CN109625123A - A kind of spliced carrying vehicle, handling system and method for carrying - Google Patents
A kind of spliced carrying vehicle, handling system and method for carrying Download PDFInfo
- Publication number
- CN109625123A CN109625123A CN201811594708.9A CN201811594708A CN109625123A CN 109625123 A CN109625123 A CN 109625123A CN 201811594708 A CN201811594708 A CN 201811594708A CN 109625123 A CN109625123 A CN 109625123A
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- spliced
- vehicle
- carrying vehicle
- carrying
- frame assembly
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The present invention is suitable for AGV technical field, discloses a kind of spliced carrying vehicle, handling system and method for carrying.Spliced carrying vehicle includes vehicle body, and vehicle body can work independently and cooperate after can splicing with another vehicle body, and vehicle body includes frame assembly and driving wheel, support wheel, navigation device, docking facilities, battery and entire car controller；At least two driving wheels or/and support wheel are connected separately with power steering assembly.Spliced handling system includes scheduling system and a kind of at least two above-mentioned spliced carrying vehicles.Method for carrying uses above-mentioned spliced handling system.A kind of spliced carrying vehicle, handling system provided by the embodiment of the present invention and method for carrying, spliced carrying vehicle can be used as heavy carrying splicing vehicle, may be implemented to splice and separate, handling efficiency can be improved and reduce landed cost.
Description
Technical field
The invention belongs to AGV technical field more particularly to a kind of spliced carrying vehicles, handling system and method for carrying.
Background technique
With the proposition of " made in China 2025 ", China is in ocean engineering, chemical industry, electric power, military project, shipbuilding, bridge, height
The fields such as iron, logistics sharply increase heavily loaded super large modularization vehicle equipment demand, but its research and development manufacturing technology is flourishing always
Country is monopolized, and seriously constrains the development of China's relevant industries, and China's carriage of special cargo industry development is later, domestic only to go out
Xian Liaojijia enterprise, therefore splicing vehicle technical research has very big development space.
Splicing vehicle group on domestic market generally uses parallel oil mainly using hydraulic drive type handling system
Pipe connection.Its working principle is that: using oil liquid as working media, by the variation of sealed volume come passing movement, pass through oil liquid
Internal pressure carrys out transmission force.The mechanical energy of prime mover: being converted to the hydraulic energy of oil liquid by power section, such as: hydraulic pump.Turn
Change part: the oil liquid pressure that hydraulic pump inputs can be converted to the mechanical energy for driving operating mechanism, such as: hydraulic cylinder, hydraulic horse
It reaches.Existing splicing vehicle mostly uses hydraulic mode, and this mode, which to turn to, to be had certain limitations, and steering is not flexible, and passes through
Oil pressure is converted to transmitting power, needs oil pipe, so just needs to safeguard oil pipe, safeguards bad environments and needs constantly dimension
Shield, service intervals are short, and handling efficiency is relatively low, landed cost is relatively high.
Summary of the invention
The present invention is directed at least solve one of above-mentioned technical problem, a kind of spliced carrying vehicle, handling system are provided
And method for carrying, handling efficiency is high, and it is good to carry effect.
The technical scheme is that a kind of spliced carrying vehicle, including vehicle body, the vehicle body can be independent
It works and cooperates after vehicle group being spliced into another vehicle body, the vehicle body includes frame assembly and setting
Driving wheel in the frame assembly bottom, the driving wheel are provided at least two, and the driving wheel is connected with for driving
The electric device of the driving wheel, the bottom of the frame assembly are additionally provided at least two support wheels；At least two drives
Driving wheel is connected separately with or/and at least two support wheels are connected separately with power steering assembly；
The frame assembly is provided with navigation device；
The frame assembly is additionally provided with the docking for docking and being detached from the frame assembly of another carrying vehicle
Device；
The frame assembly is additionally provided with battery and entire car controller, the electric device, the power steering assembly, institute
It states navigation device and the docking facilities is electrically connected to the entire car controller and battery.
Optionally, there are two driving wheel settings, two driving wheels coaxial arrangements and total close to the vehicle frame
At middle part setting, support wheel setting there are four and be respectively arranged at the two sides of two driving wheels.
Optionally, the support wheel is universal wheel.
Optionally, the electric device is the hub motor for being connected to the driving wheel；Alternatively, the electric device is to connect
It is connected to the driving motor of the frame assembly and is connected to the transmission system of the driving motor.
Optionally, the navigation device includes
For identification the magnetic stripe sensor of ground magnetic stripe track,
For identification the color sensor of ground color line tracking,
For obtain itself coordinate information positioning chip,
For identification the laser sensor of surrounding obstacles information and
One of camera of ambient enviroment or at least two for identification.
Optionally, the docking facilities include being set to first electromagnet and corresponding ironware or the second electromagnet；
Alternatively, the docking facilities include electronic latch hook and corresponding lock；
Alternatively, the docking facilities include electronic bolt and corresponding jack.
Optionally, the frame assembly is provided with docking inductive switch, and the docking inductive switch is electrically connected to the vehicle
The entire car controller of frame assembly.
Optionally, the power steering assembly includes steering motor；And/or the electric device is provided with and is electrically connected to
The electromagnetic brake device of the entire car controller.
The present invention also provides a kind of spliced handling systems, including a kind of at least two above-mentioned spliced carriers
, it further include being used to control or dispatch respectively each spliced carrying vehicle to be spliced into vehicle group and control or dispatch the vehicle
The scheduling system of group.
Optionally, the vehicle group has at least four independent steering and can be mounted on the driving wheel of hub motor.
The present invention also provides a kind of method for carrying of spliced handling system, using above-mentioned spliced handling system,
The following steps are included:
Scheduling system sends traveling to the first spliced carrying vehicle or/and the second spliced carrying vehicle simultaneously or step by step
To setting position, it is spliced into vehicle group and travels to the first regulation and control instruction of another setting position；
The first spliced carrying vehicle or/and the second spliced carrying vehicle are travelled by autonomous navigation device to setting
Positioning is set；
The first spliced carrying vehicle and the second spliced carrying vehicle are spliced in setting position by docking facilities
At vehicle group；
The vehicle group is travelled to another setting position.
A kind of spliced carrying vehicle, handling system provided by the embodiment of the present invention and method for carrying, spliced carrying
Vehicle can be used as heavy carrying splicing vehicle, may be implemented to splice and separate, DWCC dead weight cargo capacity is big, and frame assembly is mounted with to be based on
The power-driven system of hub motor, uses clean energy resource, can work long hours, and stable working, saves the time, improves
Efficiency and reduce landed cost, the steering of spliced carrying vehicle be it is complete turn to (turn driving wheel can 360 degree turn to) universal chassis,
The various modes such as 360 degree of straight trip, skidding, two-wheeled steering (four-wheel steering can be achieved in vehicle group), no-radius original place steerings can be achieved,
Movement is extremely flexible in narrow space, and it is good to carry effect.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of stereoscopic schematic diagram of spliced carrying vehicle provided in an embodiment of the present invention；
Fig. 2 is the longitudinal spliced stereoscopic schematic diagram at vehicle group of two spliced carrying vehicles provided in an embodiment of the present invention；
Fig. 3 is two spliced carriers in a kind of joining method of spliced handling system provided in an embodiment of the present invention
Splicing before floor map；
Fig. 4 is two spliced carriers in a kind of joining method of spliced handling system provided in an embodiment of the present invention
Spliced floor map.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that term " setting ", " connection " shall be understood in a broad sense, for example, it may be directly setting, connection,
It can also be arranged indirectly by component placed in the middle, center configuration, be connected.
If in addition, have in the embodiment of the present invention " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper", "lower",
The orientation or positional relationships of instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside"
Term is merely for convenience of to be based on the orientation or positional relationship shown in the drawings or conventional placement status or use state
The description present invention and simplified description, rather than structure, feature, device or the element of indication or suggestion meaning must have specifically
Orientation or positional relationship nor is it necessary that and be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.
Described each particular technique feature and each embodiment in a specific embodiment, in the case of no contradiction,
It can be combined in any appropriate way, such as can be with shape by different particular technique feature/embodiment combinations
At different embodiments, in order to avoid unnecessary repetition, each the various of particular technique feature/embodiment can in the present invention
No further explanation will be given for the combination of energy.
As shown in Figures 1 to 4, a kind of spliced carrying vehicle provided in an embodiment of the present invention, including vehicle body 10, institute
Stating vehicle body 10 can work independently and cooperate after can splicing with another vehicle body 10, i.e., and two or two or more
Each spliced carrying vehicle of spliced carrying vehicle (vehicle body 10) splicing (in conjunction with) at vehicle group 100, in vehicle group 100
(vehicle body 10) can cooperate, and can once transport more, bigger, longer cargos, individual spliced carrier
(vehicle body 10), can also independently transport goods, to be suitable for the carrying of a small amount of cargos and applied to narrow channel, field
Institute etc..
Specifically, vehicle body 10 includes frame assembly 11 and the driving wheel 12 for being set to 11 bottom of frame assembly, vehicle frame
The entire top of assembly 11 can be the plummer 101 for bearing goods, and the shape of frame assembly 11 can be in rectangle, splice rear car
The plummer of group is monoblock type plummer, convenient for loading the cargo of various specifications.Driving wheel 12 is provided at least two, driving wheel
12 are connected with the electric device for driving above-mentioned driving wheel 12, and the bottom of frame assembly 11 is additionally provided at least two support wheels
13；At least two driving wheels 12 are connected separately with or/and at least two support wheels 13 are connected separately with power steering assembly；Pass through
Driving wheel 12 and power steering assembly can control the advance and retreat of frame assembly 11, steering etc..
Frame assembly 11 may be provided with navigation device, and vehicle body 10 or vehicle group can navigate to setting by navigation device
Position；
Frame assembly 11 is additionally provided with the docking facilities for docking and being detached from for the frame assembly 11 with another carrying vehicle
14, the frame assembly 11 of two or two or more spliced carrying vehicles can be spliced into vehicle group, in concrete application, two or
The frame assembly 11 of two or more spliced carrying vehicles can be end to end at vertical train groups, can also be two or two or more
The frame assembly 11 of spliced carrying vehicle can control connect at and train groups, it is, of course, also possible to vertical by least two groups
Train groups are spliced side by side, for example, four spliced carrying vehicles frame assembly 11 in two rows, two column splicing, six it is spliced
The frame assembly 11 of carrying vehicle is arranged in three rows two or the frame assembly 11 of the splicing of two row three-row, eight spliced carrying vehicles
Splice in the frame assembly 11 of the splicing of four rows, two column, nine spliced carrying vehicles in three row three-row etc..
Frame assembly 11 is additionally provided with battery 15 and entire car controller, above-mentioned electric device, power steering assembly, navigation dress
It sets and docking facilities 14 is electrically connected to entire car controller and battery, battery can be TunePower, such as lithium battery, graphene
Battery etc., clean and environmental protection, maintenance period is long, is conducive to improve handling efficiency, reduces landed cost.
In the present embodiment, there are two the settings of driving wheel 12, two driving wheels 12 coaxial arrangement and close to frame assembly 11
Middle part setting, the setting of support wheel 13 there are four and be respectively arranged at the two sides of two driving wheels 12, four can be respectively close to
Four angles of frame assembly 11 are arranged.
Specifically, support wheel 13 can be universal wheel, simple and reliable for structure, conducive to heavier cargo is carried.
Specifically, electric device is the hub motor 16 for being connected to driving wheel 12；Alternatively, electric device is to be connected to vehicle frame
The driving motor of assembly 11 and the transmission system for being connected to driving motor, power resources are also possible to common driving motor, commonly
Driving motor is connected to driving wheel 12 by transmission shaft, reduction gearbox etc..In the present embodiment, two driving wheels 12 are connected separately with
Can be with the hub motor 16 of independent control, when single spliced carrying vehicle works, two driving wheels 12 can pass through differential
Mode is turned to or is reversed end for end.When two spliced carrying vehicles are spliced into the work of vehicle group, four driving wheels 12 and corresponding electronic
Turning member can cooperate, and vehicle group is allow neatly to turn to and reverse end for end.
Certainly, as an alternative, support wheel 13 can also use structure same as driving wheel 12, i.e. support wheel 13
It is provided with hub motor 16 and power steering assembly.In the present embodiment, support wheel 13 is servo-actuated universal wheel.It is to be appreciated that
The specific setting of driving wheel 12 and support wheel 13 can also be using other arrangements.
Specifically, power steering assembly includes steering motor 17, and omnidirectional's steering may be implemented, and can be preferably suitable for narrow
The carrying in small space.
Specifically, electric device is provided with the electromagnetic brake device 18 for being electrically connected to entire car controller.
Specifically, navigation device may include 2 sensor of magnetic stripe of 2 track of ground magnetic stripe for identification, ground for identification
The color sensor of color line tracking, positioning chip for obtaining itself coordinate information, for identification surrounding obstacles information
One of camera of laser sensor and for identification ambient enviroment or at least two.I.e. spliced carrying vehicle from
Dynamic navigation aspect can also be used laser navigation, laser+vision guided navigation and Multi-sensor Fusion and lead other than using magnetic strength navigation
Boat.In concrete application, navigation device can also select other suitable navigation system, such as automatic Pilot vehicle according to the actual situation
Navigation system in.
In the present embodiment, by taking 2 sensor of magnetic stripe as an example, automated navigation system can refer to as follows: be laid in working region
The magnetic stripe 2 planned, when vehicle group (or spliced carrying vehicle) moves in working region, vehicle group (or spliced carrier
) on 2 sensor of magnetic stripe will detect the relative deviation for being laid with 2 sensor central axes of magnetic stripe 2 and magnetic stripe on the ground, this
Deviation inputs physical deflections signal as 2 sensor of magnetic stripe, and the A/D converter in 2 sensor of magnetic stripe turns deviation analog signal
The digital signal of 16 systems is turned to, then main control unit processing is input to by CAN bus connection, then output turns to number letter
Number, then steering controller is conveyed to by A/D converter conversion, steering controller driving steering motor 17 starts to turn to, thus
Reduce deviation.Signal is constantly transmitted in this feedback system, so that vehicle group (or spliced carrying vehicle) be made to spread always in magnetic stripe 2
If region in work, thus realize 2 navigation vehicle group of magnetic stripe (or spliced carrying vehicle) run.
Specifically, docking facilities 14 include being set to the first electromagnet of 11 front end of frame assembly and being set to frame assembly
The ironware of 11 rear ends or the second electromagnet；Alternatively, rear and front end of the docking facilities 14 including being divided into frame assembly 11 is electronic
Latch hook and corresponding lock；Alternatively, docking facilities 14 include being divided into the electronic bolt of rear and front end of frame assembly 11 and right
The jack answered.In the present embodiment, docking facilities 14 use electromagnet scheme, and electromagnet and corresponding ironware can be divided into vehicle frame
The rear and front end of assembly 11, docking operation is quickly, reliably.
Specifically, frame assembly 11 is provided with docking inductive switch 19, and docking inductive switch 19 is electrically connected to frame assembly
11 entire car controller.Docking inductive switch 19 may be disposed at the side of electromagnet, and docking inductive switch 19 can be push type,
After two spliced carrying vehicles splice in place, docking inductive switch 19 is triggered, the vehicle control of two spliced carrying vehicles
Device processed can cooperate.In concrete application, communication interface has been can be set in frame assembly 11, alternatively, each entire car controller is logical
It crosses wireless module to cooperate, in concrete application, each entire car controller can directly be wirelessly connected or pass through scheduling in vehicle group
System wireless control.
Specifically, frame assembly 11 may be provided with landmark sensor, and landmark sensor is electrically connected to the whole of frame assembly 11
Vehicle controller.So that spliced carrying vehicle can be with stopping a train at a target point in order to being spliced into vehicle group.
The present invention also provides a kind of spliced handling systems, including at least two such as a kind of above-mentioned spliced carrier
, further include for control or dispatch respectively each spliced carrying vehicle be spliced into vehicle group and control or car hauler group scheduling
System.Certainly, scheduling system also can control spliced carrying vehicle and be spliced or separated with vehicle group, can also control vehicle group
Spliced or separated with vehicle group.
Scheduling system can have processing module, memory module and wireless communication module etc..Scheduling system can be to each splicing
The entire car controller of formula carrying vehicle sends instruction, instruction may include the coordinate information of setting position, run routing information, with
Another spliced carrying vehicle or the splicing of vehicle group and the disengaging of vehicle group etc..Entire car controller can receive the seat for carrying out self scheduling system
Information is marked and the preset path of automatic path planning or automatically retrieval respective coordinates information, in this way, entire car controller can control
Spliced carrying vehicle is travelled to setting position.Alternatively, entire car controller, which can receive, carrys out the driving path of self scheduling system simultaneously
Spliced carrying vehicle is controlled to travel to setting position.Two or two or more spliced carrying vehicles are spliced into vertical train groups
When, scheduling system can specify the entire car controller of first spliced carrying vehicle as master controller, such as along traveling side
To first spliced carrying vehicle entire car controller as master controller, i.e., same Che Zuzhong, by driving direction difference,
Different entire car controllers can be switched as master controller.In same vertical train groups, according to varying in weight for contained cargo,
The hub motor 16 that can choose one or at least two cars works, and is conducive to energy saving.Certainly, contained goods weight is heavier
When, scheduling system can also be worked by the corresponding hub motor 16 of corresponding vehicle control unit controls each in vehicle group, i.e., all
The driving wheel 12 of vehicle group is provided which power, to guarantee carrying capacity.It is to be appreciated that scheduling system can be to each vehicle in vehicle group
Controller carries out independence or Collaborative Control.When the entire car controller of certain vehicle is as master controller, remaining each entire car controller
Also it can according to need and control corresponding hub motor 16 (revolving speed, torque, rotation direction) (by the instruction for dispatching system), turn to
Motor 17 (revolving speed, torque, rotation direction and angle), electromagnetic brake device 18, docking facilities 14, navigation device etc..Certainly,
Master controller can not also can be selected as the case may be, by scheduling system directly to corresponding vehicle control each in vehicle group
Device processed is accordingly controlled.
Specifically, vehicle group has at least four independent steering and can be mounted on the driving wheel 12 of hub motor 16, that is, works as
Two spliced carrying vehicles are spliced into vehicle group, and each spliced carrying vehicle all has two and is equipped with hub motor 16
When driving wheel 12, the vehicle group can have that there are four independent steering and can be mounted on the driving wheel 12 of hub motor 16 at this time.Certainly,
In concrete application, can be more trolleys splicing of two trolleys or more, the combination of more vehicles can laterally, longitudinal combination or group be combined into square matrix
Deng, flexible combination can be specifically carried out according to quantity and size, the shape of cargo, such as is combined into T-shaped, L shape, cross etc.
Shape vehicle group, specifically can according to the actual situation depending on.
The scheduling process of scheduling system can refer to as follows: the main control unit for dispatching system issues splicing instruction, A vehicle 110
After (first spliced carrying vehicle), B vehicle 120 (second spliced carrying vehicle) are connected to instruction, start to the region C 119
(setting position) set, if A vehicle 110 arrives first the region C 119, then in splicing, 110 stop motion of A vehicle, B vehicle 120 are moved closer to
A vehicle 110 is realized with it is spliced into vehicle group 100, before two vehicle master controllers (entire car controller) are uniformly controlled together after having spliced
Start execution task toward target area.After the completion of task, A vehicle 110 and B vehicle 120 are separated, and are arrived respective region respectively and are individually performed and appoint
Business does not separate and proceeds to target area and execute task together.The A vehicle 110 and B vehicle 120 in respectively former region are arrived separately at, such as
Fruit is received again by splicing instruction and then continues to the region C 119 or other specified region progress splicing operations.Certainly, A vehicle 110
The vehicle group formed with B vehicle 120 can also travel to another location and be spliced into new car group with C vehicle or another vehicle group, in new car group
Master controller is uniformly controlled goes to target area to start execution task together.
Vehicle group splicing system: by taking two trolleies (A vehicle 110 and B vehicle 120) as an example, splicing can be it is longitudinal spliced, when scheduling is
The main control unit of system issues splicing instruction, is transmitted to 2 sensor of magnetic stripe by CAN bus, 2 sensor of magnetic stripe on single trolley point
Not Jian Ce 2 sensor central axes of magnetic stripe and 2 relative deviation of magnetic stripe, feed back to entire car controller, after controller processing, output left and right
The torque deviation of wheel realizes that two wheel guide robot tracks magnetic stripe 2 and moves to the region C 119, if the landmark sensor of A vehicle 110 is examined first
Terrestrial reference 121 is measured, then sends stop signal to 110 controller of A vehicle, 110 stop motion of A vehicle is waited splices with B vehicle 120, B vehicle
It after 120 reach the region C 119, is realized and is spliced by electromagnet and A vehicle 110, (docking inductive switch 19 touches access limit switch
Hair), brake signal is sent to the entire car controller of B vehicle 120 rapidly, 120 electromagnetic brake device 18 of B vehicle is opened, and B vehicle 120 stops
Movement realizes that B vehicle 120 and A vehicle 110 steadily splice.After having spliced, two vehicles are static, when the motion command for receiving scheduling system
Afterwards, two vehicle controller unified instructions move together.
The embodiment of the invention also provides a kind of method for carrying of spliced handling system, using above-mentioned spliced carrying
System, comprising the following steps:
Scheduling system sends traveling to setting position to the first spliced carrying vehicle or/and the second spliced carrying vehicle
The first regulation and control instruction (if wherein a spliced carrying vehicle is in setting position, need to only dispatch another and spliced remove
Vehicle driving is transported to setting position)；
Scheduling system is spliced into the second of vehicle group to the first spliced carrying vehicle and the second spliced carrying vehicle transmission
Regulation and control instruction；
First spliced carrying vehicle or/and the second spliced carrying vehicle are travelled by autonomous navigation device to setting position
It sets；
First spliced carrying vehicle and the second spliced carrying vehicle are spliced into setting position by docking facilities 14
Vehicle group；
Scheduling system sends the third regulation and control instruction of traveling to another setting position to vehicle group.
It is to be appreciated that each instruction that scheduling system is sent to the entire car controller of corresponding spliced carrying vehicle, it can
It disposably to send, can also send step by step, for example, scheduling system can be spliced in the first spliced carrying vehicle and first
Carrying vehicle, which reaches, once sends a plurality of instruction (instruction including being spliced into vehicle group) before setting position, and scheduling system can also be with
The finger for being spliced into vehicle group is retransmited after the first spliced carrying vehicle and the first spliced carrying vehicle reach setting position
It enables.
In concrete application, each spliced carrying vehicle can be by the positioning chip of itself in real time or periodically to scheduling system
Own coordinate information is fed back, in order to which the system of dispatching is dispatched buses nearby.
A kind of spliced carrying vehicle, handling system provided by the embodiment of the present invention and method for carrying, spliced carrying
Vehicle can be used as heavy carrying splicing vehicle, may be implemented to splice and separate, DWCC dead weight cargo capacity is big, and frame assembly 11 is mounted with base
In the power-driven system of hub motor 16, clean energy resource is used, can work long hours, and stable working, save the time,
It improves efficiency, the steering of spliced carrying vehicle is complete (turn driving wheel 12 can the 360 degree steerings) universal chassis that turns to, it can be achieved that directly
Row, skidding, two-wheeled turn to the various modes such as 360 degree of (four-wheel steering can be achieved in vehicle group), no-radius original place steerings, in narrow sky
Interior movement is extremely flexible, and it is good to carry effect.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention within principle.
Claims (11)
1. a kind of spliced carrying vehicle, which is characterized in that including vehicle body, the vehicle body can work independently and can be with
It cooperates after another vehicle body splicing, the vehicle body includes frame assembly and is set to the frame assembly bottom
The driving wheel in portion, the driving wheel are provided at least two, and the driving wheel is connected with for driving the electronic of the driving wheel
Device, the bottom of the frame assembly are additionally provided at least two support wheels；At least two driving wheels be connected separately with or/
Power steering assembly is connected separately with at least two support wheels；
The frame assembly is provided with navigation device；
The frame assembly is additionally provided with the docking facilities for docking and being detached from the frame assembly of another carrying vehicle；
The frame assembly is additionally provided with battery and entire car controller, and the electric device, described is led at the power steering assembly
Boat device and the docking facilities are electrically connected to the entire car controller and battery.
2. a kind of spliced carrying vehicle as described in claim 1, which is characterized in that there are two the driving wheel settings, and two
A driving wheel is coaxially disposed and is arranged close to the middle part of the frame assembly, and there are four the support wheel settings and difference
It is set to the two sides of two driving wheels.
3. a kind of spliced carrying vehicle as claimed in claim 1 or 2, which is characterized in that the support wheel is universal wheel.
4. a kind of spliced carrying vehicle as claimed in claim 1 or 2, which is characterized in that the electric device is to be connected to
The hub motor of the driving wheel；Alternatively, the electric device is to be connected to the driving motor of the frame assembly and be connected to
The transmission system of the driving motor.
5. a kind of spliced carrying vehicle as claimed in claim 1 or 2, which is characterized in that the navigation device includes
For identification the magnetic stripe sensor of ground magnetic stripe track,
For identification the color sensor of ground color line tracking,
For obtain itself coordinate information positioning chip,
For identification the laser sensor of surrounding obstacles information and
One of camera of ambient enviroment or at least two for identification.
6. a kind of spliced carrying vehicle as claimed in claim 1 or 2, which is characterized in that the docking facilities include setting
In first electromagnet and corresponding ironware or the second electromagnet；
Alternatively, the docking facilities include electronic latch hook and corresponding lock；
Alternatively, the docking facilities include electronic bolt and corresponding jack.
7. a kind of spliced carrying vehicle as described in claim 1, which is characterized in that the frame assembly is provided with docking sense
Inductive switch, the docking inductive switch are electrically connected to the entire car controller of the frame assembly.
8. a kind of spliced carrying vehicle as described in claim 1, which is characterized in that the power steering assembly includes turning to
Motor；And/or the electric device is provided with the electromagnetic brake device for being electrically connected to the entire car controller.
9. a kind of spliced handling system, which is characterized in that such as described in any item of the claim 1 to 8 including at least two
A kind of spliced carrying vehicle further includes being spliced into vehicle group, simultaneously for controlling or dispatching respectively each spliced carrying vehicle
Control or dispatch the scheduling system of the vehicle group.
10. a kind of spliced handling system as claimed in claim 9, which is characterized in that the vehicle group can at least four
Independent steering and the driving wheel for being mounted on hub motor.
11. a kind of method for carrying of spliced handling system, which is characterized in that using the splicing as described in claim 9 or 10
Formula handling system, comprising the following steps:
Scheduling system to the first spliced carrying vehicle or/and the second spliced carrying vehicle simultaneously or substep sends traveling to setting
The first regulation and control instruction of vehicle group and traveling to another setting position is set, is spliced into positioning；
The first spliced carrying vehicle or/and the second spliced carrying vehicle are travelled by autonomous navigation device to setting position
It sets；
The first spliced carrying vehicle and the second spliced carrying vehicle are spliced into vehicle by docking facilities in setting position
Group；
The vehicle group is travelled to another setting position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811594708.9A CN109625123B (en) | 2018-12-25 | 2018-12-25 | Spliced type carrying vehicle, carrying system and carrying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811594708.9A CN109625123B (en) | 2018-12-25 | 2018-12-25 | Spliced type carrying vehicle, carrying system and carrying method |
Publications (2)
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| CN110077476A (en) * | 2019-05-22 | 2019-08-02 | 义乌紫英机械科技有限公司 | It is a kind of can trackless deflecting loading machine |
| CN110159035A (en) * | 2019-05-28 | 2019-08-23 | 吉林大学 | A kind of unmanned spliced carrying platform based on group group control |
| CN110304173A (en) * | 2019-07-03 | 2019-10-08 | 哈尔滨工业大学 | A kind of more landform Universal moving platforms |
| CN110733564A (en) * | 2019-11-21 | 2020-01-31 | 安徽春华智能科技有限公司 | AGV driving and steering device and working method thereof |
| CN110884893A (en) * | 2019-11-19 | 2020-03-17 | 北京邮电大学 | Automatic adsorption and traction device of transfer robot |
| CN111123985A (en) * | 2020-01-14 | 2020-05-08 | 北京卫星制造厂有限公司 | Multi-vehicle automatic posture adjusting following system based on laser scanning |
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| CN110077476A (en) * | 2019-05-22 | 2019-08-02 | 义乌紫英机械科技有限公司 | It is a kind of can trackless deflecting loading machine |
| CN110077476B (en) * | 2019-05-22 | 2019-12-06 | 诸暨市智盈智能技术服务部 | trackless direction-changing loader |
| CN110159035A (en) * | 2019-05-28 | 2019-08-23 | 吉林大学 | A kind of unmanned spliced carrying platform based on group group control |
| CN110304173A (en) * | 2019-07-03 | 2019-10-08 | 哈尔滨工业大学 | A kind of more landform Universal moving platforms |
| CN110884893A (en) * | 2019-11-19 | 2020-03-17 | 北京邮电大学 | Automatic adsorption and traction device of transfer robot |
| CN110733564A (en) * | 2019-11-21 | 2020-01-31 | 安徽春华智能科技有限公司 | AGV driving and steering device and working method thereof |
| CN111123985A (en) * | 2020-01-14 | 2020-05-08 | 北京卫星制造厂有限公司 | Multi-vehicle automatic posture adjusting following system based on laser scanning |
| CN111123985B (en) * | 2020-01-14 | 2023-08-11 | 北京卫星制造厂有限公司 | Multi-vehicle automatic posture adjustment following system based on laser scanning |
| CN112359682A (en) * | 2020-11-27 | 2021-02-12 | 山东精砼工程机械股份有限公司 | Slip form concrete continuous casting vehicle set and casting method |
| WO2022111131A1 (en) * | 2020-11-27 | 2022-06-02 | 山东精砼工程机械股份有限公司 | Slip-form concrete continuous pouring truck set and pouring method |
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| WO2022174634A1 (en) * | 2021-02-20 | 2022-08-25 | 北京卫星制造厂有限公司 | Multi-agent reconstructed combination and multi-degree-of-freedom posture adjustment system |
| CN113002660A (en) * | 2021-03-05 | 2021-06-22 | 南京晨光集团有限责任公司 | Multi-wheel-train heavy-load AGV |
| CN115123761A (en) * | 2021-03-26 | 2022-09-30 | 顺丰科技有限公司 | Cargo handling device, cargo handling system, and unloading method |
| TWI781619B (en) * | 2021-05-14 | 2022-10-21 | 東元電機股份有限公司 | Automatic guided vehicle support system and method |
| CN113247521B (en) * | 2021-05-28 | 2022-10-25 | 江苏安全技术职业学院 | Conveying equipment for engineering machinery manufacturing production |
| CN113247521A (en) * | 2021-05-28 | 2021-08-13 | 江苏安全技术职业学院 | Conveying equipment for engineering machinery manufacturing production |
| CN113534791A (en) * | 2021-06-11 | 2021-10-22 | 中国农业大学 | AGV trolley control method and device based on cargo information analysis |
| CN113799679A (en) * | 2021-10-26 | 2021-12-17 | 厦门双瑞风电科技有限公司 | Intelligent transfer car (buggy) of wind-powered electricity generation blade annex |
| CN113799679B (en) * | 2021-10-26 | 2022-10-11 | 厦门双瑞风电科技有限公司 | Intelligent transfer car (buggy) of wind-powered electricity generation blade annex |
| CN113923520A (en) * | 2021-11-25 | 2022-01-11 | 北京天创绿能科技发展有限公司 | Mobile multi-LED screen combination arrangement method and system using transport trolley |
| CN113923520B (en) * | 2021-11-25 | 2024-02-02 | 北京天创绿能科技发展有限公司 | Mobile multi-LED screen combined arrangement method and system using transport trolley |
| CN116750094A (en) * | 2023-08-16 | 2023-09-15 | 福建省威盛机械发展有限公司 | Cargo transportation vehicle chassis and cargo transportation vehicle |
| CN116750094B (en) * | 2023-08-16 | 2023-11-07 | 福建省威盛机械发展有限公司 | Cargo transportation vehicle chassis and cargo transportation vehicle |
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