the first fixing hole, and first fixing hole can be used for the end for accommodating first fix bar
End.
Further, second hydraulic fixing device includes the 3rd hydraulic cylinder fixed with the wheel carrier, can be described
Second fix bar of the relatively described 3rd hydraulic cylinder linear motion of hydraulic oil driving, the unidirectional driving one in 3rd hydraulic cylinder
The terminal position of relatively described second fix bar is provided with the second fixing hole on axle, and second fixing hole can be used for described in receiving
The end of second fix bar.
Further, bearing, the motion of first fix bar are provided between the unidirectional driving shaft and wheel carrier
Direction is consistent with the axis direction of the unidirectional driving shaft, the direction of motion and the unidirectional driving of second fix bar
The radial direction of shaft is consistent.
Further, the controller is used to control the motor to stop the rotation, and controls the hydraulic support system
Support the vehicle frame to cause the driving wheel to depart from ground, control the second fix bar end to be inserted into described second and fix
Hole, control the first fix bar end to depart from first fixing hole, control the motor to drive the unidirectional driving
Shaft rotates；And when reaching threshold value for detecting the anglec of rotation of the unidirectional driving shaft, control the motor
Stopping driving, controls the first fix bar end to insert first fixing hole, controls described in the second fix bar disengaging
Second fixing hole, the hydraulic support system is controlled to discharge the vehicle frame so that the driving wheel contacts with ground.
Further, in addition to hydraulic control system, the hydraulic control system are connected with the controller, the hydraulic pressure
Control system is also connected with the hydraulic support system, the first hydraulic pressure fixed system and the second hydraulic pressure fixed system.
On the other hand, present invention also offers a kind of horizontal port for carrying unmanned vehicle exchange system of above-mentioned harbour container
Mouth container level carries unmanned vehicle commutation method, comprises the following steps：
S110, commutation instruction is obtained, direction of rotation and angle are obtained according to the commutation instruction；
S120, the control motor stop the rotation, and control the hydraulic support system to prop up support frame as described above
Support is until the driving wheel departs from ground；
S130, control first hydraulic fixing device discharge the wheel carrier, control second hydraulic fixing device to consolidate
The fixed unidirectional driving shaft；
S140, the motor driving unidirectional driving shaft rotation is controlled according to the direction of rotation and angle
Turn, until the unidirectional driving shaft anglec of rotation meets threshold value；
S150, stop the motor rotation；
S160, control second hydraulic fixing device discharge the unidirectional driving shaft, control first hydraulic pressure
Fixing device fixes the wheel carrier；
S170, the control hydraulic support system discharge the vehicle frame.
The exchange system and commutation method of the present invention can be realized so that unmanned vehicle adjusts displacement and appearance in short space
State adds the operational flexibility of unmanned vehicle, while ensure that the utilization rate in harbour space so that transporting container unmanned vehicle
It is extensive with scene, particularly in the transformation of existing harbour environment, reduce the cost of harbour transformation.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood by reference to accompanying drawing, accompanying drawing is schematically without that should manage
Solve to carry out any restrictions to the present invention, in the accompanying drawings：
Fig. 1 is that the horizontal system architecture for carrying unmanned vehicle exchange system of harbour container in some embodiments of the invention is shown
It is intended to；
Fig. 2 is that the horizontal running status for carrying unmanned vehicle exchange system of harbour container in some embodiments of the invention is shown
It is intended to；
Fig. 3 is that the horizontal running status for carrying unmanned vehicle exchange system of harbour container in some embodiments of the invention is shown
It is intended to；
Fig. 4 is that the horizontal running status for carrying unmanned vehicle exchange system of harbour container in some embodiments of the invention is shown
It is intended to；
Fig. 5 is that the horizontal running status for carrying unmanned vehicle exchange system of harbour container in some embodiments of the invention is shown
It is intended to；
Fig. 6 is that the horizontal running status for carrying unmanned vehicle exchange system of harbour container in some embodiments of the invention is shown
It is intended to；
Fig. 7 is that the horizontal running status for carrying unmanned vehicle exchange system of harbour container in some embodiments of the invention is shown
It is intended to；
Fig. 8 is that the horizontal running status for carrying unmanned vehicle exchange system of harbour container in some embodiments of the invention is shown
It is intended to
Fig. 9 is to connect after the harbour container level in some embodiments of the invention carries the automatically controlled letter of unmanned vehicle exchange system
Connect schematic diagram；
Figure 10 is after the harbour container level in some embodiments of the invention carries the automatically controlled letter of unmanned vehicle exchange system
Connection diagram；
Figure 11 is the horizontal flow signal for carrying unmanned vehicle commutation method of the harbour container in some embodiments of the invention
Figure.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be different from other modes described here using other to implement, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
In existing harbour environment, according to the operation characteristic of existing transporting container unmanned vehicle, transporting container nobody
Car is when reaching setting position, it is often necessary to extra setup transition running orbit so that unmanned vehicle scheduling is complicated, while causes port
Mouth low space utilization, transporting container unmanned vehicle could be run by needing to transform for some conventional harbours so that container is removed
It is low with prospect to transport unmanned vehicle, the present invention is in order to improve the above situation, it is proposed that a kind of harbour container is horizontal to carry unmanned vehicle
Exchange system, the power integration with commutation will be driven to save drive mechanism into one, the less too fat to move degree of structure, pass through by
The driving power of driving wheel is converted to the energy of commutation, saves cost.
Specifically, as shown in Fig. 1, Fig. 9, Figure 10, the invention provides a kind of horizontal unmanned vehicle of carrying of harbour container to change
To system 100, including vehicle frame 110, in addition to the vehicle frame 110 it is fixed for supporting the hydraulic support system of the vehicle frame
120th, can be rotated relative to the vehicle frame 110, rotation axis is vertical unidirectional driving shaft 130, fixed with the vehicle frame 110
For the motor 140 for driving the unidirectional driving shaft 130 to rotate；Also include wheel carrier 150, set on the wheel carrier 150
Put the driving wheel 160 that can be rotated relative to the wheel carrier 150, the wheel shaft 161 of the driving wheel 160 and the unidirectional driving shaft
130 output end connection, be provided with the wheel carrier 150 for can make the relatively described vehicle frame 110 of the wheel carrier 150 fix or from
By the first hydraulic fixing device 170, be additionally provided with the wheel carrier 150 for the phase of unidirectional driving shaft 130 can be made
The second hydraulic fixing device 180 that the wheel carrier 150 is fixed or rotated；When first hydraulic fixing device 170 is used for
When being relatively fixed the wheel carrier 150 and the vehicle frame 110, second hydraulic fixing device 180 is used to drive the commutation
Dynamic shaft 130 can rotate relative to the wheel carrier 150；When first hydraulic fixing device 170 be used for make the wheel carrier 150 with
When the vehicle frame 110 is relatively free, second hydraulic fixing device 180 is used to make the unidirectional driving shaft 130 can phase
The wheel carrier 150 is fixed；Also include controller 190, the controller 190 is used to connecting the motor 140, described the
One hydraulic fixing device 170, second hydraulic fixing device 180.
As shown in figure 1, the exchange system 100 of the present invention, when not commutating, the motor 140 is driven by the commutation
Dynamic shaft 130 imparts power to the driving wheel 160, so as to drive the vehicle frame 110 to move, at this moment first hydraulic pressure
Fixing device 170 makes the wheel carrier 150 be fixed with the vehicle frame 110, and second hydraulic fixing device 180 is in the shape that do not work
State, i.e., described second hydraulic fixing device 180 discharge the unidirectional driving shaft 130, and the unidirectional driving shaft 130 can
Relatively described wheel carrier 150 rotates freely.
As shown in Fig. 2 when exchange system 100 is in commutation states, first hydraulic fixing device 170 discharges
The wheel carrier 150 and the fixed constraint of vehicle frame 110, second hydraulic fixing device 180 cause the unidirectional driving one
Axle 130 is fixed with the wheel carrier 150, and at this moment the power of the motor 140 passes to the unidirectional driving shaft 130,
So as to drive the wheel carrier 150 now fixed with the unidirectional driving shaft 130, so as to drive driving wheel 160 to change position, turn
Structure after changing is as shown in figure 3, as shown in figure 4, first hydraulic fixing device 170 causes the wheel carrier 150 and institute afterwards
State vehicle frame 110 to fix, then second hydraulic fixing device 180 discharges the unidirectional driving shaft 130.By that will install
Four driving wheels 160 on vehicle frame 110 change position, realize the function of commutation.
Such as Fig. 5, such as Fig. 6, the hydraulic support system 120 is used to support the vehicle frame 110 to make the drive on ground 200
Driving wheel 160 departs from the ground 200；The hydraulic support system 120 includes the first hydraulic cylinder fixed with the vehicle frame 110
121st, the support bar that relatively described first hydraulic cylinder 121 can be driven to move along a straight line by hydraulic oil in the first hydraulic cylinder 121
122nd, the supporting pad 123 of the end of support bar 122 is arranged on, hydraulic support system 120 described in Fig. 5 causes the driving wheel
160 depart from ground 200, and in Fig. 6, the hydraulic support system 120 returns to former operating position, the driving wheel 160 and ground
200 contacts.
The motor 140 is fixed with the vehicle frame 110, and the drive shaft 141 of the motor 140 is provided with first
Gear 142, the input of unidirectional driving shaft 130 are provided with second gear 131, the second gear 131 and described the
One gear 142 engages, and the unidirectional driving shaft 130 is be hinged by bearing 111 with the vehicle frame 110.
The wheel shaft 161 of the driving wheel 160 is supported on the bearing 111 of wheel carrier 150, away from described on the wheel shaft 161
One end of driving wheel 160 is provided with first bevel gear 162, and the output end of the unidirectional driving shaft 130 is provided with the second cone
Gear 132, the second bevel gear 132 engage with the first bevel gear 162, pass through second bevel gear 132 and described first
The engagement of bevel gear 162 drives the driving wheel 160 to rotate.
First hydraulic fixing device 170 includes the second hydraulic cylinder 171 fixed with the wheel carrier 150, can be described
The first fix bar 172 that the relatively described second hydraulic cylinder 171 of hydraulic oil driving moves along a straight line in second hydraulic cylinder 171, the car
The end of relatively described first fix bar 172 is provided with the first fixing hole 112 on frame 110, and first fixing hole 112 can be used for
The end of first fix bar 172 is accommodated, by the way that the end of the first fix bar 172 is inserted into first fixing hole
In 112 so that the wheel carrier 150 is fixed with vehicle frame 110, otherwise discharges the fixed pass between the wheel carrier 150 and the vehicle frame
System.
Second hydraulic fixing device 180 includes the 3rd hydraulic cylinder 181 fixed with the wheel carrier 150, can be described
Second fix bar 182 of relatively described 3rd hydraulic cylinder 181 linear motion of hydraulic oil driving, described to change in 3rd hydraulic cylinder 181
The terminal position of relatively described second fix bar 182 is provided with the second fixing hole 133 on to driving shaft 130, and described second
Fixing hole 133 can be used for the end for accommodating second fix bar 182.By the way that the end of the second fix bar 182 is inserted into institute
State in the second fixing hole 133 so that the unidirectional driving shaft 130 is fixed with the wheel carrier 150, otherwise causes the wheel carrier
The 150 releases driving shaft 130.
Bearing 111, the fortune of first fix bar 172 are provided between the unidirectional driving shaft 130 and wheel carrier 110
Dynamic direction is consistent with the axis direction of the unidirectional driving shaft 130, the direction of motion of second fix bar 182 with it is described
The radial direction of unidirectional driving shaft 130 is consistent.
The controller 190 is used to control the motor 140 to stop the rotation, and controls the hydraulic support system 120
Support the vehicle frame 110 to cause the driving wheel 160 to depart from ground 200, control the end of the second fix bar 182 to be inserted into institute
The second fixing hole 133 is stated, controls the end of the first fix bar 172 to depart from first fixing hole 112, controls the driving electricity
Machine 140 drives the unidirectional driving shaft 130 to rotate；And for detecting the anglec of rotation of the unidirectional driving shaft 130
When reaching threshold value, control the motor 140 to stop operating, control the end of the first fix bar 172 insertion described first
Fixing hole 112, control second fix bar 182 to depart from second fixing hole 133, control the hydraulic support system 120
The vehicle frame 110 is discharged so that the driving wheel 160 contacts with ground 200, completes commutation work.Due to fixing hole size compared with
The size of fix bar is big, it is possible to which given threshold, for example, it is 90 degree to control the anglec of rotation, threshold value is 88~92 degree.
Due to being related to multiple hydraulic pressure execution devices in the system 100 of the present invention, hydraulic control system is can configure, specifically
Ground, as shown in Figure 10, exchange system 100 of the invention also include hydraulic control system 195, the hydraulic control system 195 with
The controller 190 is connected, and the hydraulic control system 195 is also fixed with the hydraulic support system 120, first hydraulic pressure
System 170 and the second hydraulic pressure fixed system 180 connect, and are uniformly controlled work schedule.
Such as Fig. 7, shown in Fig. 8, by exchange system 100 of the present invention, can cause unmanned vehicle enter conventional unmanned vehicle without
The locus that method reaches, as shown in figure 8, the unmanned vehicle 100 that commutation is completed can enter wall 300 in figure form it is narrow and small
In space, space availability ratio is added.
The exchange system of the present invention can be realized so that unmanned vehicle adjusts displacement in short space and posture adds nothing
The operational flexibility of people's car, while ensure that the utilization rate in harbour space so that the utilization scene of transporting container unmanned vehicle is wide
It is general, particularly in the transformation of existing harbour environment, reduce the cost of harbour transformation.
On the other hand, as shown in figure 11, present invention also offers carry unmanned vehicle using above-mentioned harbour container is horizontal
The carry out harbour container of exchange system is horizontal to carry unmanned vehicle commutation method, comprises the following steps：
S110, commutation instruction is obtained, direction of rotation and angle are obtained according to the commutation instruction；
S120, the control motor stop the rotation, and control the hydraulic support system to prop up support frame as described above
Support is until the driving wheel departs from ground；
S130, control first hydraulic fixing device discharge the wheel carrier, control second hydraulic fixing device to consolidate
The fixed unidirectional driving shaft；
S140, the motor driving unidirectional driving shaft rotation is controlled according to the direction of rotation and angle
Turn, until the unidirectional driving shaft anglec of rotation meets threshold value；
S150, stop the motor rotation；
S160, control second hydraulic fixing device discharge the unidirectional driving shaft, control first hydraulic pressure
Fixing device fixes the wheel carrier；
S170, the control hydraulic support system discharge the vehicle frame.
Harbour container is horizontal carry the conventional traffic direction of unmanned vehicle be along the direction of the long side of the unmanned vehicle, when
When needing when being moved in the vertical direction in regular motion direction, or moving at other angles, the exchange system work, work
The running status switching for making the part in flow and system is as described above.Realize and realize that one direction moves in short space, institute
Need harbour space small, so that harbour space increases, while be transformed into introducing unmanned vehicle reduction in existing harbour environment
This, has very big utilization prospect.
In the present invention, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or
Imply relative importance.Term " multiple " refers to two or more, is limited unless otherwise clear and definite.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of harbour container is horizontal to carry unmanned vehicle exchange system, including vehicle frame, it is characterised in that also includes and the car
Frame is fixed for supporting the hydraulic support system of the vehicle frame, can rotated relative to the vehicle frame, and rotation axis is vertical commutation
Driving shaft and the vehicle frame are fixed for driving the motor of the unidirectional driving shaft rotation；Also include wheel carrier,
The driving wheel that can be rotated relative to the wheel carrier, the wheel shaft of the driving wheel and the unidirectional driving shaft are set on the wheel carrier
Output end connection, be provided with the wheel carrier for the relatively described vehicle frame of the wheel carrier can be made to fix or free first hydraulic pressure
Fixing device, it is additionally provided with the wheel carrier for the unidirectional driving shaft can be made to fix or rotate relative to the wheel carrier
The second hydraulic fixing device；When first hydraulic fixing device is used to make the wheel carrier be relatively fixed with the vehicle frame,
Second hydraulic fixing device is used to make the unidirectional driving shaft to rotate relative to the wheel carrier；When first hydraulic pressure
When fixing device is used to make the wheel carrier relative with the vehicle frame free, second hydraulic fixing device is used to make the commutation
Driving shaft can relatively described wheel carrier fix；Also include controller, the controller is used to connecting the motor, described
First hydraulic fixing device, second hydraulic fixing device.
2. harbour container according to claim 1 is horizontal to carry unmanned vehicle exchange system, it is characterised in that the hydraulic pressure
Support system is used to support the vehicle frame to make the driving wheel depart from the ground on the ground；The hydraulic support system includes
The first hydraulic cylinder fixed with the vehicle frame, by hydraulic oil in the first hydraulic cylinder relatively described first hydraulic cylinder can be driven straight
The support bar of line motion, the supporting pad for being arranged on the support bar end.
3. harbour container according to claim 1 is horizontal to carry unmanned vehicle exchange system, it is characterised in that the driving
Motor is fixed with the vehicle frame, and the drive shaft of the motor is provided with first gear, the unidirectional driving shaft input
End is provided with second gear, and the second gear engages with the first gear, the unidirectional driving shaft and the vehicle frame
Pass through bearing hinge connection.
4. harbour container according to claim 1 is horizontal to carry unmanned vehicle exchange system, it is characterised in that the driving
The axle bearing of wheel is on the bearing of wheel carrier, and one end away from the driving wheel is provided with first bevel gear on the wheel shaft, institute
The output end for stating unidirectional driving shaft is provided with second bevel gear, and the second bevel gear engages with the first bevel gear.
5. carry unmanned vehicle exchange system according to any described harbour container of Claims 1 to 4 is horizontal, it is characterised in that
First hydraulic fixing device includes the second hydraulic cylinder fixed with the wheel carrier, can be by hydraulic oil in the second hydraulic cylinder
First fix bar of driving second hydraulic cylinder linear motion relatively, the end of relatively described first fix bar on the vehicle frame
The first fixing hole is provided with, first fixing hole can be used for the end for accommodating first fix bar.
6. harbour container according to claim 5 is horizontal to carry unmanned vehicle exchange system, it is characterised in that described second
Hydraulic fixing device includes the 3rd hydraulic cylinder fixed with the wheel carrier, can be driven by hydraulic oil in the 3rd hydraulic cylinder relative
Second fix bar of the 3rd hydraulic cylinder linear motion, the end of relatively described second fix bar on the unidirectional driving shaft
End position is provided with the second fixing hole, and second fixing hole can be used for the end for accommodating second fix bar.
7. harbour container according to claim 6 is horizontal to carry unmanned vehicle exchange system, it is characterised in that the commutation
Bearing, the direction of motion of first fix bar and the unidirectional driving shaft are provided between driving shaft and wheel carrier
Axis direction is consistent, and the direction of motion of second fix bar is consistent with the radial direction of the unidirectional driving shaft.
8. harbour container according to claim 6 is horizontal to carry unmanned vehicle exchange system, it is characterised in that the control
Device is used to control the motor to stop the rotation, and controls the hydraulic support system to support the vehicle frame to cause the driving wheel
Depart from ground, control the second fix bar end to be inserted into second fixing hole, control the first fix bar end to take off
From first fixing hole, the motor is controlled to drive the unidirectional driving shaft rotation；And for detecting described change
When reaching threshold value to the anglec of rotation of driving shaft, control the motor to stop driving, control first fix bar
First fixing hole is inserted in end, controls second fix bar to depart from second fixing hole, controls the hydraulic pressure support
System discharges the vehicle frame and the driving wheel is contacted with ground.
9. harbour container according to claim 1 is horizontal to carry unmanned vehicle exchange system, it is characterised in that also including liquid
Pressure control system, the hydraulic control system are connected with the controller, the hydraulic control system also with the hydraulic pressure support
System, the first hydraulic pressure fixed system connect with the second hydraulic pressure fixed system.
A kind of 10. horizontal harbour collection for carrying unmanned vehicle exchange system of any described harbour container of usage right requirement 1~9
Vanning is horizontal to carry unmanned vehicle commutation method, it is characterised in that comprises the following steps：
S110, commutation instruction is obtained, direction of rotation and angle are obtained according to the commutation instruction；
S120, the control motor stop the rotation, and control the hydraulic support system to be supported to support frame as described above directly
Depart from ground to the driving wheel；
S130, control first hydraulic fixing device discharge the wheel carrier, control second hydraulic fixing device to fix institute
State unidirectional driving shaft；
S140, the motor driving unidirectional driving shaft rotation is controlled according to the direction of rotation and angle, directly
Meet threshold value to the unidirectional driving shaft anglec of rotation；
S150, stop the motor rotation；
S160, control second hydraulic fixing device discharge the unidirectional driving shaft, control first hydraulic pressure to fix
Device fixes the wheel carrier；
S170, the control hydraulic support system discharge the vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710573266.9A CN107415904B (en) | 2017-07-14 | 2017-07-14 | Reversing system and method for horizontally carrying unmanned vehicles by port containers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710573266.9A CN107415904B (en) | 2017-07-14 | 2017-07-14 | Reversing system and method for horizontally carrying unmanned vehicles by port containers |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107415904A true CN107415904A (en) | 2017-12-01 |
| CN107415904B CN107415904B (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710573266.9A Expired - Fee Related CN107415904B (en) | 2017-07-14 | 2017-07-14 | Reversing system and method for horizontally carrying unmanned vehicles by port containers |
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| CN203172353U (en) * | 2013-04-12 | 2013-09-04 | 上海大学 | Universal wheel device |
| CN103381851A (en) * | 2013-07-17 | 2013-11-06 | 冯卓林 | Electric automobile chassis |
| CN103465729A (en) * | 2013-09-23 | 2013-12-25 | 深圳市纳瑞科技有限公司 | Unidirectional, bidirectional and longitudinal-lateral switching trundle unit and AGV (automatic guided vehicle) device thereof |
| CN103754261A (en) * | 2014-01-20 | 2014-04-30 | 长春理工大学 | Electric wheel and vehicle with same |
| CN106143676A (en) * | 2015-04-09 | 2016-11-23 | 大连光洋科技集团有限公司 | With the programmable A GV mover supporting commutation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107415904B (en) | 2020-10-09 |
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