CN116279794A - Large-sized shipping hydraulic flat car and operation method thereof - Google Patents

Abstract

The invention provides a large-scale consignment hydraulic flat car and an operation method thereof. The navigation system comprises a laser SLAM navigation mode and a high-precision inertial navigation module, wherein the laser SLAM navigation mode and the high-precision inertial navigation module are used for positioning and navigating, at least two laser scanners are arranged at two ends of the vehicle body, the two laser scanners are arranged at two sides of the end of the vehicle body, and a laser anti-collision sensor is arranged above the laser scanners. The flat car hydraulic suspension protection system comprises a hydraulic pipe rupture prevention device, an overpressure protection device, an overload prevention device, an emergency descent device and a laser anti-collision sensor safety edge touching device. The end part of the vehicle body is also provided with emergency stop buttons on both sides. Through the laser scanner and the laser anti-collision sensor of the car body, whether the car has an obstacle in the running direction is detected, and an alarm signal is sent out when the obstacle appears until the car is stopped, so that the double protection of obstacle avoidance is realized.

Description

Large-sized shipping hydraulic flat car and operation method thereof

Technical Field

The invention relates to the field of hydraulic flat cars, in particular to a large-scale consignment hydraulic flat car and an operation method thereof.

Background

In China, the industries of ship repairing, bridge, heavy equipment manufacturing, wharfs and the like all need flat cars for transporting ship body sections, steel structures, large structural members and the like. The overall dimension of traditional flatbed is great, especially width direction, and this is mainly because the steering mechanism of flatbed is mostly hydro-cylinder connecting rod form, and the flatbed of overall dimension great is difficult to control, can't pass through some narrower highways smoothly, the condition of collision appears.

Because the body of the flat car is larger in the length direction and the width direction, and the flat car has a plurality of steering modes: it is difficult for a driver in a cab to reasonably select a certain steering mode and operate a flat car to drive into a workshop gate or a shelf of goods. The running gear of present flatbed rotates and is inflexible, and mostly adopts motor drive or hydraulic pressure connecting rod to carry out holistic rotation, rotates and breaks down easily, and the in-process partial driving motor moment of torsion of transportation is limited, and the hydro-cylinder connecting rod form turns to the precision error height, and the condition of springing easily appears when sharp turn causes the potential safety hazard.

Disclosure of Invention

The invention mainly aims to provide a large-scale shipping hydraulic flat car and an operation method thereof, wherein the torque of a part of driving motors is limited in the process of transporting, the steering precision error of an oil cylinder connecting rod form is high, and the problem of potential safety hazard is caused by the condition that rebound easily occurs during sharp rotation.

In order to solve the technical problems, the invention adopts the following technical scheme: the large-scale delivery hydraulic flat car is characterized in that a plurality of suspension systems are arranged on the car body in a descending mode, a travelling mechanism is arranged on the suspension systems, the suspension systems are rotationally connected with the car body, a steering mechanism is further arranged on the car body, the steering mechanism is connected with the suspension systems, the power system is connected with the travelling wheels, and the hydraulic system is communicated with the suspension systems and the steering mechanism;

connecting lugs are arranged at two sides and two ends of the vehicle body.

In the preferred scheme, the travelling mechanism comprises a driven wheel set and a driving wheel set, and the driven wheel set and the driving wheel set are alternately arranged on the suspension system;

the suspension system comprises a suspension supporting plate, one side of the suspension supporting plate is provided with a suspension supporting arm, the end part of the suspension supporting arm is hinged with one end of the swinging arm, the other end of the swinging arm is connected with a driving installation frame of the driving wheel set, the suspension supporting plate is provided with a lifting oil cylinder, the upper end of the lifting oil cylinder is rotationally connected with the suspension supporting plate, and the lower end of the lifting oil cylinder is hinged with the middle part of the swinging arm;

drive motor is equipped with on the drive mounting bracket both ends, and drive motor is connected with the walking wheel.

In the preferred scheme, two ends of a driven wheel mounting frame of the driven wheel group are connected with the travelling wheels, and the driven wheel mounting frame is connected with the suspension system.

In the preferred scheme, a mounting flange plate on a driving motor is connected with a driving mounting frame, a rotating mounting shaft is connected with the driving motor, a travelling wheel is connected with the rotating mounting shaft, and the travelling wheel is in threaded connection with a flange of the rotating mounting shaft;

the driving motor is connected with the power system.

In the preferred scheme, the suspension system is rotationally connected with the vehicle body through a rotary supporting structure;

the fixed ring of the rotary supporting structure is connected with the vehicle body, a rotary installation seat is fixed on the suspension supporting plate and is rotationally connected with the fixed ring, a step is arranged on the rotary installation seat, the step of the fixed ring is abutted against the step of the rotary installation seat to limit up and down, and a plurality of balls are arranged between the rotary installation seat and the fixed ring.

In the preferred scheme, the upper end of the lifting oil cylinder is rotationally connected with a rotating shaft of the suspension supporting plate, a bearing is arranged between the rotating shaft and the end part of the lifting oil cylinder, limiting rings are arranged at two ends of the rotating shaft and are clamped in annular grooves of the rotating shaft, and the side surfaces of the limiting rings are abutted against one side of a riser of the suspension supporting plate.

In the preferred scheme, the steering mechanism comprises a steering oil cylinder, a cylinder body is hinged with a vehicle body, the end part of a telescopic rod is hinged with a movable end of a steering arm, a fixed end of the steering arm is hinged with a suspension supporting plate, the movable end of the steering arm is hinged with the end part of a push rod, and the other end of the push rod is hinged with the suspension supporting plate;

the suspension supporting plate is also provided with an angle sensor.

In the preferred scheme, a fixed rotating shaft is arranged on the suspension supporting plate, and the push rod is rotationally connected with the fixed rotating shaft;

a shaft sleeve is arranged on a rotating shaft at the fixed end of the steering arm and is rotationally connected with a second fixed rotating shaft on the suspension supporting plate, one end of an oil duct inside the second fixed rotating shaft faces the inner wall of the shaft sleeve, and a plurality of oil filling holes are formed in the position of an opening of the oil duct;

the end part of the second fixed rotating shaft is provided with a sealing baffle, an oil cup is arranged on an opening outside the oil duct, and the oil cup is communicated with the lubricating oil tank body.

In the preferred scheme, a supporting bracket with a door structure is also arranged, the middle part of the supporting bracket is arranged on the vehicle body, supporting legs at two ends of the supporting bracket are arranged at two sides of the vehicle body, and the transportation equipment is arranged on the supporting bracket;

in the preferred scheme, be equipped with a plurality of bellied supporting seats on the supporting bracket, the supporting seat cooperates and fixes whole transportation equipment with transportation equipment.

In the preferred scheme, a navigation system and a scooter hydraulic suspension protection system are arranged on the vehicle body.

In the preferred scheme, the navigation system comprises a laser SLAM navigation mode and a high-precision inertial navigation module, wherein the laser SLAM navigation mode and the high-precision inertial navigation module are used for positioning and navigating, at least two laser scanners are arranged at two ends of the vehicle body, the two laser scanners are arranged at two sides of the end part of the vehicle body, and a laser anti-collision sensor is arranged above the laser scanners.

In the preferred scheme, the flatbed hydraulic suspension protection system comprises a hydraulic pipe rupture prevention device, an overpressure protection device, an overload prevention device, an emergency descent device and a laser anti-collision sensor safety edge touching device.

In the preferred scheme, the end part of the vehicle body is also provided with emergency stop buttons on two sides.

In the preferred scheme, the hydraulic pipe rupture prevention device structure is: the tubular double-pipeline safety valve is arranged on the main pipeline branch, the plate-type double-pipeline safety valve is communicated with oil inlet and oil return of the plug cylinder, the tubular double-pipeline safety valve and the plate-type double-pipeline safety valve are connected in series to form a loop, the tubular double-pipeline safety valve is communicated with the rectifying plate through the second stop valve, the opposite angle of the middle part of the rectifying plate is communicated with the speed regulating valve, and the rectifying plate is communicated with the hydraulic control one-way valve.

In a preferred scheme, the overpressure protection device structure is: and overflow valves are arranged on the lifting oil cylinder of the vehicle body and an oil return or oil inlet pipeline of the hydraulic system, and the overflow pressure is set to be 300-320bar.

In the preferred scheme, the overload prevention device structure is: a pressure sensor is arranged between the vehicle body and a suspension supporting plate of the hydraulic suspension jacking system, and the pressure sensor is communicated with a pipeline between the second stop valve and the rectifying plate.

In the preferred scheme, a first stop valve is arranged on an oil return pipeline of the hydraulic suspension jacking system, and the first stop valve is connected in parallel with an overflow valve and the oil return pipeline to form an emergency descending device.

In the preferred scheme, the laser anti-collision sensor safely touches limit device: the integrated silica gel conductive mode is provided with an internal induction signal band.

The method comprises the following steps:

s1, an electric control-hydraulic steering is adopted for the hydraulic flat car, so that multi-mode steering is supported, and the hydraulic flat car mainly comprises: steering modes such as a normal driving mode, an automobile driving mode, an oblique driving mode, a 90-degree angular driving mode, a turning driving mode, a transverse driving mode and the like; normal driving mode: all wheel frames are turned in such a way that the central lines of all shafts will intersect at a common focus which can be outside, along and inside the vehicle, with a minimum turning radius of zero;

s2, automobile driving mode: the steering center is arranged on a rear axle, and the definition of the rear axle is different according to different cabs;

s3, oblique driving mode: all the axle corners are consistent in steering, and any angle from-90 degrees to +90 degrees can be selected;

s4, 90-degree angular driving mode: all axles turn to 90 degrees, and the functions of the axles are the same as those of the oblique mode;

s5, a turning driving mode: all axles are moved to a fixed program position, and the transport vehicle turns around the center of the transport vehicle;

s6, transverse driving mode: the central lines of all the shafts are intersected with a common focus o, and the o point is on the longitudinal central line;

s7, turning is achieved by rotating a steering wheel connected with the encoder;

each wheel frame is provided with an angle sensor, the position signal of the wheel axle is sent to the controller, the actual position is compared with a set value, the proportional valve controls the steering cylinder of each independent wheel frame to work, and the cylinder is connected with the wheel frame through a connecting rod; if the steering deviation exceeds 6 degrees, the warning lamps on the instrument board and the remote controller in the cab flash, and the steering wheel is locked;

s7, placing the equipment to be transported in the middle of a supporting bracket, supporting the whole equipment to be transported by supporting legs at two ends of the supporting bracket, moving a vehicle body to the bottom of the supporting bracket, lifting the whole vehicle body and lifting the middle of the supporting bracket, and transporting the whole equipment;

and S7, only the whole vehicle body is required to descend when the vehicle is dismounted, so that the supporting legs of the supporting brackets support the whole equipment to be transported, and then the vehicle body is opened to finish unloading.

The invention provides a large-scale consignment hydraulic flat car and an operation method thereof, wherein a single travelling wheel adopts an independent suspension system, the independent suspension system adopts an independent steering driving structure, and the mechanism is purely mechanical power steering, so that the large-scale consignment hydraulic flat car is energy-saving and environment-friendly, has small steering angle error, is light in steering, can effectively reduce the operation intensity of a driver, and improves the safety. Through the laser scanner and the laser anti-collision sensor of the car body, whether the car has an obstacle in the running direction is detected, and an alarm signal is sent out when the obstacle appears until the car is stopped, so that the double protection of obstacle avoidance is realized.

Drawings

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

FIG. 1 is a front view block diagram of the present invention;

FIG. 2 is a top view of the structure of the present invention;

FIG. 3 is a block diagram of an active wheel set of the present invention;

FIG. 4 is a cross-sectional view of the structure of FIG. 3 A-A in accordance with the present invention;

FIG. 5 is a cross-sectional view of the structure of E-E of FIG. 3 in accordance with the present invention;

FIG. 6 is a lifting block diagram of the drive wheel set of the present invention;

FIG. 7 is a block diagram of the drive wheel assembly drive of the present invention;

FIG. 8 is a diagram of the driven wheelset installation structure of the present invention;

FIG. 9 is a block diagram of a steering system of the present invention;

FIG. 10 is a diagram illustrating the rotational axis mounting configuration of the B-B steering system of FIG. 9 in accordance with the present invention;

FIG. 11 is a rotational mounting block diagram of the D-D steering system of FIG. 9 in accordance with the present invention;

FIG. 12 is a block diagram of a vehicle body extension mounting connection according to the present invention;

FIG. 13 is a side-by-side connection block diagram of the vehicle body of the present invention;

FIG. 14 is a diagram of an oversized transport structure of two flatbed of the present invention;

FIG. 15 is a mounting block diagram of a support bracket of the present invention;

FIG. 16 is a diagram of the steering operation of the present invention;

FIG. 17 is a control schematic of the guidance system of the present invention;

FIG. 18 is a logic diagram of the scram collision avoidance control of the present invention;

FIG. 19 is a diagram of a suspension hydraulic system of the present invention;

fig. 20 is a schematic view of the impact zone identification of the present invention.

In the figure: a vehicle body 1; connecting; a driving wheel set 2; a drive motor 201; mounting flange 202; a drive mount 203; a rotation mounting shaft 204; a driven wheel group 3; a driven wheel mount 301; a steering mechanism 4; a power system 5; a hydraulic system 6; an electrical system 7; a cab 8; a slewing bearing 9; a fixing ring 901; a swivel mount 902; a suspension support plate 10; a suspension support arm 1001; a first fixed rotating shaft 1002; a second fixed rotating shaft 1003; a lifting cylinder 11; a stop collar 1101; a rotation shaft 1102; a bearing 1103; swing arm 12; a road wheel 13; a push rod 14; an angle sensor 15; a steering arm 16; a sleeve 1601; an oil passage 1602; an oil cup 1603; a sealing barrier 1604; a steering cylinder 17; a support bracket 18; a support stand 1801; a first laser scanner 19; a laser crash sensor 20; a first scram button 21; a second laser scanner 22; a laser crash sensor 23; a second scram button 24; a deceleration region 25; a parking area 26; a pilot operated check valve 27; a rectifying plate 28; a speed regulating valve 29; an overflow valve 30; a first shutoff valve 31; a second shut-off valve 32; a tubular double-line safety valve 33; a plate type double-pipe safety valve 34; a plunger cylinder 35; a pressure sensor 36.

Detailed Description

Example 1

As shown in fig. 1 to 20, a large-scale shipping hydraulic flat car is characterized in that: the vehicle body 1 is provided with a plurality of suspension systems in a descending way, the suspension systems are provided with travelling mechanisms, the suspension systems are rotationally connected with the vehicle body 1, the vehicle body 1 is also provided with a steering mechanism 4, the steering mechanism 4 is connected with the suspension systems, the power system 5 is connected with travelling wheels 13, and the hydraulic system 6 is communicated with the suspension systems and the steering mechanism 4;

connecting lugs are arranged at two sides and two ends of the vehicle body 1.

The operating voltage of the whole vehicle is 24V, 2 200Ah lead-acid batteries are needed to be equipped, and the electric control and monitoring equipment of the cab configuration has the functions of operation, monitoring and the following:

light alarm function: the hydraulic oil level alarm device has the functions of high-pressure filter, oil outlet filter, oil return filter blockage and hydraulic oil minimum oil level lamplight alarm.

Illumination function: front headlights, signal taillights, warning lights and retro-reflectors are provided.

In addition, the electrical control system is provided with a control unit box, and various control elements are arranged in the control box. The main electric components such as the special controller, the display, the angular displacement sensor, the pressure sensor and the like of the engineering vehicle adopt imported products, a unified resource product or military products.

The hydraulic flat car is provided with one cab, and the design of the cab accords with the relevant national regulations. The cab is mainly provided with a controller, a liquid crystal display, an electrical system, instruments and meters, a pressure gauge, an air conditioner and the like. The cab is also configured as follows:

the cab window is provided with a wiper and a flushing device, the vehicle door is of a back-opening type, sliding glass is arranged on the vehicle door, the door and window glass is of safety glass, and good vision is achieved in three directions. The arrangement of the control switch, the display and the instrument is reasonable, so that easy control and monitoring can be ensured, and the transport vehicle can be safely controlled.

The cab should be equipped with a cold air conditioner and a water heating device.

The cab should be equipped with a fire extinguisher.

The multifunctional Chinese display device and the liquid crystal display are arranged in the cab: placing a load gravity center for COG display; load weight display; automatic fault diagnosis, display and alarm; unbalanced load display, alarm, overload display and self-locking; and (5) steering mode display.

The hydraulic flatbed is equipped with a compressed air brake system, which is classified into a service brake and a parking brake. The service brake is air pressure brake, and has an emergency brake function; the parking brake can be released manually by adopting mechanical parking brake.

Service braking: during braking, compressed air directly passes through the control valve from the air storage cylinder to the braking air chamber to brake.

Parking brake: parking brakes are applied by the spring pressure of the brake chamber to brake even pipe damage.

The service braking and the parking braking are reliable; the braking adopts a service brake valve and a relay valve, and the braking strength can be controlled according to a brake pedal so as to achieve the function of gentle braking.

The hydraulic oil tank is made of stainless steel, and a high-quality oil filter is arranged on a suction and return pipeline to purify hydraulic oil, so that the impurity of the hydraulic oil can be effectively minimized, the reliability of operation is improved, and the service life of the hydraulic oil tank is prolonged. In addition, the check valve is arranged on the combined suction oil filter, so that only the filter element is required to be disassembled when the hydraulic flat bed vehicle is overhauled, and hydraulic oil is not required to be discharged. The hydraulic flat car is provided with a hydraulic lifting system, the total lifting stroke of the platform is 680mm, and the platform is lifted by 340mm under normal running, so that enough stroke is ensured to carry out shaft load compensation. The lifting oil cylinder is directly arranged on the steering wheel frame, and the joint bearings are arranged at the two ends of the lifting oil cylinder, so that the damage of the oil cylinder can be avoided. The platform can realize synchronous lifting and single-point lifting functions by operating the lifting button. In addition, the flatbed sets up four stop valves, can descend the platform in emergency.

The hydrostatic flat car is provided with a hydrostatic drive system, so that the flat car is ensured to accelerate and run stably; the flat car meets the requirement that the required power is matched with the output power of the engine under various working conditions, and can automatically prevent the overload of the engine and the driving part so as to avoid flameout of the engine. The speed of the diesel engine and the speed of the flat car are controlled by pedal accelerators. The emission index of the diesel engine meets the national relevant standard requirement.

In the preferred scheme, the travelling mechanism comprises a driven wheel set 3 and a driving wheel set 2, and the driven wheel set 3 and the driving wheel set 2 are alternately arranged on a suspension system; the hydraulic flat-plate transport vehicle tire adopts solid tire and is convenient to replace, the platform is lowered to the lowest position, the stop valve of the lifting oil cylinder is closed, the swing arm is connected with the rotating frame through the steel cable, the lifting platform is lifted to a certain height, the tire can be suspended, and the tire is convenient to detach and replace.

The hydraulic flatbed suspension is composed of a swing arm, a rotating frame, a slewing bearing, a supporting bridge or a driving bridge, a lifting oil cylinder and the like, and the suspension system is arranged on the slewing bearing on the frame. When the hydraulic flat car is transported, the axle can be adjusted through transverse swing when the road surface is not flat; when the pavement is uneven in the vertical direction, longitudinal compensation is provided by the grouped hydraulic jacking cylinders; on a gradient road surface, the leveling of the platform can be completed by adjusting the lifting oil cylinder.

The suspension system comprises a suspension support plate 10, a suspension support arm 1001 is arranged on one side of the suspension support plate 10, the end part of the suspension support arm 1001 is hinged with one end of a swinging arm 12, the other end of the swinging arm 12 is connected with a driving installation frame 203 of the driving wheel set 2, a lifting oil cylinder 11 is arranged on the suspension support plate 10, the upper end of the lifting oil cylinder 11 is rotatably connected with the suspension support plate 10, and the lower end of the lifting oil cylinder 11 is hinged with the middle part of the swinging arm 12; the suspension system is controlled by a lifting oil cylinder 11, and the lifting oil cylinder 11 controls the whole lifting, as shown in the structures of figures 3-4.

The drive motor 201 is arranged at two ends of the drive mounting frame 203, and the drive motor 201 is connected with the travelling wheels 13. The drive motor 201 may be a hydraulic motor or an electric motor.

In the preferred scheme, two ends of a driven wheel mounting frame 301 of the driven wheel group 3 are connected with the walking wheels, and the driven wheel mounting frame 301 is connected with a suspension system. The suspension mounting mode of the driven wheel set 3 is the same as the mounting mode of the driving wheel set 2, and the driven wheel set 3 is not provided with a driving motor.

In a preferred embodiment, a mounting flange 202 on a driving motor 201 is connected with a driving mounting frame 203, a rotating mounting shaft 204 is connected with the driving motor 201, a travelling wheel 13 is connected with the rotating mounting shaft 204, the travelling wheel 13 is connected with a flange of the rotating mounting shaft 204 through threads, and the driving motor 201 is connected with a power system 5. The installation is simpler and more convenient.

In a preferred embodiment, the suspension system is rotatably connected with the vehicle body 1 through a rotary support structure 9; the whole suspension system is convenient to rotate, and independent rotation is realized.

The fixed ring 901 of the rotary supporting structure 9 is connected with the vehicle body 1, a rotary mounting seat 902 is fixed on the suspension supporting plate 10, the rotary mounting seat 902 is rotationally connected with the fixed ring 901, a step is arranged on the rotary mounting seat 902, the step of the fixed ring 901 is abutted against the step of the rotary mounting seat 902 to limit up and down, and a plurality of balls are arranged between the rotary mounting seat 902 and the fixed ring 901.

In the preferred scheme, the upper end of the lifting cylinder 11 is rotationally connected with a rotating shaft 1102 of the suspension support plate 10, a bearing 1103 is arranged between the rotating shaft 1102 and the end part of the lifting cylinder 11, limiting rings 1101 are arranged at the two ends of the rotating shaft 1102, the limiting rings 1101 are clamped in annular grooves of the rotating shaft 1102, and the side surfaces of the limiting rings 1101 are abutted against one side of a vertical plate of the suspension support plate 10. The lifting cylinder 11 is installed according to stability and simplicity, and is convenient to detach and install.

In the preferred scheme, the steering mechanism 4 comprises a steering cylinder 17, a cylinder body is hinged with the vehicle body 1, the end part of a telescopic rod is hinged with the movable end of a steering arm 16, the fixed end of the steering arm 16 is hinged with a suspension supporting plate 10, the movable end of the steering arm 16 is hinged with the end part of a push rod 14, and the other end of the push rod 14 is hinged with the suspension supporting plate 10; the suspension support plate 10 is also provided with an angle sensor 15. The independent suspension system adopts an independent steering driving structure, the mechanism is purely mechanical power steering, the energy is saved, the environment is protected, the steering angle error is small, the steering is light, the operation intensity of a driver can be effectively reduced, and the safety is improved.

In a preferred embodiment, the suspension supporting plate 10 is provided with a fixed rotating shaft 1102, and the push rod 14 is rotatably connected with the fixed rotating shaft 1102;

a shaft sleeve 1601 is arranged on a rotating shaft at the fixed end of the steering arm 16, the shaft sleeve 1601 is rotationally connected with a second fixed rotating shaft 1003 on the suspension supporting plate 10, one end of an oil duct 1602 in the second fixed rotating shaft 1003 faces the inner wall of the shaft sleeve 1601, and the shaft sleeve 1601 is provided with a plurality of oil injection holes at the opening position of the oil duct 1602;

the end of the second fixed rotating shaft 1003 is provided with a sealing baffle 1604, an oil cup 1603 is arranged on the outer opening of the oil duct 1602, and the oil cup 1603 is communicated with the lubricating oil tank body. The oil passage 1602 supplies lubricating oil to the inside of the second fixed rotating shaft 1003.

In the preferred scheme, a supporting bracket 18 with a door type structure is also arranged, the middle part of the supporting bracket 18 is arranged on the vehicle body 1, supporting legs at two ends of the supporting bracket 18 are arranged at two sides of the vehicle body 1, and the transportation equipment is arranged on the supporting bracket 18; the support brackets 18 are used for transporting equipment.

In a preferred embodiment, the support bracket 18 is provided with a plurality of raised support seats 1801, and the support seats 1801 are matched with the transportation equipment and fix the whole transportation equipment.

Example 2

Further described in connection with embodiment 1, as shown in the construction of fig. 1-20, the vehicle body 1 is preferably provided with a navigation system and a scooter hydraulic suspension protection system.

In the preferred scheme, the navigation system comprises a laser SLAM navigation mode and a high-precision inertial navigation module, wherein the laser SLAM navigation mode and the high-precision inertial navigation module are used for positioning and navigating, at least two laser scanners are arranged at two ends of the vehicle body 1, the two laser scanners are arranged at two sides of the end part of the vehicle body 1, and a laser anti-collision sensor is arranged above the laser scanners.

In the preferred scheme, the flatbed hydraulic suspension protection system comprises a hydraulic pipe rupture prevention device, an overpressure protection device, an overload prevention device, an emergency descent device and a laser anti-collision sensor safety edge touching device.

In the preferred scheme, the end part of the vehicle body 1 is also provided with emergency stop buttons on two sides.

In the preferred scheme, the hydraulic pipe rupture prevention device structure is: the tubular double-pipeline safety valve 33 is arranged on the main pipeline branch, the plate type double-pipeline safety valve 34 is communicated with oil inlet and oil return of the plug cylinder 35, the tubular double-pipeline safety valve 33 and the plate type double-pipeline safety valve 34 are connected in series to form a loop, the tubular double-pipeline safety valve 33 is communicated with the rectifying plate 28 through the second stop valve 32, the middle part of the rectifying plate 28 is communicated with the speed regulating valve 29 in a diagonal mode, and the rectifying plate 28 is communicated with the hydraulic control one-way valve 27.

Each suspension jacking cylinder of the transport vehicle adopts two double-pipeline safety valves to be arranged in pairs, so that the safety of a lifting system is ensured. The tubular safety valve is arranged on the main pipeline branch, the plate-type safety valve is arranged on the oil cylinder, under normal conditions, hydraulic oil enters through a middle port P of the tubular safety valve and flows out from two side ports A and B respectively, and after entering and converging through the two side ports A and B of the plate-type safety valve, the hydraulic oil flows into the oil cylinder through the P port to form a passage. If the movable part of one pipeline wheel set between the two safety valves is broken, the pressure reduction can quickly generate a flow pulse to push the safety valve core to respectively close the oil ports of the broken side of the two safety valve pipelines, and the other pipeline can still ensure that all the oil cylinders of the groups to which the two safety valve pipelines belong can still maintain connection, so that the function of the whole axle load compensation characteristic can still be completely maintained, and the transport vehicle can still complete transport tasks.

In a preferred scheme, the overpressure protection device structure is: an overflow valve 30 is arranged on an oil return or oil inlet pipeline of the lifting oil cylinder 11 of the vehicle body 1 and the hydraulic system 6, and the overflow pressure is set to be 300-320bar. When a certain point is partially overloaded, the automatic unloading can be realized, the system pressure is ensured not to be overloaded, and the lifting oil cylinder and the wheel frame are protected.

In the preferred scheme, the overload prevention device structure is: a pressure sensor 36 is arranged between the vehicle body 1 and the suspension support plate 10 of the hydraulic suspension lifting system, and the pressure sensor 36 is communicated with a pipeline between the second stop valve 32 and the rectifying plate 28. The platform load is monitored in real time, and when overload and unbalanced load occur, the buzzer in the cab can sound. When the load per point exceeds the rated value by 10%, the vehicle will not be able to run.

In the preferred scheme, a first stop valve 31 is arranged on an oil return pipeline of the hydraulic suspension jacking system, and the first stop valve 31 is connected in parallel with an overflow valve 30 and the oil return pipeline to form an emergency descent device. The stop valve can be manually opened in emergency, and hydraulic oil in the suspension jacking oil cylinder flows back to the oil tank to lower the platform.

In the preferred scheme, the laser anti-collision sensor safely touches limit device: the integrated silica gel conductive mode is provided with an internal induction signal band. The speed reducing area and the anti-collision area are arranged according to the vehicle body. 2 laser anti-collision sensors are arranged at the front left and rear right opposite angles of the vehicle, an identification area is set, and deceleration and parking signals are sent to the main controller in real time, so that the obstacle avoidance function of the vehicle is realized.

Example 3

Further describing with embodiment 1, as shown in fig. 1-20, the S1 hydraulic flat car should adopt electric control-hydraulic steering to support multi-mode steering, mainly comprising: steering modes such as a normal driving mode, an automobile driving mode, an oblique driving mode, a 90-degree angular driving mode, a turning driving mode, a transverse driving mode and the like; normal driving mode: all wheel frames are turned in such a way that the central lines of all shafts will intersect at a common focus which can be outside, along and inside the vehicle, with a minimum turning radius of zero;

s2, automobile driving mode: the steering center is arranged on a rear axle, and the definition of the rear axle is different according to different cabs;

s3, oblique driving mode: all the axle corners are consistent in steering, and any angle from-90 degrees to +90 degrees can be selected;

s4, 90-degree angular driving mode: all axles turn to 90 degrees, and the functions of the axles are the same as those of the oblique mode;

s5, a turning driving mode: all axles are moved to a fixed program position, and the transport vehicle turns around the center of the transport vehicle;

s6, transverse driving mode: the central lines of all the shafts are intersected with a common focus o, and the o point is on the longitudinal central line;

s7, turning is achieved by rotating a steering wheel connected with the encoder;

each wheel frame is provided with an angle sensor, the position signal of the wheel axle is sent to the controller, the actual position is compared with a set value, the proportional valve controls the steering cylinder of each independent wheel frame to work, and the cylinder is connected with the wheel frame through a connecting rod; if the steering deviation exceeds 6 degrees, the warning lamps on the instrument board and the remote controller in the cab flash, and the steering wheel is locked;

s7, placing the equipment to be transported in the middle of a supporting bracket 18, supporting the whole equipment to be transported by supporting legs at two ends of the supporting bracket 18, moving the vehicle body 1 to the bottom of the supporting bracket 18, lifting the whole vehicle body 1 and lifting the middle of the supporting bracket 18, and transporting the whole equipment;

and S7, only the whole vehicle body 1 is required to descend during disassembly, so that the supporting legs of the supporting brackets 18 support the whole equipment to be transported, and then the vehicle body 1 is opened to finish unloading.

Example 4

Further describing with embodiment 2, as shown in the structures of fig. 1-20, the automatic navigation system operates in the following manner: s1, generating two maps on a system network page for a flat car to use in navigation and positioning, wherein the finally generated files comprise 2 maps and 2 files;

s2, adding forbidden lines to the map, drawing closed lines around the region by using the forbidden lines in a region which is artificially defined and does not allow the flat car to run, adding the forbidden lines to the map, and connecting forbidden points in the map in series to form a path so as to realize the path on-line planning design of the laser SLAM navigation system;

s3, establishing a coordinate system foundation of a system platform, and continuously providing high-precision heading and deducing position information by the system platform; in the indoor area, the inertial navigation module is integrated with the laser SLAM system data to acquire high-precision positioning information; the gyroscope, the accelerometer, the correction mechanism, the temperature compensation mechanism, the acquisition control circuit and the inertial navigation combination algorithm are integrated;

s4, adopting an MOXA wireless AP module, covering a wireless wifi in the whole working area, forming a wireless local area network by a console and a flat car, and sending a control instruction, a task scheduling instruction and a collision prevention scheduling instruction to navigation by means of the wireless local area network;

s5, the intelligent collision avoidance system operates in the following mode: a laser radar is adopted to realize an autonomous anti-collision function in a 3D three-dimensional scanning mode, a scanning interval can be set to be 0-270 degrees, the scanning frequency is not less than 10Hz, and a deceleration/parking anti-collision distance value can be set;

the intelligent collision avoidance system mainly realizes the functions of automatically keeping the safe driving distance, the safe vehicle speed, automatic braking, automatic alarming and the like of the flat car;

s6, setting a deceleration area 25 and a parking area 26, wherein the vehicle is decelerated and driven when an obstacle appears in the deceleration area, and the vehicle is stopped and prevented from collision when the obstacle enters the parking area;

the intelligent collision avoidance area is set by software corresponding to a dock laser anti-collision sensor, red is a forced parking area 26, and yellow is a forced vehicle deceleration area 25.

The navigation system adopts a laser composite navigation mode, namely, the navigation system is positioned and navigated by means of a high-precision laser sensor and a gyroscope sensor. The laser radar sensor arranged in the navigation system can identify the placement direction and angle of the bracket, dynamically adjust the pose of the vehicle, and does not collide with the bracket support legs when entering and exiting the bracket. The navigation system comprises a high-precision laser navigation sensor, a gyroscope sensor, a control system and the like.

High precision laser sensor: besides the functions of navigation and positioning, the laser sensor can also recognize the placement direction and angle of the bracket, dynamically adjust the position and posture of the vehicle, and does not collide with the bracket support legs when entering and exiting the bracket.

A gyroscope: the gyroscope periodically returns data to the controller through the CAN bus. Parameters such as CAN ID and reporting period of the gyroscope sensor CAN only be set through a serial port.

Safety protection device: the navigation system has a perfect multistage safety protection mechanism, comprises a laser anti-collision sensor, a contact type anti-collision safety touch edge, an emergency stop button and the like, and can ensure the safety of the system, surrounding operators and equipment under various conditions.

Laser anticollision sensor: the anti-collision function sets up two regions, namely deceleration zone and parking area, and the sensor is installed in four directions of flatbed, mainly prevents bumping the protection to the flatbed of high-speed operation, and the flatbed is at the earlier deceleration of back parking when meetting the barrier.

Safe edge touching: the safety touch edge is arranged around the hydraulic flat car, the touch edge is widened to be out of the car body, and the safety touch edge is guaranteed to detect an obstacle in the lateral movement process when the hydraulic flat car runs at a low speed, and the car body is warned and controlled to stop after receiving a certain pressure.

An emergency switch: the periphery of the hydraulic flat car is provided with a scram switch, the scram switch is pressed at any time, and the flat car immediately stops running. A wake-up signal lamp and a sound alarm device are arranged on the flat car to remind surrounding operators.

And (3) a control system: the control system is required to complete path planning and design of the system, schedule and execute conveying tasks, monitor system operation in real time, diagnose faults of the system, and interact external data.

A wireless local area network communication system: the control console and the navigation system adopt a wireless communication mode, and form a wireless local area network. The control console sends a control instruction, a task scheduling instruction and a collision preventing scheduling instruction to navigation by means of the wireless local area network. The control desk can receive communication signals sent by navigation at the same time. Navigation relies on the wireless local area network to report the execution of various instructions, the current location of the vehicle and the current status to the console.

The design of the automatic navigation system adopts a laser SLAM navigation mode and RFID identification combination to realize accurate positioning navigation. 2 laser scanners are diagonally arranged through the flat car, an industrial personal computer system is connected, a navigation path template is generated after an electronic map is built on site, and navigation path information is updated and perfected on line through depth algorithm self-learning in each driving process. And then RFID landmarks are respectively arranged at special positions (such as entrances, intersections and turns) on site to calibrate coordinates, so that the vehicles are ensured to always run in a preset line.

The above embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention should be defined by the claims, including the equivalents of the technical features in the claims. I.e., equivalent replacement modifications within the scope of this invention are also within the scope of the invention.

Claims (10)

1. A large-scale delivery hydraulic flatbed, characterized by: the vehicle body (1) is provided with a plurality of suspension systems in a descending way, the suspension systems are provided with travelling mechanisms, the suspension systems are rotationally connected with the vehicle body (1), the vehicle body (1) is also provided with a steering mechanism (4), the steering mechanism (4) is connected with the suspension systems, the power system (5) is connected with travelling wheels (13), and the hydraulic system (6) is communicated with the suspension systems and the steering mechanism (4);

connecting lugs are arranged at two sides and two ends of the vehicle body (1).

2. The large-scale shipping hydraulic flatbed of claim 1, wherein: the travelling mechanism comprises a driven wheel set (3) and a driving wheel set (2), and the driven wheel set (3) and the driving wheel set (2) are alternately arranged on the suspension system;

the suspension system comprises a suspension supporting plate (10), a suspension supporting arm (1001) is arranged on one side of the suspension supporting plate (10), the end part of the suspension supporting arm (1001) is hinged with one end of a swinging arm (12), the other end of the swinging arm (12) is connected with a driving installation frame (203) of a driving wheel set (2), a lifting oil cylinder (11) is arranged on the suspension supporting plate (10), the upper end of the lifting oil cylinder (11) is rotationally connected with the suspension supporting plate (10), and the lower end of the lifting oil cylinder (11) is hinged with the middle part of the swinging arm (12);

the two ends of the driving installation frame (203) are provided with driving motors (201), and the driving motors (201) are connected with the travelling wheels (13);

two ends of a driven wheel mounting frame (301) of the driven wheel group (3) are connected with the travelling wheels, and the driven wheel mounting frame (301) is connected with the suspension system.

3. The large-scale shipping hydraulic flatbed of claim 2, wherein: a mounting flange plate (202) on the driving motor (201) is connected with a driving mounting frame (203), a rotating mounting shaft (204) is connected with the driving motor (201), a travelling wheel (13) is connected with the rotating mounting shaft (204), and the travelling wheel (13) is in threaded connection with a flange of the rotating mounting shaft (204);

the drive motor (201) is connected to the power system (5).

4. The large-scale shipping hydraulic flatbed of claim 2, wherein: the suspension system is rotationally connected with the vehicle body (1) through a rotary supporting structure (9);

the fixed ring (901) of the rotary supporting structure (9) is connected with the vehicle body (1), the rotary installation seat (902) is fixed on the suspension supporting plate (10), the rotary installation seat (902) is rotationally connected with the fixed ring (901), steps are arranged on the rotary installation seat (902), the steps of the fixed ring (901) are propped against the steps of the rotary installation seat (902) to limit up and down, and a plurality of balls are arranged between the rotary installation seat (902) and the fixed ring (901).

5. The large-scale shipping hydraulic flatbed of claim 2, wherein: the upper end of the lifting oil cylinder (11) is rotationally connected with a rotating shaft (1102) of the suspension supporting plate (10), a bearing (1103) is arranged between the rotating shaft (1102) and the end part of the lifting oil cylinder (11), limiting rings (1101) are arranged at two ends of the rotating shaft (1102), the limiting rings (1101) are clamped in annular grooves of the rotating shaft (1102), and the side surfaces of the limiting rings (1101) are abutted against one side of a vertical plate of the suspension supporting plate (10).

6. The large-scale shipping hydraulic flatbed of claim 1, wherein: the steering mechanism (4) comprises a steering cylinder (17), a cylinder body is hinged with the vehicle body (1), the end part of a telescopic rod is hinged with the movable end of a steering arm (16), the fixed end of the steering arm (16) is hinged with the suspension supporting plate (10), the movable end of the steering arm (16) is hinged with the end part of a push rod (14), and the other end of the push rod (14) is hinged with the suspension supporting plate (10);

an angle sensor (15) is also arranged on the suspension supporting plate (10).

7. The large-scale shipping hydraulic flatbed of claim 6, wherein: a fixed rotating shaft (1102) is arranged on the suspension supporting plate (10), and the push rod (14) is rotationally connected with the fixed rotating shaft (1102);

a shaft sleeve (1601) is arranged on a rotating shaft at the fixed end of the steering arm (16), the shaft sleeve (1601) is rotationally connected with a second fixed rotating shaft (1003) on the suspension supporting plate (10), one end of an oil duct (1602) in the second fixed rotating shaft (1003) faces the inner wall of the shaft sleeve (1601), and the shaft sleeve (1601) is provided with a plurality of oil filling holes at the opening position of the oil duct (1602);

the end part of the second fixed rotating shaft (1003) is provided with a sealing baffle plate (1604), an oil cup (1603) is arranged on an external opening of the oil duct (1602), and the oil cup (1603) is communicated with the lubricating oil tank body.

8. The large-scale shipping hydraulic flatbed of claim 1, wherein: the vehicle is also provided with a supporting bracket (18) with a portal structure, the middle part of the supporting bracket (18) is arranged on the vehicle body (1), supporting legs at two ends of the supporting bracket (18) are arranged at two sides of the vehicle body (1), and the transportation equipment is arranged on the supporting bracket (18);

the supporting bracket (18) is provided with a plurality of raised supporting seats (1801), and the supporting seats (1801) are matched with the transportation equipment and fix the whole transportation equipment.

9. The large-scale shipping hydraulic flatbed of claim 1, wherein: the vehicle body (1) is provided with a navigation system and a scooter hydraulic suspension protection system;

the navigation system comprises a laser SLAM navigation mode and a high-precision inertial navigation module, wherein the laser SLAM navigation mode and the high-precision inertial navigation module are used for positioning and navigating, at least two laser scanners are arranged at two ends of the vehicle body (1), the two laser scanners are arranged at two sides of the end part of the vehicle body (1), and a laser anti-collision sensor is arranged above the laser scanners;

the flat car hydraulic suspension protection system comprises a hydraulic pipe rupture prevention device, an overpressure protection device, an overload prevention device, an emergency descent device and a laser anti-collision sensor safety edge touching device;

the end part of the vehicle body (1) is also provided with emergency stop buttons on both sides;

the hydraulic pipe rupture prevention device comprises: the tubular double-pipeline safety valve (33) is arranged on the main pipeline branch, the plate-type double-pipeline safety valve (34) is communicated with oil inlet and oil return of the plug cylinder (35), the tubular double-pipeline safety valve (33) is connected with the plate-type double-pipeline safety valve (34) in series to form a loop, the tubular double-pipeline safety valve (33) is communicated with the rectifying plate (28) through the second stop valve (32), the speed regulating valve (29) is communicated in the opposite angle at the middle part of the rectifying plate (28), and the rectifying plate (28) is communicated with the hydraulic control one-way valve (27);

the overpressure protection device structure is as follows: an overflow valve (30) is arranged on an oil return or oil inlet pipeline of a lifting oil cylinder (11) of the vehicle body (1) and the hydraulic system (6), and the overflow pressure is set to be 300-320bar;

the overload prevention device is structurally characterized in that: a pressure sensor (36) is arranged between the vehicle body (1) and a suspension supporting plate (10) of the hydraulic suspension jacking system, and the pressure sensor (36) is communicated with a pipeline between the second stop valve (32) and the rectifying plate (28);

the hydraulic suspension jacking system is characterized in that a first stop valve (31) is arranged on an oil return pipeline of the hydraulic suspension jacking system, and the first stop valve (31) is connected in parallel with an overflow valve (30) and the oil return pipeline to form an emergency descending device;

safe edge touching device of laser anti-collision sensor: the integrated silica gel conductive mode is provided with an internal induction signal band.

10. A method of operating a large haul hydraulic flatbed according to any one of claims 1-9, characterized by: the method comprises the following steps:

s1, an electric control-hydraulic steering is adopted for the hydraulic flat car, so that multi-mode steering is supported, and the hydraulic flat car mainly comprises: steering modes such as a normal driving mode, an automobile driving mode, an oblique driving mode, a 90-degree angular driving mode, a turning driving mode, a transverse driving mode and the like; normal driving mode: all wheel frames are turned in such a way that the central lines of all shafts will intersect at a common focus which can be outside, along and inside the vehicle, with a minimum turning radius of zero;

s2, automobile driving mode: the steering center is arranged on a rear axle, and the definition of the rear axle is different according to different cabs;

s3, oblique driving mode: all the axle corners are consistent in steering, and any angle from-90 degrees to +90 degrees can be selected;

s4, 90-degree angular driving mode: all axles turn to 90 degrees, and the functions of the axles are the same as those of the oblique mode;

s5, a turning driving mode: all axles are moved to a fixed program position, and the transport vehicle turns around the center of the transport vehicle;

s6, transverse driving mode: the central lines of all the shafts are intersected with a common focus o, and the o point is on the longitudinal central line;

s7, turning is achieved by rotating a steering wheel connected with the encoder;

each wheel frame is provided with an angle sensor, the position signal of the wheel axle is sent to the controller, the actual position is compared with a set value, the proportional valve controls the steering cylinder of each independent wheel frame to work, and the cylinder is connected with the wheel frame through a connecting rod; if the steering deviation exceeds 6 degrees, the warning lamps on the instrument board and the remote controller in the cab flash, and the steering wheel is locked;

s7, placing the equipment to be transported in the middle of a supporting bracket (18), supporting the whole equipment to be transported by supporting legs at two ends of the supporting bracket (18), moving the vehicle body (1) to the bottom of the supporting bracket (18), lifting the whole vehicle body (1) and lifting the middle of the supporting bracket (18), and transporting the whole equipment;

s7, only the whole vehicle body (1) is required to descend during disassembly, so that the supporting legs of the supporting brackets (18) support the whole equipment to be transported, and then the vehicle body (1) is opened to finish unloading.

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