CN107415904B - Reversing system and method for horizontally carrying unmanned vehicles by port containers - Google Patents
Reversing system and method for horizontally carrying unmanned vehicles by port containers Download PDFInfo
- Publication number
- CN107415904B CN107415904B CN201710573266.9A CN201710573266A CN107415904B CN 107415904 B CN107415904 B CN 107415904B CN 201710573266 A CN201710573266 A CN 201710573266A CN 107415904 B CN107415904 B CN 107415904B
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- hydraulic
- reversing
- frame
- wheel
- driving
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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 invention relates to a reversing system for a horizontal carrying unmanned vehicle of a port container, which comprises a frame, a hydraulic support system, a reversing driving integrated shaft, a driving motor and a wheel carrier, wherein the wheel carrier is provided with a driving wheel which can rotate relative to the wheel carrier, the driving wheel is connected with the reversing driving integrated shaft, and the wheel carrier is provided with a first hydraulic fixing device and a second hydraulic fixing device; and the working states of the first hydraulic fixing device and the second hydraulic fixing device are switched to realize reversing. The unmanned vehicle can adjust the displacement and the posture in a tiny space, the operation flexibility of the unmanned vehicle is improved, meanwhile, the utilization rate of port space is guaranteed, the application scene of the container carrying the unmanned vehicle is wide, and particularly in the existing port environment transformation, the cost of port transformation is reduced.
Description
Technical Field
The invention relates to the field of control over horizontal port container transport unmanned vehicles, in particular to a reversing system and a reversing method for horizontal port container transport unmanned vehicles.
Background
In a port environment, containers are carried by manually starting a truck to carry the containers back and forth, the efficiency is low, and the condition of queuing is often caused, so that the resource waste is caused; the existing automatic container handling vehicle enables the automatic handling vehicle to operate without people in a port environment through a navigation technology and a scheduling technology, but in an actual operation situation, the existing automatic container handling unmanned vehicle only has one moving direction and cannot reach positions with narrow space, so that some handling tasks cannot be completed; but the cost required for modifying the port environment is high, so that the application prospect of the automatic container transfer vehicle is reduced; on the other hand, because the existing automatic container handling vehicles can only operate in a single direction, in order to ensure that the automatic container handling vehicles can stop at a designated station, the operation space is often additionally increased, so that the consideration factor of scheduling is increased, the working efficiency is reduced, and the problem of low port space utilization rate is also caused.
Disclosure of Invention
The invention provides a reversing system of a port container horizontal transport unmanned vehicle, which is improved aiming at the problem of lower application prospect caused by high requirement of the existing container automatic transport vehicle on port environment, is convenient for improving dispatching operation efficiency and improving port space utilization rate, and comprises a frame, a hydraulic support system which is fixed with the frame and used for supporting the frame and can rotate relative to the frame, a reversing driving integral shaft of which the rotation axis is vertical, and a driving motor which is fixed with the frame and used for driving the reversing driving integral shaft to rotate; the reversing driving integrated shaft is arranged on the frame, the wheel shaft of the driving wheel is connected with the output end of the reversing driving integrated shaft, the wheel frame is provided with a first hydraulic fixing device which can enable the wheel frame to be fixed or free relative to the frame, and the wheel frame is further provided with a second hydraulic fixing device which can enable the reversing driving integrated shaft to be fixed or rotate relative to the wheel frame; when the first hydraulic fixing device is used for fixing the wheel frame and the frame relatively, the second hydraulic fixing device is used for enabling the reversing driving integrated shaft to rotate relative to the wheel frame; when the first hydraulic fixing device is used for enabling the wheel frame and the frame to be relatively free, the second hydraulic fixing device is used for enabling the reversing driving integrated shaft to be fixed relative to the wheel frame; the hydraulic fixing device further comprises a controller, and the controller is used for being connected with the driving motor, the first hydraulic fixing device and the second hydraulic fixing device.
Further, the hydraulic support system is used for supporting the frame on the ground to enable the driving wheel to be separated from the ground; the hydraulic support system comprises a first hydraulic cylinder fixed with the frame, a support rod capable of being driven by hydraulic oil in the first hydraulic cylinder to move linearly relative to the first hydraulic cylinder, and a support pad arranged at the tail end of the support rod.
Furthermore, the driving motor is fixed with the frame, a first gear is installed on a driving shaft of the driving motor, a second gear is arranged at the input end of the reversing driving integrated shaft, the second gear is meshed with the first gear, and the reversing driving integrated shaft is hinged to the frame through a bearing.
Furthermore, a wheel shaft of the driving wheel is supported on a bearing of a wheel frame, a first bevel gear is mounted at one end, far away from the driving wheel, of the wheel shaft, a second bevel gear is mounted at the output end of the reversing driving integrated shaft, and the second bevel gear is meshed with the first bevel gear.
Furthermore, the first hydraulic fixing device comprises a second hydraulic cylinder fixed with the wheel carrier, and a first fixing rod which can be driven by hydraulic oil in the second hydraulic cylinder to move linearly relative to the second hydraulic cylinder, wherein a first fixing hole is formed in the end, opposite to the first fixing rod, of the frame, and the first fixing hole can be used for accommodating the end of the first fixing rod.
Furthermore, the second hydraulic fixing device comprises a third hydraulic cylinder fixed with the wheel carrier, and a second fixing rod which can be driven by hydraulic oil in the third hydraulic cylinder to move linearly relative to the third hydraulic cylinder, wherein a second fixing hole is formed in the reversing driving integrated shaft relative to the tail end of the second fixing rod, and the second fixing hole can be used for accommodating the tail end of the second fixing rod.
Further, a bearing is arranged between the reversing driving integrated shaft and the wheel carrier, the moving direction of the first fixing rod is consistent with the axial direction of the reversing driving integrated shaft, and the moving direction of the second fixing rod is consistent with the radial direction of the reversing driving integrated shaft.
Further, the controller is used for controlling the driving motor to stop rotating, controlling the hydraulic support system to support the frame so that the driving wheel is separated from the ground, controlling the tail end of the second fixing rod to be inserted into the second fixing hole, controlling the tail end of the first fixing rod to be separated from the first fixing hole, and controlling the driving motor to drive the reversing driving integrated shaft to rotate; and when the rotation angle of the reversing driving integrated shaft reaches a threshold value, the driving motor is controlled to stop driving, the tail end of the first fixing rod is controlled to be inserted into the first fixing hole, the second fixing rod is controlled to be separated from the second fixing hole, and the hydraulic support system is controlled to release the frame so that the driving wheel is in contact with the ground.
Further, still include hydraulic control system, hydraulic control system with the controller is connected, hydraulic control system still with hydraulic support system, first hydraulic pressure fixed system and second hydraulic pressure fixed system are connected.
On the other hand, the invention also provides a reversing method of the port container horizontal transfer unmanned vehicle reversing system, which comprises the following steps:
s110, acquiring a reversing instruction, and acquiring a rotating direction and an angle according to the reversing instruction;
s120, controlling the driving motor to stop rotating, and controlling the hydraulic support system to support the frame until the driving wheel is separated from the ground;
s130, controlling the first hydraulic fixing device to release the wheel carrier, and controlling the second hydraulic fixing device to fix the reversing driving integrated shaft;
s140, controlling the driving motor to drive the reversing driving integrated shaft to rotate according to the rotating direction and the rotating angle until the rotating angle of the reversing driving integrated shaft meets a threshold value;
s150, stopping the rotation of the driving motor;
s160, controlling the second hydraulic fixing device to release the reversing driving integrated shaft, and controlling the first hydraulic fixing device to fix the wheel carrier;
and S170, controlling the hydraulic support system to release the frame.
The reversing system and the reversing method can realize that the unmanned vehicle adjusts the displacement and the posture in a tiny space, thereby increasing the operation flexibility of the unmanned vehicle, simultaneously ensuring the utilization rate of port space, leading the application scene of container carrying unmanned vehicles to be wide, and reducing the cost of port reconstruction particularly in the prior port environment reconstruction.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a schematic diagram of a system configuration for a horizontal port container transfer drone vehicle diversion system in accordance with some embodiments of the present invention;
FIG. 2 is a schematic view of the operation of a port container horizontal transfer drone vehicle diversion system in some embodiments of the present invention;
FIG. 3 is a schematic view of the operation of a port container horizontal transfer drone vehicle diversion system in some embodiments of the present invention;
FIG. 4 is a schematic view of the operation of a port container horizontal transfer drone vehicle diversion system in some embodiments of the present invention;
FIG. 5 is a schematic view of the operation of a port container horizontal transfer drone vehicle diversion system in some embodiments of the present invention;
FIG. 6 is a schematic view of the operation of a port container horizontal transfer drone vehicle diversion system in some embodiments of the present invention;
FIG. 7 is a schematic view of the operation of a port container horizontal transfer drone vehicle diversion system in some embodiments of the present invention;
FIG. 8 is a schematic view of the operation of the system for horizontally transporting unmanned vehicles for harbor containers according to some embodiments of the present invention
FIG. 9 is a schematic diagram of the electrical post-communication connections of a port container horizontal transfer drone vehicle diversion system in accordance with some embodiments of the present invention;
FIG. 10 is a schematic diagram of the electrical post-communication connections of a port container horizontal transfer drone vehicle diversion system in accordance with some embodiments of the present invention;
fig. 11 is a flow chart of a method for reversing a horizontal port container transfer drone vehicle in some embodiments of the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
In the prior port environment, according to the operation characteristics of the prior unmanned vehicle for carrying containers, when the unmanned vehicle for carrying containers reaches a set position, transitional operation tracks are often additionally set, so that the unmanned vehicle is complex to dispatch, and meanwhile, the utilization rate of port space is low.
Specifically, as shown in fig. 1, 9 and 10, the present invention provides a reversing system 100 for horizontally transporting an unmanned vehicle for a port container, comprising a frame 110, a hydraulic support system 120 fixed to the frame 110 for supporting the frame, a reversing driving integral shaft 130 rotatable relative to the frame 110 with a vertical rotation axis, and a driving motor 140 fixed to the frame 110 for driving the reversing driving integral shaft 130 to rotate; the reversing driving integrated shaft device further comprises a wheel frame 150, wherein a driving wheel 160 capable of rotating relative to the wheel frame 150 is arranged on the wheel frame 150, a wheel shaft 161 of the driving wheel 160 is connected with an output end of the reversing driving integrated shaft 130, a first hydraulic fixing device 170 capable of fixing or freely fixing the wheel frame 150 relative to the frame 110 is arranged on the wheel frame 150, and a second hydraulic fixing device 180 capable of fixing or rotating the reversing driving integrated shaft 130 relative to the wheel frame 150 is arranged on the wheel frame 150; when the first hydraulic fixing device 170 is used to fix the wheel carrier 150 and the frame 110 relatively, the second hydraulic fixing device 180 is used to make the direction-changing driving integral shaft 130 rotatable relative to the wheel carrier 150; when the first hydraulic fixing device 170 is used to make the wheel carrier 150 and the frame 110 relatively free, the second hydraulic fixing device 180 is used to make the reversing driving integrated shaft 130 fixable relative to the wheel carrier 150; the hydraulic fixing device further comprises a controller 190, and the controller 190 is used for connecting the driving motor 140, the first hydraulic fixing device 170 and the second hydraulic fixing device 180.
As shown in fig. 1, when the reversing system 100 of the present invention is not reversing, the driving motor 140 transmits power to the driving wheel 160 through the reversing driving integrated shaft 130, so as to drive the frame 110 to move, at this time, the first hydraulic fixing device 170 fixes the wheel frame 150 to the frame 110, the second hydraulic fixing device 180 is in an inoperative state, that is, the second hydraulic fixing device 180 releases the reversing driving integrated shaft 130, and the reversing driving integrated shaft 130 can rotate freely relative to the wheel frame 150.
As shown in fig. 2, when the reversing system 100 is in the reversing state, the first hydraulic fixing device 170 releases the fixed constraint between the wheel carrier 150 and the frame 110, the second hydraulic fixing device 180 fixes the reversing driving integrated shaft 130 and the wheel carrier 150, and then the power of the driving motor 140 is transmitted to the reversing driving integrated shaft 130, so as to drive the wheel carrier 150 fixed to the reversing driving integrated shaft 130, so as to drive the driving wheel 160 to switch positions, the switched structure is shown in fig. 3, as shown in fig. 4, and then the first hydraulic fixing device 170 fixes the wheel carrier 150 to the frame 110, and then the second hydraulic fixing device 180 releases the reversing driving integrated shaft 130. The reversing function is achieved by repositioning the four drive wheels 160 mounted on the frame 110.
As shown in fig. 5, fig. 6, the hydraulic support system 120 is used to support the frame 110 on the ground 200 such that the drive wheel 160 is disengaged from the ground 200; the hydraulic support system 120 includes a first hydraulic cylinder 121 fixed to the frame 110, a support rod 122 driven by hydraulic oil in the first hydraulic cylinder 121 to move linearly relative to the first hydraulic cylinder 121, and a support pad 123 disposed at a distal end of the support rod 122, in fig. 5, the hydraulic support system 120 enables the driving wheel 160 to be disengaged from the ground 200, in fig. 6, the hydraulic support system 120 returns to an original working position, and the driving wheel 160 contacts with the ground 200.
The driving motor 140 is fixed to the frame 110, a first gear 142 is mounted on a driving shaft 141 of the driving motor 140, a second gear 131 is disposed at an input end of the reversing driving integrated shaft 130, the second gear 131 is engaged with the first gear 142, and the reversing driving integrated shaft 130 is hinged to the frame 110 through a bearing 111.
The axle 161 of the driving wheel 160 is supported on the bearing 111 of the wheel carrier 150, one end of the axle 161, which is far away from the driving wheel 160, is provided with a first bevel gear 162, the output end of the reversing driving integral axle 130 is provided with a second bevel gear 132, the second bevel gear 132 is meshed with the first bevel gear 162, and the driving wheel 160 is driven to rotate by the meshing of the second bevel gear 132 and the first bevel gear 162.
The first hydraulic fixing device 170 includes a second hydraulic cylinder 171 fixed to the wheel frame 150, and a first fixing rod 172 driven by hydraulic oil in the second hydraulic cylinder 171 to move linearly relative to the second hydraulic cylinder 171, the end of the frame 110 opposite to the first fixing rod 172 is provided with a first fixing hole 112, the first fixing hole 112 can be used for accommodating the end of the first fixing rod 172, the end of the first fixing rod 172 is inserted into the first fixing hole 112, so that the wheel frame 150 is fixed to the frame 110, otherwise, the fixing relationship between the wheel frame 150 and the frame is released.
The second hydraulic fixing device 180 includes a third hydraulic cylinder 181 fixed to the wheel frame 150, and a second fixing rod 182 driven by hydraulic oil in the third hydraulic cylinder 181 to move linearly relative to the third hydraulic cylinder 181, wherein a second fixing hole 133 is formed in the reversing driving body shaft 130 at a position opposite to the end of the second fixing rod 182, and the second fixing hole 133 is configured to receive the end of the second fixing rod 182. By inserting the end of the second fixing rod 182 into the second fixing hole 133, the reverse driving integrated shaft 130 is fixed to the wheel frame 150, and conversely, the wheel frame 150 releases the driving integrated shaft 130.
A bearing 111 is disposed between the direction-changing driving integrated shaft 130 and the wheel carrier 110, a moving direction of the first fixing rod 172 is identical to an axial direction of the direction-changing driving integrated shaft 130, and a moving direction of the second fixing rod 182 is identical to a radial direction of the direction-changing driving integrated shaft 130.
The controller 190 is configured to control the driving motor 140 to stop rotating, control the hydraulic support system 120 to support the frame 110 such that the driving wheel 160 is disengaged from the ground 200, control the end of the second fixing rod 182 to be inserted into the second fixing hole 133, control the end of the first fixing rod 172 to be disengaged from the first fixing hole 112, and control the driving motor 140 to drive the reversing driving integral shaft 130 to rotate; and when the rotation angle of the reversing driving integrated shaft 130 reaches a threshold value, the driving motor 140 is controlled to stop rotating, the end of the first fixing rod 172 is controlled to be inserted into the first fixing hole 112, the second fixing rod 182 is controlled to be separated from the second fixing hole 133, and the hydraulic support system 120 is controlled to release the frame 110, so that the driving wheel 160 is in contact with the ground 200, and the reversing operation is completed. Since the size of the fixing hole is larger than that of the fixing rod, a threshold value can be set, for example, the control rotation angle is 90 degrees, and the threshold value is 88-92 degrees.
Since the system 100 of the present invention involves a plurality of hydraulic actuators, a hydraulic control system may be configured, and specifically, as shown in fig. 10, the reversing system 100 of the present invention further includes a hydraulic control system 195, the hydraulic control system 195 is connected to the controller 190, and the hydraulic control system 195 is further connected to the hydraulic support system 120, the first hydraulic fixing system 170, and the second hydraulic fixing system 180, so as to control the working timing in a unified manner.
As shown in fig. 7 and 8, the reversing system 100 of the present invention can make the unmanned vehicle enter a spatial position that cannot be reached by a conventional unmanned vehicle, as shown in fig. 8, the unmanned vehicle 100 after reversing can enter a narrow space formed by wall surfaces 300 in the figure, and the space utilization rate is increased.
The reversing system can adjust the displacement and the posture of the unmanned vehicle in a tiny space, thereby increasing the operation flexibility of the unmanned vehicle, ensuring the utilization rate of port space, leading the application scene of container carrying unmanned vehicles to be wide, and reducing the cost of port reconstruction particularly in the prior port environment reconstruction.
On the other hand, as shown in fig. 11, the invention also provides a method for reversing the horizontal transfer unmanned vehicle of the port container by using the reversing system for horizontal transfer unmanned vehicle of the port container, which comprises the following steps:
s110, acquiring a reversing instruction, and acquiring a rotating direction and an angle according to the reversing instruction;
s120, controlling the driving motor to stop rotating, and controlling the hydraulic support system to support the frame until the driving wheel is separated from the ground;
s130, controlling the first hydraulic fixing device to release the wheel carrier, and controlling the second hydraulic fixing device to fix the reversing driving integrated shaft;
s140, controlling the driving motor to drive the reversing driving integrated shaft to rotate according to the rotating direction and the rotating angle until the rotating angle of the reversing driving integrated shaft meets a threshold value;
s150, stopping the rotation of the driving motor;
s160, controlling the second hydraulic fixing device to release the reversing driving integrated shaft, and controlling the first hydraulic fixing device to fix the wheel carrier;
and S170, controlling the hydraulic support system to release the frame.
The conventional running direction of the horizontal port container carrying unmanned vehicle is along the direction of the long edge of the unmanned vehicle, and when the unmanned vehicle needs to move in the vertical direction of the conventional running direction or move at other angles, the reversing system works, and the working process and the running states of the components in the system are switched as described above. The unidirectional movement is realized in the micro space, and the required port space is small, so that the port space is enlarged, meanwhile, the reconstruction cost is reduced by introducing an unmanned vehicle in the existing port environment, and the device has a great application prospect.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A reversing system for a horizontal carrying unmanned vehicle for a port container comprises a vehicle frame, and is characterized by further comprising a hydraulic support system which is fixed with the vehicle frame and used for supporting the vehicle frame, a reversing driving integrated shaft which can rotate relative to the vehicle frame and has a vertical rotation axis, and a driving motor which is fixed with the vehicle frame and used for driving the reversing driving integrated shaft to rotate; the reversing driving integrated shaft is arranged on the frame, the wheel shaft of the driving wheel is connected with the output end of the reversing driving integrated shaft, the wheel frame is provided with a first hydraulic fixing device which can enable the wheel frame to be fixed or free relative to the frame, and the wheel frame is further provided with a second hydraulic fixing device which can enable the reversing driving integrated shaft to be fixed or rotate relative to the wheel frame; when the first hydraulic fixing device is used for fixing the wheel frame and the frame relatively, the second hydraulic fixing device is used for enabling the reversing driving integrated shaft to rotate relative to the wheel frame; when the first hydraulic fixing device is used for enabling the wheel frame and the frame to be relatively free, the second hydraulic fixing device is used for enabling the reversing driving integrated shaft to be fixed relative to the wheel frame; the hydraulic fixing device further comprises a controller, and the controller is used for being connected with the driving motor, the first hydraulic fixing device and the second hydraulic fixing device.
2. The port container horizontal transfer drone vehicle diversion system of claim 1 wherein said hydraulic support system is used to support said frame on the ground with said drive wheels off of said ground; the hydraulic support system comprises a first hydraulic cylinder fixed with the frame, a support rod capable of being driven by hydraulic oil in the first hydraulic cylinder to move linearly relative to the first hydraulic cylinder, and a support pad arranged at the tail end of the support rod.
3. The reversing system of the port container horizontal-handling unmanned vehicle as claimed in claim 1, wherein the driving motor is fixed to the frame, a first gear is mounted on a driving shaft of the driving motor, a second gear is arranged at an input end of the reversing driving integral shaft, the second gear is meshed with the first gear, and the reversing driving integral shaft is hinged to the frame through a bearing.
4. The system of claim 1, wherein the wheel shaft of the driving wheel is supported on a bearing of a wheel frame, a first bevel gear is mounted on one end of the wheel shaft far away from the driving wheel, and a second bevel gear is mounted on the output end of the reversing driving integrated shaft and meshed with the first bevel gear.
5. The reversing system for the horizontal transfer unmanned aerial vehicle for the harbor container according to any one of claims 1 to 4, wherein the first hydraulic fixing device comprises a second hydraulic cylinder fixed on the wheel frame and a first fixing rod capable of being driven by hydraulic oil in the second hydraulic cylinder to move linearly relative to the second hydraulic cylinder, a first fixing hole is formed in the end of the frame relative to the first fixing rod, and the first fixing hole can be used for accommodating the end of the first fixing rod.
6. The system of claim 5, wherein the second hydraulic fixing device comprises a third hydraulic cylinder fixed to the wheel frame and a second fixing rod driven by hydraulic oil in the third hydraulic cylinder to move linearly relative to the third hydraulic cylinder, and a second fixing hole is formed in the reversing driving integrated shaft at a position corresponding to the end of the second fixing rod and used for accommodating the end of the second fixing rod.
7. The system of claim 6, wherein a bearing is disposed between the reversing driving integrated shaft and the wheel frame, the first fixing rod moves in the same direction as the axial direction of the reversing driving integrated shaft, and the second fixing rod moves in the same direction as the radial direction of the reversing driving integrated shaft.
8. The system of claim 6, wherein the controller is configured to control the driving motor to stop rotating, control the hydraulic support system to support the frame such that the driving wheel is disengaged from the ground, control the end of the second fixing rod to be inserted into the second fixing hole, control the end of the first fixing rod to be disengaged from the first fixing hole, and control the driving motor to drive the reversing-driving integrated shaft to rotate; and when the rotation angle of the reversing driving integrated shaft reaches a threshold value, the driving motor is controlled to stop driving, the tail end of the first fixing rod is controlled to be inserted into the first fixing hole, the second fixing rod is controlled to be separated from the second fixing hole, and the hydraulic support system is controlled to release the frame so that the driving wheel is in contact with the ground.
9. The port container horizontal transfer drone vehicle reversal system of claim 1, further comprising a hydraulic control system, the hydraulic control system being connected with the controller, the hydraulic control system further being connected with the hydraulic support system, the first hydraulic fixture and the second hydraulic fixture.
10. A method for reversing a horizontal transport unmanned vehicle of a port container by using the system for reversing a horizontal transport unmanned vehicle of a port container according to any one of claims 1 to 9, comprising the steps of:
s110, acquiring a reversing instruction, and acquiring a rotating direction and an angle according to the reversing instruction;
s120, controlling the driving motor to stop rotating, and controlling the hydraulic support system to support the frame until the driving wheel is separated from the ground;
s130, controlling the first hydraulic fixing device to release the wheel carrier, and controlling the second hydraulic fixing device to fix the reversing driving integrated shaft;
s140, controlling the driving motor to drive the reversing driving integrated shaft to rotate according to the rotating direction and the rotating angle until the rotating angle of the reversing driving integrated shaft meets a threshold value;
s150, stopping the rotation of the driving motor;
s160, controlling the second hydraulic fixing device to release the reversing driving integrated shaft, and controlling the first hydraulic fixing device to fix the wheel carrier;
and S170, controlling the hydraulic support system to release the 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 |
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| Publication Number | Publication Date |
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| CN107415904A CN107415904A (en) | 2017-12-01 |
| CN107415904B true CN107415904B (en) | 2020-10-09 |
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| KR20120064813A (en) * | 2010-12-10 | 2012-06-20 | 고려대학교 산학협력단 | Caster wheel mechanism having dual offset structure and omnidirectional mobile robot using the same |
| 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 |
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2017
- 2017-07-14 CN CN201710573266.9A patent/CN107415904B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120064813A (en) * | 2010-12-10 | 2012-06-20 | 고려대학교 산학협력단 | Caster wheel mechanism having dual offset structure and omnidirectional mobile robot using the same |
| 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 |
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| Publication number | Publication date |
|---|---|
| CN107415904A (en) | 2017-12-01 |
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