阅读说明：本技术 柔性搬运电动车 (Flexible carrying electric vehicle ) 是由 张银勇 廖云龙 程宏川 孙涛 赵滋阳 贾晶敏 吴佩沛 吴剑 林庆国 于 2019-09-06 设计创作，主要内容包括：本发明提供了运输车辆技术领域内的一种柔性搬运电动车,包括主车和副车,副车随同主车前后同向行驶；主车包括主车车架、主车驱动系统、主车通讯系统、主车电控系统、主车液压系统,主车车架尾部设有激光测距仪；副车包括副车车架、副车驱动系统、副车通讯系统、副车电控系统、副车液压系统,副车车架首部设有同步反馈仪；主车电控系统通过主车驱动系统与主车液压系统控制主车动作时,激光测距仪结合同步反馈仪的信息确定副车的动作逻辑,由主车通讯系统将动作逻辑指令传递给副车通讯系统后,再由副车电控系统通过副车驱动系统与副车液压系统控制副车实现跟随动作。本发明采用两车跟随激光测距器及两车跟随反馈装置解决了两车行走的同步性。(The invention provides a flexible carrying electric vehicle in the technical field of transport vehicles, which comprises a main vehicle and an auxiliary vehicle, wherein the auxiliary vehicle runs along the main vehicle in the same direction from front to back; the main vehicle comprises a main vehicle frame, a main vehicle driving system, a main vehicle communication system, a main vehicle electric control system and a main vehicle hydraulic system, wherein the tail part of the main vehicle frame is provided with a laser range finder; the auxiliary vehicle comprises an auxiliary vehicle frame, an auxiliary vehicle driving system, an auxiliary vehicle communication system, an auxiliary vehicle electric control system and an auxiliary vehicle hydraulic system, wherein a synchronous feedback instrument is arranged at the head part of the auxiliary vehicle frame; when the main vehicle electric control system controls the main vehicle to act through the main vehicle driving system and the main vehicle hydraulic system, the laser range finder determines the action logic of the auxiliary vehicle by combining the information of the synchronous feedback instrument, the main vehicle communication system transmits the action logic instruction to the auxiliary vehicle communication system, and then the auxiliary vehicle electric control system controls the auxiliary vehicle to act through the auxiliary vehicle driving system and the auxiliary vehicle hydraulic system. The invention adopts the two-vehicle following laser range finder and the two-vehicle following feedback device to solve the problem of the synchronism of the two-vehicle walking.)

1. A flexible carrying electric vehicle is characterized by comprising a main vehicle (1) and an auxiliary vehicle (2), wherein the auxiliary vehicle (2) runs along the main vehicle (1) in the same front and back direction;

the main vehicle (1) comprises a main vehicle frame (11), a main vehicle driving system, a main vehicle communication system, a main vehicle electric control system and a main vehicle hydraulic system, wherein the tail part of the main vehicle frame (11) is provided with a laser range finder (12);

the auxiliary vehicle (2) comprises an auxiliary vehicle frame (21), an auxiliary vehicle driving system, an auxiliary vehicle communication system, an auxiliary vehicle electric control system and an auxiliary vehicle hydraulic system, wherein a synchronous feedback instrument (22) is arranged at the head part of the auxiliary vehicle frame (21);

when the main vehicle electronic control system controls the main vehicle (1) to act through the main vehicle driving system and the main vehicle hydraulic system, the laser range finder (12) combines the information of the synchronous feedback instrument (22) to determine the action logic of the auxiliary vehicle (2), and after the main vehicle communication system transmits the action logic instruction to the auxiliary vehicle communication system, the auxiliary vehicle electronic control system controls the auxiliary vehicle (2) to follow the action through the auxiliary vehicle driving system and the auxiliary vehicle hydraulic system.

2. The flexible handling electric vehicle of claim 1, wherein the main vehicle communication system and the auxiliary vehicle communication system communicate using a WIFI communication module.

3. A flexible handling electric vehicle according to claim 1, characterised in that the tail of the main vehicle frame (11) adjacent to the auxiliary vehicle frame (21) is provided with a self-locking device (13), said self-locking device (13) being used for locking the main vehicle (1) and the auxiliary vehicle (2).

4. A flexible handling electric vehicle according to claim 1, characterized in that the main vehicle frame (11) or/and the auxiliary vehicle frame (21) is provided with a floating disc (3), and the floating disc (3) can be displaced and returned along the axial direction.

5. A flexible handling electric vehicle according to claim 4, characterised in that the main vehicle frame (1) or/and the auxiliary vehicle frame (2) is provided with a distance measuring sensor (6), said distance measuring sensor (6) being adapted to measure the distance of movement of the floating disc (3).

6. A flexible handling electric vehicle according to claim 1, characterized in that said primary and secondary vehicle drive systems each comprise a road drive module (4) and a rail wheel drive module (5), said primary vehicle (1) and secondary vehicle (2) operating synchronously said road drive module (4) or said rail wheel drive module (5).

7. The flexible handling electric vehicle of claim 6, wherein the wheels of the road drive module are integrally formed of a polyurethane material.

Technical Field

The invention relates to a transportation technology of an electric vehicle which is suitable for public-rail dual-purpose and flexible transportation, and the transportation technology is suitable for long and thin type load transportation with weak rigidity in the length direction and incapable of bearing torsion, such as a high-speed rail carriage, a rocket, a subway carriage and the like.

Background

The slender objects with weak rigidity in the length direction are often transported in a rail-bound mode, such as high-speed rail carriages, rockets, subway carriages and the like. In order to solve the problem of flexible transportation of the product in a final assembly plant, two air cushion suspension vehicles are combined in the past, and each air cushion suspension vehicle is provided with a driving module for a road. Because the air cushion sheet bears the load when the air cushion suspension vehicle conveys the load, and the air cushion sheet has certain flexibility, the two vehicles can not generate additional lateral force to the load when being combined to convey the load. The air cushion suspension vehicle has higher requirements on the flatness and smoothness of the ground and is not suitable for poor ground environment and use outside a factory building; at present, air cushion suspension vehicles are gradually replaced by wheeled electric vehicles. The wheel type electric vehicle adopts wheels for bearing, and the two vehicles can generate additional lateral force to the load when linked.

The prior art searches and discovers that the Chinese invention patent publication number is CN109910927A, the invention name is a steel rail bearing device control system and a steel rail transport vehicle set, the control system comprises a driving device and a control device, wherein, the driving device is used for driving a raceway beam to rotate; the control device is used for controlling the driving device to drive the raceway beam to rotate to a working position or a non-working position according to an input instruction; when the control system is used, a worker can input an instruction to the control device, the instruction can be input through the remote control device, the touch screen device or the keyboard device, the control device can control the driving device to act to control the raceway beam to rotate from the working position to the non-working position or rotate from the non-working position to the working position after receiving the instruction, and through the control system, the worker can operate the raceway beam under the vehicle without walking back and forth on a steel rail and a vehicle set, so that the potential safety hazard of falling from the vehicle set can be eliminated, the time of walking back and forth is saved, the work efficiency is improved, and the labor intensity is reduced. This invention does not consider the technique of conveying an elongated object having low longitudinal rigidity, and cannot convey an elongated object having low longitudinal rigidity.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide the electric vehicle suitable for public-rail dual-purpose flexible transportation.

The invention provides a flexible carrying electric vehicle which comprises a main vehicle and an auxiliary vehicle, wherein the auxiliary vehicle runs along the main vehicle in the same front and back direction;

the main vehicle comprises a main vehicle frame, a main vehicle driving system, a main vehicle communication system, a main vehicle electric control system and a main vehicle hydraulic system, wherein the tail part of the main vehicle frame is provided with a laser range finder;

the auxiliary vehicle comprises an auxiliary vehicle frame, an auxiliary vehicle driving system, an auxiliary vehicle communication system, an auxiliary vehicle electric control system and an auxiliary vehicle hydraulic system, wherein a synchronous feedback instrument is arranged at the head part of the auxiliary vehicle frame;

when the main vehicle electronic control system controls the main vehicle to act through the main vehicle driving system and the main vehicle hydraulic system, the laser range finder combines the information of the synchronous feedback instrument to determine the action logic of the auxiliary vehicle, and after the main vehicle communication system transmits the action logic instruction to the auxiliary vehicle communication system, the auxiliary vehicle electronic control system controls the auxiliary vehicle to follow the action through the auxiliary vehicle driving system and the auxiliary vehicle hydraulic system.

In some embodiments, the main vehicle communication system and the auxiliary vehicle communication system communicate with each other by using a WIFI communication module.

In some embodiments, the tail part of the main vehicle frame adjacent to the auxiliary vehicle frame is provided with a self-locking device, and the self-locking device is used for locking the main vehicle and the auxiliary vehicle.

In some embodiments, the main vehicle frame or/and the auxiliary vehicle frame is provided with a floating disc, and the floating disc can be displaced and returned along the axial direction.

In some embodiments, the main vehicle frame or/and the auxiliary vehicle frame is provided with a distance measuring sensor, and the distance measuring sensor is used for measuring the moving distance of the floating disc.

In some embodiments, the primary vehicle drive system and the secondary vehicle drive system each include a highway drive module and a rail wheel drive module, and the primary vehicle and the secondary vehicle operate the highway drive module or the rail wheel drive module synchronously.

In some embodiments, the wheels of the road drive module are integrally formed of a polyurethane material.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention adopts the two-vehicle following laser range finder and the two-vehicle following feedback device to solve the problem of the synchronism of the two-vehicle walking.

2. The invention adopts the floating disc and the floating disc distance measuring sensor to solve the problem that the load is influenced by lateral force due to slight desynchrony of two vehicles, and ensures the stability and the safety of the slender load flexible transportation.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of the transportation technique of an electric vehicle according to the present invention;

fig. 2 is a schematic view of the electric truck of the present invention after being loaded.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

As shown in fig. 1-2, the invention provides a flexible carrying electric vehicle, which comprises a main vehicle 1 and an auxiliary vehicle 2, wherein the auxiliary vehicle 2 runs along the main vehicle 1 in the same direction from front to back;

the main vehicle 1 comprises a main vehicle frame 11, a main vehicle driving system, a main vehicle communication system, a main vehicle electric control system and a main vehicle hydraulic system, wherein the tail part of the main vehicle frame 11 is provided with a laser range finder 12;

the auxiliary vehicle 2 comprises an auxiliary vehicle frame 21, an auxiliary vehicle driving system, an auxiliary vehicle communication system, an auxiliary vehicle electric control system and an auxiliary vehicle hydraulic system, wherein a synchronous feedback instrument 22 is arranged at the head part of the auxiliary vehicle frame 21;

when the main vehicle electronic control system controls the main vehicle 1 to act through the main vehicle driving system and the main vehicle hydraulic system, the laser range finder 12 combines the information of the synchronous feedback instrument 22 to determine the action logic of the auxiliary vehicle 2, and after the main vehicle communication system transmits the action logic instruction to the auxiliary vehicle communication system, the auxiliary vehicle electronic control system controls the auxiliary vehicle 2 to follow the action through the auxiliary vehicle driving system and the auxiliary vehicle hydraulic system.

The driving system drives and brakes the main vehicle 1 and the auxiliary vehicle 2 in a traveling way;

the communication system is used for communication between the main vehicle 1 and the auxiliary vehicle 2;

the electronic control system regulates and controls the traveling speed of the main vehicle 1 or the auxiliary vehicle 2 according to the signal fed back by the communication system;

the hydraulic system provides hydraulic driving force for the driving module, and the components of the hydraulic system comprise a motor pump set, a synchronous flow valve module, an oil cylinder assembly and the like.

The main vehicle communication system and the auxiliary vehicle communication system are communicated by a WIFI communication module. The communication system adopts a wifi communication module to realize the communication between the main vehicle and the auxiliary vehicle; the main vehicle obtains synchronization data of the main vehicle and the auxiliary vehicle according to the laser range finder, the auxiliary vehicle is informed of the synchronization data through the wifi communication module, and the auxiliary vehicle performs action correction according to the transmitted synchronization data;

the tail parts of the main vehicle frame 11 and the auxiliary vehicle frame 21 adjacent to each other are provided with self-locking devices 13, and the self-locking devices 13 realize synchronous self-locking of the main vehicle 1 and the auxiliary vehicle 2. The self-locking device comprises a driving oil cylinder, a main vehicle and auxiliary vehicle connecting device and the like, the main vehicle and the auxiliary vehicle can be automatically butted together under the condition that goods do not need to be conveyed, if the conveyed goods reach a destination, the main vehicle and the auxiliary vehicle are connected through the self-locking device, and the auxiliary vehicle can directly move forwards along with the main vehicle, so that the self-locking device is simple and easy to implement.

The main vehicle frame 11 or/and the auxiliary vehicle frame 21 are provided with floating discs 3, and the floating discs 3 can displace and return along the axis direction of the main vehicle frame 11 or/and the auxiliary vehicle frame 21. When the floating discs 3 which can displace along the frame axis directions of the main vehicle frame 11 and the auxiliary vehicle frame 21 and have the reset function are arranged on the horizontal plane at the top of the main vehicle frame 11 or the auxiliary vehicle frame 21, preferably, the floating discs 3 are arranged on both the main vehicle frame 11 and the auxiliary vehicle frame 21, at the moment, in the process of carrying the load by the main vehicle and the auxiliary vehicle, the load is influenced by the lateral force due to the reason of instant slight desynchrony and the like of the main vehicle and the auxiliary vehicle, the desynchrony phenomenon can be eliminated due to the fact that the floating discs 3 arranged on the two vehicle frames move along the axis direction, the influence of the lateral force on the load due to slight desynchrony of the two vehicles is further solved, and the stability and the safety of.

The main vehicle frame 1 or/and the auxiliary vehicle frame 2 are provided with a distance measuring sensor 6, and the distance measuring sensor 6 is used for measuring the moving distance of the floating disc 3. The distance measuring sensor 6 respectively measures the moving distance of the floating discs 3 on the main vehicle 1 and the auxiliary vehicle 2, and then respectively sends the moving distance information to the main vehicle electronic control system and the auxiliary vehicle electronic control system, so that the main vehicle electronic control system controls and adjusts the action of the main vehicle 1, or the auxiliary vehicle electronic control system controls and adjusts the action of the auxiliary vehicle 2.

When a load is placed on the floating discs 3 of the main vehicle 1 and the auxiliary vehicle 2, the slight asynchronism occurring when the main vehicle 1 and the auxiliary vehicle 2 act is relieved and eliminated by the floating discs 3, which is as follows:

when the main vehicle runs faster than the auxiliary vehicle, △ L is generated, the load keeps linkage with the main vehicle through the main vehicle floating disc, △ L is generated in comparison with the auxiliary vehicle, the floating disc of the auxiliary vehicle keeps linkage with the load, △ L is embodied between the auxiliary vehicle floating disc and the auxiliary vehicle, out-of-synchronization △ L is generated, the out-of-synchronization △ L is obtained by a distance measuring sensor arranged on the auxiliary vehicle floating disc, and is conveyed to an electric control system, and then is conveyed to the main vehicle electric control system through a two-vehicle communication system, the running speed of the main vehicle and the auxiliary vehicle is controlled at the same time, out-of-synchronization △ L is eliminated, and the dynamic synchronization of.

The main vehicle or/and the auxiliary vehicle are provided with a distance measuring sensor 6 for measuring the moving distance of the floating disc 3, the distance measuring sensor 6 is associated with corresponding electric control systems on the main vehicle and the auxiliary vehicle, the moving displacement distance of the floating disc on the main vehicle or/and the auxiliary vehicle is fed back at any time, further speed control is performed on the main vehicle or the auxiliary vehicle by the electric control system, more accurate control can be realized, the synchronism of the vehicles can be further ensured, the influence of lateral force on load bearing caused by slight asynchronization of the two vehicles is solved to the greatest extent, and the stability and the safety of flexible carrying of long and thin load bearing are ensured.

The main vehicle driving system and the auxiliary vehicle driving system both comprise a highway driving module 4 and a rail wheel driving module 5, and the main vehicle 1 and the auxiliary vehicle 2 synchronously run the highway driving module 4 or the rail wheel driving module 5.

The hydraulic system mainly acts on a driving module, and when acting on a road driving module 4, all road driving modules of the main vehicle 1 and the auxiliary vehicle 2 are suspended and grounded; when acting on the rail wheel module 5, the switching and the synchronism of a public-rail dual-purpose system are realized, and the suspension and the landing of all rail wheel drive modules of the main vehicle 1 and the auxiliary vehicle 2 are realized.

The road driving module comprises an oil cylinder, a motor, a speed reducer, wheels and a corresponding mechanical structure, wherein the upper end face of the oil cylinder is fixed with the frame, and the lower end face of the oil cylinder is connected with the wheels. The wheel is made of polyurethane material and is integrally formed.

The rail wheel driving module comprises an oil cylinder, a motor, a speed reducer, a steel wheel, a corresponding mechanical structure and the like.

The working principle of the invention is as follows: when the electric control system controls the action of the main vehicle, the laser range finder of the main vehicle combines with the following feedback device of the auxiliary vehicle to jointly determine the action logic of the auxiliary vehicle, the communication system of the two vehicles of the main vehicle is connected with the communication system of the two vehicles of the auxiliary vehicle to transmit an action command, and the electric control system of the auxiliary vehicle realizes the following action of the auxiliary vehicle.

When a load is placed on the floating discs of the main vehicle and the auxiliary vehicle, the micro asynchronism generated by the action of the main vehicle and the auxiliary vehicle is relieved and eliminated by the floating discs, specifically, △ L is generated when the main vehicle runs faster than the auxiliary vehicle, △ L is generated compared with the auxiliary vehicle due to the fact that the load is linked with the main vehicle through the main vehicle floating disc, the floating disc of the auxiliary vehicle is also linked with the load, △ L is reflected between the auxiliary vehicle floating disc and the auxiliary vehicle, the asynchronism △ L is generated, is obtained by a ranging sensor arranged on the auxiliary vehicle floating disc and is conveyed to an electric control system, then the main vehicle electric control system is conveyed by a two-vehicle communication system, the running speed of the main vehicle and the auxiliary vehicle is controlled, △ L is eliminated, and the real-time running dynamic asynchronism.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.