CN207860005U - Material transport vehicle and mobile system - Google Patents
Material transport vehicle and mobile system Download PDFInfo
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- CN207860005U CN207860005U CN201820251965.1U CN201820251965U CN207860005U CN 207860005 U CN207860005 U CN 207860005U CN 201820251965 U CN201820251965 U CN 201820251965U CN 207860005 U CN207860005 U CN 207860005U
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- 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
- Y02T10/72—Electric energy management in electromobility
Abstract
The utility model provides a kind of material transport vehicle and mobile system, is related to material transfer technical field, including：Main control module, power take-off module, angle detection module and multiple position detecting modules being set in different wheel, the input terminal of main control module is connect with multiple position detecting modules and angle detection module respectively, the angle information formation speed control instruction of the tilting of car body of location information and angle the detection module detection of multiple wheels for being detected according to multiple position detecting modules, the output end of power take-off module and main control module connects, speed for adjusting multiple wheels according to rate control instruction, so that material transport vehicle is moved according to pre-determined stability posture.A kind of material transport vehicle and mobile system that the utility model embodiment provides simplify the mechanical structure and running track of transport vehicle, automatic to realize that material is transported in the air, investment reduction, and realize that production-line arrangement is flexible, workshop space availability ratio is improved, production efficiency is improved.
Description
Technical field
The utility model is related to material transfer technical fields, more particularly, to a kind of material transport vehicle and mobile system.
Background technology
When arranging plant produced line, since the product of production is different, can exist as production technology is complicated, equipment is complicated and
The factors such as take up a large area, it is therefore desirable to across plant floor advancing equipment, while spent material transport vehicle is also required to transport phase
Material is closed, to realize the linking of production process.In order to improve the utilization rate of plant floor, can be turned using bending track road or straight rail
Material is transported, for example, concrete component production line helps to ensure that the uniformity of concrete using straight rail transport concrete, with full
Transportation demand between sufficient standdle carrier.And for the larger material of transhipment weight, in order to make material be run along bending track road or straight rail, need
It wants the aerial transfer car(buggy) of configuration structure complexity and forces the turning equipment such as track, cause equipment complicated, difficult to install and arrange not
Just, production efficiency is low.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of material transport vehicle and mobile system, it is existing to alleviate
Have and transport the larger material of weight in technology, can only straight line transhipment or configuration force turning track to realize turning, cause to transport
Equipment is complicated, difficult to install and arrangement is inconvenient, the inferior technical problem of low production efficiency.
In a first aspect, the utility model embodiment provides a kind of material transport vehicle, including：Main control module, power output
Module, angle detection module and multiple position detecting modules being set in different wheel；
Multiple position detecting modules, the location information for detecting multiple wheels；
The angle detection module, the angle information for detecting tilting of car body；
The input terminal of the main control module is connect with multiple position detecting modules and the angle detection module respectively,
For according to the location information of the multiple wheel and the angle information formation speed control instruction of the tilting of car body；
The power take-off module is connect with the output end of the main control module, for according to the rate control instruction tune
The speed of the multiple wheel is saved, so that the material transport vehicle is moved according to pre-determined stability posture.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect,
In, the main control module includes：PLC module, A/D conversion modules, I/O modules and bus communication module；
The bus communication module is connect with the power take-off module, and being used for will be multiple in the power take-off module
The running frequency of frequency converter is sent to the PLC module；
The position detecting module is connect by the I/O modules with the PLC module, is used for the multiple wheel
Location information is sent to the PLC module；
The input terminal of the A/D conversion modules is connect with the angle detection module, and output end connects with the PLC module
It connects, for the angle information of the tilting of car body to be sent to the PLC module；
The PLC module, for according to the location information of the multiple wheel and the angle of the tilting of car body and in advance
If the differential seat angle of angle generates the rate control instruction；
The I/O modules, are additionally operable to the rate control instruction received from the PLC module being sent to power output and set
Multiple frequency converters in standby, to adjust the speed of the multiple wheel.
With reference to first aspect, the utility model embodiment provides second of possible embodiment of first aspect,
In, further include：Wireless communication module；
The wireless communication module, for when receiving the mobile control instruction of remote control equipment transmission, being sent to described
I/O modules；
The main control module, the mobile control instruction sent for receiving the I/O modules, and according to the mobile control
Instruction controls the material transport vehicle movement.
With reference to first aspect, the utility model embodiment provides the third possible embodiment of first aspect,
In, further include：Lead limit switch；
The I/O modules are connect with the lead limit switch, for sending out the switching signal of the lead limit switch
Give the main control module；
The main control module is additionally operable to generate mobile stopping control instruction according to the switching signal, and according to the shifting
The dynamic control instruction that stops controls the power take-off module stopping output power.
With reference to first aspect, the utility model embodiment provides the 4th kind of possible embodiment of first aspect,
In, the angle detection mould includes：First angle detection module and second angle detection module；
The material transport vehicle further includes：Preceding group of wheel fixing device for fixing two front-wheels and for fixing two
Rear group of wheel fixing device of trailing wheel；
The first angle detection module is set in the preceding group wheel fixing device at the central rotating shaft of bottom, is used for
The first angle value of group wheel before detection；
The second angle detection module is set in the rear group wheel fixing device at the central rotating shaft of bottom, is used for
The second angle value of wheel is organized after detection.
With reference to first aspect, the utility model embodiment provides the 5th kind of possible embodiment of first aspect,
In, the quantity of the position detecting module is four；
The position detecting module is set to the predeterminated position above wheel center, for when wheel enters bending track road,
The position detection signal that the position detection block being set on the inside of bending track road is sent is received, and the position detection signal is sent to institute
State PLC module.
With reference to first aspect, the utility model embodiment provides the 6th kind of possible embodiment of first aspect,
In, the predetermined angle of the tilting of car body is determined according to the radius in the bending track road.
With reference to first aspect, the utility model embodiment provides the 7th kind of possible embodiment of first aspect,
In, the wireless communication module includes：Wireless remote controlled receiver.
Second aspect, the utility model embodiment also provide a kind of material transport vehicle mobile system, including such as first aspect
The material transport vehicle and Crane Rail；
The Crane Rail includes：Straight rail and bending track road；
It is provided with position detection block on the inside of the bending track road, for when wheel enters bending track road, on the wheel
Position detecting module sends position detection signal.
In conjunction with second aspect, the utility model embodiment provides the first possible embodiment of second aspect,
In, single Crane Rail is in Contraband character form structure, and the position detection block on the inside of the bending track road is located at the position detecting module
Top.
The utility model embodiment brings following advantageous effect：A kind of material transportation that the utility model embodiment provides
Vehicle detects the location information of each wheel and the angle information of tilting of car body, and is given birth to according to location information and angle information automatically
At rate control instruction, power take-off module is made to adjust the speed of multiple wheels according to the rate control instruction, so that material
Transport vehicle is moved according to pre-determined stability posture.A kind of material transport vehicle and mobile system that the utility model embodiment provides, letter
Change the mechanical structure and running track of transport vehicle, automatic to realize that material is transported in the air, investment reduction, and realize production-line arrangement spirit
It is living, workshop space availability ratio is improved, production efficiency is improved.
Other feature and advantage of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is realized and is obtained in book, claims and attached drawing.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment cited below particularly, and
The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific implementation mode or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, other drawings may also be obtained based on these drawings.
Fig. 1 is the structural schematic diagram for the material transport vehicle that the utility model embodiment provides；
Fig. 2 is the control principle drawing for the material transport vehicle that the utility model embodiment provides；
Fig. 3 is the position view that the material transport vehicle that the utility model embodiment provides is located on Crane Rail；
Fig. 4 is the structural schematic diagram for the material transport vehicle that the utility model another embodiment provides.
Icon：
100- angle detection modules；110- first angle detection modules；120 second angle detection modules；It examines the positions 200-
Survey module；300- main control modules；400- power take-off modules；500- lead limit switches；600- wireless communication modules；700- tanks
Body.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with attached drawing to this
The technical solution of utility model is clearly and completely described, it is clear that described embodiment is that the utility model part is real
Example is applied, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, shall fall within the protection scope of the present invention.
Currently, the larger material of weight is transported in the prior art, it can only straight line transhipment or configuration pressure turning track reality
It now turns, leads to that transloading equipment is complicated, difficult to install and arrangement is inconvenient, production efficiency is low, is based on this, and the utility model is implemented
A kind of material transport vehicle and mobile system that example provides detect the location information of each wheel and the angle letter of tilting of car body automatically
Breath, and according to location information and angle information formation speed control instruction, power take-off module is made to be referred to according to the speed control
The speed for adjusting multiple wheels is enabled, so that material transport vehicle is moved according to pre-determined stability posture.In the machinery knot for simplifying transport vehicle
It is automatic to realize that material is transported in the air on the basis of structure and running track, investment reduction, and realize that production-line arrangement is flexible, it improves
Workshop space availability ratio improves production efficiency.
For ease of understanding the present embodiment, first to a kind of material transport vehicle disclosed in the utility model embodiment
It describes in detail.
As illustrated in fig. 1 and 2, in one embodiment of the utility model, a kind of material transport vehicle is provided, including：It is main
Control module 300, power take-off module 400, angle detection module 100 and multiple position detecting modules being set in different wheel
200。
Multiple position detecting modules 200, the location information for detecting multiple wheels.
Specifically, as shown in figure 3, the material transport vehicle includes：Independent four-wheel drive system (i.e. power take-off module
And the tank body 700 for loading and unloading the correlative that need to be transported 400).Four-wheel drive system includes：Four driving wheels, four drivings
The structures such as motor and retarder, four driving motors are independent and use Frequency Converter Control, are achieved in four driving motor speed
Degree is independent, i.e., the speed of four driving wheels is independent.
Position detecting module 200 is position-detection sensor, and quantity is four, and each position-detection sensor is set to vehicle
The predeterminated position for taking turns overcentre, for when wheel enters bending track road, receiving the position detection block hair being set on the inside of bending track road
The position detection signal sent, and the position detection signal is sent to the PLC module, if PLC module receives the detection
Signal judges the wheel on bend.
The angle detection module 100, the angle information for detecting tilting of car body.The angle detection module 100 wraps
It includes：Angular encoder.
Wherein, the four-wheel drive system of the material transport vehicle further includes：The preceding group of wheel for fixing two front-wheels is solid
Determine device and the rear group of wheel fixing device for fixing two trailing wheels.The bottom centre of preceding group of wheel fixing device and rear group vehicle
Both ends of the bottom centre respectively with tank body 700 in wheel fixing device are fixed, for when wheel moves, tank body 700 being driven to move
It is dynamic.
The first angle detection module 110 is set in the preceding group wheel fixing device at the central rotating shaft of bottom,
First angle value for detecting preceding group of wheel.The second angle detection module 120 is set to the rear group wheel and fixes dress
At the central rotating shaft for setting interior bottom, the second angle value for organizing wheel after detecting.It is described before group wheel first angle value and
The second angle value of group wheel is used to characterize the body gesture of car body after described.
The input terminal of the main control module 300 detects mould with multiple position detecting modules 200 and the angle respectively
Block 100 connects, for being controlled according to the location information of the multiple wheel and the angle information formation speed of the tilting of car body
Instruction.
In practical applications, as shown in Fig. 2, the main control module 300 includes：PLC module, A/D conversion modules, I/O moulds
Block and bus communication module.
The bus communication module is connect with the power take-off module 400, and being used for will be in the power take-off module 400
The running frequencies of multiple frequency converters be sent to the PLC module.
Specifically, the bus communication module is for the information communication between frequency converter and the PLC primary modules, the letter
Breath includes：Running frequency and operating status of the frequency converter etc..The operation speed of the running frequency characterization driving motor of frequency converter
It spends (i.e. the speed of wheel).
The position detecting module 200 is connect by the I/O modules with the PLC module, is used for the multiple vehicle
The location information of wheel is sent to the PLC module.
The input terminal of the A/D conversion modules is connect with the angle detection module 100, output end and the PLC module
Connection, for the angle information of the tilting of car body to be sent to the PLC module.
The PLC module, for according to the location information of the multiple wheel and the angle of the tilting of car body and in advance
If the differential seat angle of angle generates the rate control instruction.
In practical applications, the predetermined angle of the tilting of car body is determined according to the radius in the bending track road.It is described default
Angle includes：Predetermined angle of turning and straight trip predetermined angle.
When all wheels straight rail when driving, in order to ensure that transport vehicle stable operation, the travel speed of four wheels are answered
When consistent, the first angle value of preceding group of wheel and it is described after the second angle value of group wheel should all meet straight trip predetermined angle (example
Such as zero degree).In all examples being illustrated and described herein, any occurrence should be construed as merely illustrative, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
When any wheel bending track road when driving, in order to ensure transport vehicle in the stable operation of bending track road, the of preceding group of wheel
It is default that the second angle value of one angle value and the rear group wheel should all meet only turning related with bend orbit radius size
Angle, such as 45 degree.Also, when four wheels in bending track road when, can be calculated according to the bend turning radius size
Go out the speed proportional relationship of four wheel negotiation of bends.
Specifically, when the material transport vehicle is all when straight way is walked, front and back two groups of wheel velocities are identical, that is, drive
Dynamic motor speed is identical；When current group wheel enters bend, inevitably before when curved wheel velocity is constant in group, according to turning radius
Preceding group of excurvation wheel speed is accelerated in proportion, then organizes wheel velocity and remains unchanged, it is curved to realize that the material transport vehicle initially enters
Track；Current group wheel is accelerated when straight way then organizes wheel in bend according to group excurvation wheel speed after turning radius in proportion,
Curved wheel velocity remains unchanged in then organizing, and realizes that the material transport vehicle starts bending track road；When front and back two groups of wheels exist
When bend, then the speed of two excurvation wheels is accelerated in proportion relative to the speed of curved wheel in two, realizes the material fortune
Operation of the defeated vehicle in bending track road.
Therefore, the PLC module first judges the location of each wheel (straight rail by the location information of four wheels
Or bending track road), further according to four wheel straight ways or the speed proportional relationship of negotiation of bends, the first angle value of preceding group of wheel with it is pre-
If the deviation of angle, and the second angle value of rear group wheel and the deviation of predetermined angle generate the speed for adjusting each wheel velocity
Spend control instruction (running frequency for controlling frequency converter).
The power take-off module 400 is connect with the output end of the main control module 300, for according to the speed control
Instruction adjusts the speed of the multiple wheel, so that the material transport vehicle is moved according to pre-determined stability posture.
Specifically, the I/O modules, are additionally operable to the rate control instruction received from the PLC module being sent to dynamic
Multiple frequency converters in power output equipment control output running frequency, positive and negative rotation and the start and stop of four frequency converters, i.e. four wheels
The speed of service of driving motor, start and stop operation (containing traffic direction), to realize the speed for adjusting the multiple wheel, and then are realized
The material transport vehicle is automatically in the stable operation in the bending track road or straight rail.
A kind of material transport vehicle that the utility model embodiment provides, detects the location information and car body of each wheel automatically
Inclined angle information, and according to location information and angle information formation speed control instruction, make 400 basis of power take-off module
The rate control instruction adjusts the speed of multiple wheels, so that material transport vehicle is moved according to pre-determined stability posture.
As shown in figure 4, on the basis of previous embodiment, in another embodiment of this hair utility model, the object
Expect that transport vehicle further includes：Wireless communication module 600 and lead limit switch 500.
Wherein, the wireless communication module 600 includes：Wireless remote controlled receiver receives remote control equipment transmission for working as
Mobile control instruction when, be sent to the I/O modules.
The main control module 300, the mobile control instruction sent for receiving the I/O modules, and according to the movement
Control instruction controls the material transport vehicle movement.
When needing to material transport vehicle remote control, transmitter (remote control equipment) is operated to wireless remote by wireless remote control
Control receiver, which is sent, the operation signals such as starts, stops, and the operation signals such as the startup, stopping are passed through institute by wireless remote controlled receiver
It states I/O moulds and sends a PLC primary modules, the PLC primary modules control frequency converter according to the operation signal by I/O modules
Positive and negative rotation, startup, stop control, be achieved in radio operation.
Wherein, the I/O modules are connect with the lead limit switch 500, are used for the lead limit switch 500
Switching signal is sent to the main control module 300.
The main control module 300 is additionally operable to generate mobile stopping control instruction according to the switching signal, and according to described
The mobile control instruction that stops controls the stopping of the power take-off module 400 output power.
Specifically, setting lead limit switch 500, when material transport vehicle is moved to track end, lead limit switch
500 contacts action (as disconnected), when main control module 300 detects that lead limit switch 500 disconnects, controls power take-off module
400 is out of service, and material transport vehicle is avoided to be driven out to track.
In another embodiment of the utility model, a kind of material transport vehicle mobile system is additionally provided, including as before
State the material transport vehicle and Crane Rail described in embodiment.
Wherein, the Crane Rail is installed on the track support for being used to support Crane Rail and material transport vehicle, driving
Track includes：Straight rail and bending track road (being not necessarily to forced track), straight rail and bending track road are two-orbit.It is double at bending track road
Track is divided into interior bending track road (the small side of radius) and excurvation track (the big side of radius) by the radius difference in corner.According to rail
Road is different, and four wheels can be divided into curved wheel (in interior bending track road) and front and back excurvation wheel in front and back (in outer bending track road).
As shown in figure 3, single Crane Rail is in Contraband character form structure, the position detection block on the inside of the bending track road is located at described
The top of position detecting module 200.It is provided with position detection block on the inside of the bending track road, for when wheel enters bending track road,
Position detecting module 200 on the wheel sends position detection signal.
Specifically, according to the difference of position, the position detecting module 200 on four wheels can be divided into：It is curved in two
Position detecting module 200 (the small side of radius) and two excurvation position detecting modules 200 (the big side of radius).For curved in two
Position detecting module 200, interior bending track road are covered with a set of position detection block and cable for detecting curved wheel in front and back, and the position
The surface that detection block is installed on interior bending track road and is located at interior curved position detecting module 200 is set, can guarantee all by the position
Signal can be received by setting the interior curved position detecting module 200 of detection block.And two excurvation position detecting modules 200 are directed to,
Excurvation track is covered with another set of position detection block and cable for detecting front and back excurvation wheel, and the position detection block is installed on
Surface on excurvation track and positioned at excurvation position detecting module 200, can guarantee all excurvations by the position detection block
Position detecting module 200 can receive signal.Curved position detecting module 200 can detect in former and later two in two as a result,
Curved wheel is on bend or on straight way, and two excurvation position detecting modules 200 can detect former and later two excurvation wheels be
On bend or on straight way.
When any wheel enters bend, the position detecting module 200 that is installed on itself can receive curved where itself
The detection signal received is sent to PLC by the detection signal that the position detection block installed on road is sent, position detecting module 200
Module judges the wheel on bend when PLC module receives the detection signal.
A kind of material transport vehicle and mobile system provided by the utility model, in mechanical structure and the operation for simplifying transport vehicle
It is automatic to realize that material is transported in the air on the basis of track, investment reduction, and realize that production-line arrangement is flexible, improve workshop space
Utilization rate improves production efficiency.
The control material transport vehicle stable operation of the utility model embodiment offer is provided by way of example below
Detailed process：
After material transport vehicle starts mobile, PLC module obtains the running frequency of each frequency converter (i.e. by bus module
The speed of service of each wheel), and by the location information of four wheels first judge the location of each wheel (straight rail or
Bending track road), further according to four wheel straight ways or the speed proportional relationship of negotiation of bends, the first angle value of preceding group of wheel with it is default
The deviation of angle, and the second angle value of rear group wheel and the deviation of predetermined angle generate the speed for adjusting each wheel velocity
Control instruction.
For example, when if four wheels are in straight rail, according to preset four wheels of straight trip speed control with mutually synchronized
Degree traveling.
If two front-wheels are in bend, curved wheel velocity is constant in preceding group, is scaling up outside preceding group according to turning radius
The speed of curved wheel is then organized wheel velocity and is remained unchanged, realizes that the material transport vehicle initially enters bending track road.
If currently group wheel is when straight way then organizes wheel in bend, in proportion according to group excurvation wheel speed after turning radius
Accelerate, then organizes interior curved wheel velocity and remain unchanged, realize that the material transport vehicle starts bending track road.
When front and back two groups of wheels in bend when, then speed of the speed of two excurvation wheels relative to curved wheel in two
Accelerate in proportion, and control before group wheel first angle value and it is described after group wheel second angle value meet only with it is curved
The related turning predetermined angle of road track radius size, realizes stable operation of the material transport vehicle in bending track road.
In addition, the material transport vehicle operation vibrations lead to position detection signal Possible waves in order to prevent, it is specifically designed
Wheel that is, when the deviation angle of wheel and the angle value detected are not met, is filtered in the processing of bending track road stabilization by being delayed
The state for changing wheel is confirmed after wave again.
Specifically, when the material transport vehicle is when bending track road or straight rail move, it is likely to wheel deviation occur
The phenomenon that track.In order to realize that the real-time automatic deviation correction adjustment of material transport vehicle ensures its stable operation, when the angle acquired in real time
When being more than certain limit with the absolute error of the point of theory, traffic direction, angular error according to the material transport vehicle
Direction change each wheel velocity (change speed difference) in real time, angular error is thus gradually reduced, when absolute error is in reasonable model
The normal speed of service is restored back to when enclosing.
For example, currently for group wheel when bend is run, the angle between preceding group of wheel is a constant point of theory, works as angle
Change excessive, indicate that vehicle body operation is unstable, when direction of advance is that deflection is big counterclockwise for east and angle, then in curved wheel velocity not
Outer curve wheel velocity need to be reduced when change, normal angled is gradually adapted to if organizing the angle between wheel before this, reaches normal
Angle rear car wheel speed also returns to normal value.
In order to ensure material transport vehicle safe operation, the operating status, the fault message that monitor material transport vehicle in real time are needed
With alarm condition etc..For example, currently the angular error of group wheel or rear group wheel continues within the scope of large error then preset report
Alert, just alarm is shut down immediately when angular error is more than tolerance limit；Test and analyze angular transducer whether failure, detection and analysis become
Frequency device, wheel drive motors whether failure and it is other influence operational safety signal condition detection and analysis, to fault alarm or stop
Machine ensures the safe operation of the material transport vehicle.
Flow chart and block diagram in attached drawing show system, method and the calculating of multiple embodiments according to the present utility model
The architecture, function and operation in the cards of machine program product.In this regard, each box in flowchart or block diagram can
To represent a part for a module, section or code, a part for the module, section or code includes one or more
A executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, in box
The function of being marked can also occur in a different order than that indicated in the drawings.For example, two continuous boxes actually may be used
To be basically executed in parallel, they can also be executed in the opposite order sometimes, this is depended on the functions involved.It is also noted that
, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can use and execute
Defined function or the dedicated hardware based system of action realize, or can use specialized hardware and computer instruction
It combines to realize.
The computer program product of material transport vehicle and mobile system that the utility model embodiment is provided, including storage
The computer readable storage medium of program code, the instruction that said program code includes can be used for executing previous methods embodiments
Described in method, specific implementation can be found in embodiment of the method, details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the utility model embodiment unless specifically defined or limited otherwise, term " installation ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, can also be electrical connection；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned term with concrete condition
Concrete meaning in the present invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, the technical solution of the utility model substantially or
Person says that the part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
Personal computer, server or the network equipment etc.) execute each embodiment the method for the utility model whole or portion
Step by step.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), with
Machine accesses various Jie that can store program code such as memory (RAM, Random Access Memory), magnetic disc or CD
Matter.
It is in the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
The utility model and simplifying describes for ease of description, do not indicate or imply the indicated device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for description purposes only, and are not understood to indicate or imply relative importance.
Finally it should be noted that：Embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to aforementioned
The utility model is described in detail in embodiment, it will be understood by those of ordinary skill in the art that：It is any to be familiar with this skill
The technical staff in art field within the technical scope disclosed by the utility model, still can be to the skill recorded in previous embodiment
Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features；And these modifications,
Variation is replaced, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
It encloses, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model is answered described is wanted with right
Subject to the protection domain asked.
Claims (10)
1. a kind of material transport vehicle, which is characterized in that including：Main control module, power take-off module, angle detection module and multiple
The position detecting module being set in different wheel；
Multiple position detecting modules, the location information for detecting multiple wheels；
The angle detection module, the angle information for detecting tilting of car body；
The input terminal of the main control module is connect with multiple position detecting modules and the angle detection module respectively, is used for
According to the angle information formation speed control instruction of the location information of the multiple wheel and the tilting of car body；
The power take-off module is connect with the output end of the main control module, for adjusting institute according to the rate control instruction
The speed of multiple wheels is stated, so that the material transport vehicle is moved according to pre-determined stability posture.
2. material transport vehicle according to claim 1, which is characterized in that the main control module includes：PLC module, A/D turn
Change the mold block, I/O modules and bus communication module；
The bus communication module is connect with the power take-off module, is used for multiple frequency conversions in the power take-off module
The running frequency of device is sent to the PLC module；
The position detecting module is connect by the I/O modules with the PLC module, is used for the position of the multiple wheel
Information is sent to the PLC module；
The input terminal of the A/D conversion modules is connect with the angle detection module, and output end is connect with the PLC module, is used
In the angle information of the tilting of car body is sent to the PLC module；
The PLC module, for according to the location information of the multiple wheel and the angle and preset angle of the tilting of car body
The differential seat angle of degree generates the rate control instruction；
The I/O modules are additionally operable to the rate control instruction received from the PLC module being sent in motive power outputting apparatus
Multiple frequency converters, to adjust the speed of the multiple wheel.
3. material transport vehicle according to claim 2, which is characterized in that further include：Wireless communication module；
The wireless communication module, for when receiving the mobile control instruction of remote control equipment transmission, being sent to the I/O moulds
Block；
The main control module, the mobile control instruction sent for receiving the I/O modules, and according to the mobile control instruction
Control the material transport vehicle movement.
4. material transport vehicle according to claim 3, which is characterized in that further include：Lead limit switch；
The I/O modules are connect with the lead limit switch, for the switching signal of the lead limit switch to be sent to
The main control module；
The main control module is additionally operable to generate mobile stopping control instruction according to the switching signal, and is stopped according to the movement
Only control instruction controls the power take-off module and stops exporting power.
5. material transport vehicle according to claim 4, which is characterized in that the angle detects mould and includes：First angle is examined
Survey module and second angle detection module；
The material transport vehicle further includes：Preceding group of wheel fixing device for fixing two front-wheels and for fixing two trailing wheels
Rear group of wheel fixing device；
The first angle detection module is set in the preceding group wheel fixing device at the central rotating shaft of bottom, for detecting
The first angle value of preceding group of wheel；
The second angle detection module is set in the rear group wheel fixing device at the central rotating shaft of bottom, for detecting
The second angle value of wheel is organized afterwards.
6. material transport vehicle according to claim 5, which is characterized in that the quantity of the position detecting module is four；
The position detecting module is set to the predeterminated position above wheel center, for when wheel enters bending track road, receiving
The position detection signal that position detection block on the inside of bending track road is sent, and the position detection signal is sent to described
PLC module.
7. material transport vehicle according to claim 6, which is characterized in that the predetermined angle of the tilting of car body is according to
The radius in bending track road determines.
8. material transport vehicle according to claim 7, which is characterized in that the wireless communication module includes：Wireless remote control
Receiver.
9. a kind of material transport vehicle mobile system, which is characterized in that include material transportation as described in any of the claims 1 to 8
Vehicle and Crane Rail；
The Crane Rail includes：Straight rail and bending track road；
It is provided with position detection block on the inside of the bending track road, for when wheel enters bending track road, the position on the wheel
Detection module sends position detection signal.
10. material transport vehicle mobile system according to claim 9, which is characterized in that single Crane Rail is in Contraband font
Structure, the position detection block on the inside of the bending track road are located at the top of the position detecting module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820251965.1U CN207860005U (en) | 2018-02-12 | 2018-02-12 | Material transport vehicle and mobile system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820251965.1U CN207860005U (en) | 2018-02-12 | 2018-02-12 | Material transport vehicle and mobile system |
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| CN207860005U true CN207860005U (en) | 2018-09-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108162802B (en) * | 2018-02-12 | 2024-04-05 | 廊坊中建机械有限公司 | Material transport vehicle, moving system and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108162802B (en) * | 2018-02-12 | 2024-04-05 | 廊坊中建机械有限公司 | Material transport vehicle, moving system and control method |
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Address after: 065000 No.86 dikuo Road, Longhe hi tech Industrial Zone, anci District, Langfang City, Hebei Province Patentee after: China Construction Machinery Co.,Ltd. Address before: 065000 No.86 dikuo Road, Longhe hi tech Industrial Zone, anci District, Langfang City, Hebei Province Patentee before: LANGFANG CSCEC MACHINERY Co.,Ltd. |