Assembly lifting vehicle and control method thereof

Abstract

The assembly lifting vehicle comprises a walking chassis, the walking chassis comprises a chassis body, a suspension damping assembly, a walking wheel set and a rotation driving assembly, the suspension damping assembly comprises a plurality of suspension damping pieces arranged at the lower end of the chassis body, and the walking wheel set comprises a plurality of Mecanum wheels; the Mecanum wheels are rotatably arranged on the suspension damping pieces, the rotation driving assembly is arranged on the chassis body, the output end of the rotation driving assembly is connected with the Mecanum wheels, and the Mecanum wheels and the suspension damping pieces are arranged in a one-to-one correspondence mode. The lifting assembly is arranged on the upper end part of the chassis main body; the control system is connected with the rotation driving assembly, the lifting assembly and the multiple suspension damping pieces. Compared with the prior art, each Mecanum wheel is correspondingly provided with the suspension damping piece, so that each Mecanum wheel is ensured to be in full contact with the road surface in the transfer process, it is ensured that the whole vehicle stably runs under the complex road conditions such as unevenness, grooves and rails, and falling and collision of workpieces are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting equipment, in particular to an assembly lifting vehicle. In addition, the present invention also relates to a control method for controlling the assembly lifting vehicle. Background Art

[0002] At construction machinery manufacturing and assembly and equipment maintenance sites, there are some heavy workpieces (such as vehicle engines, axles, power battery packs, etc.) that need to be assembled from the bottom of the equipment to the inside of the equipment. In this assembly scenario, the assembly space is limited due to the obstruction of the top of the equipment and the periphery of the vehicle body. At traditional assembly sites, rollers are usually set at the bottom of the workpiece, and the workpiece is moved to the bottom of the equipment to be assembled by tools such as hand winches and crowbars. The workpiece is then lifted to a specified height by a jack or hand winch, and finally the position of the workpiece is adjusted by adjusting the handwheel winch until the assembly requirements are met. Although this assembly method can complete the on-site assembly, during the operation, workers need to enter the narrow internal space of the equipment to be assembled to work, which is labor-intensive, time-consuming and labor-intensive, with low assembly efficiency, and there is a safety risk of pinching or hitting workers.

[0003] With the development of industrial technology, although some auxiliary assembly transfer lifting vehicles have emerged to make up for the problems of high labor intensity and low assembly efficiency of workers in the transmission assembly method, there are also shortcomings. For example, the lifting device based on Mecanum wheels disclosed in China's invention patent CN113044761B and the light hydraulic lifting vehicle with Mecanum wheels for archives disclosed in China's utility model patent CN218058306U, the chassis of these two assembly devices are driven by Mecanum wheels. Although Mecanum wheels are flexible in movement, have a small turning radius, and are easy to achieve all-round movement, they are suitable for assembling workpieces in limited spaces. The hydraulic cylinder-driven lifting platform integrated on the vehicle can also quickly lift the workpiece to a specified height, but Mecanum wheels have high requirements for the flatness of the ground. Under complex road conditions, the four wheels cannot touch the ground at the same time. When moving under complex road conditions, they are easy to shake and cannot run smoothly, resulting in the risk of bumping and falling when transporting workpieces. For example, in a fully automatic electric lift disclosed in Chinese utility model patent CN207551823U, a scissor-type lifting mechanism is provided on the electric forklift, and a cross adjustment platform is provided on the top of the scissor-type lifting mechanism. Although it can quickly and conveniently realize the transfer and lifting of large workpieces, the device adopts a three-wheel structure, and its stability and load-bearing capacity are relatively poor. There is a risk of overturning under complex road conditions, and the position of the workpiece can only be adjusted horizontally and vertically, and it cannot flexibly realize omnidirectional adjustment. Summary of the invention

[0004] The present invention provides an assembly lifting vehicle and a control method thereof, so as to solve the technical problems that the existing workpiece assembly in a limited space has high labor intensity, low assembly efficiency, or cannot run smoothly under complex road conditions.

[0005] According to one aspect of the present invention, an assembly lifting vehicle is provided, comprising: a walking chassis, the walking chassis comprising a chassis body, a suspension shock-absorbing assembly, a walking wheel group and a driving and rotating assembly, the suspension shock-absorbing assembly comprising a plurality of suspension shock-absorbing members arranged on the lower end of the chassis body, the walking wheel group comprising a plurality of Mecanum wheels, the Mecanum wheels being rotatably arranged on the suspension shock-absorbing members, the driving and rotating assembly being arranged on the chassis body and the output end Mecanum wheels being connected for driving the Mecanum wheels to rotate, the Mecanum wheels and the suspension shock-absorbing members being arranged in a one-to-one correspondence, the suspension shock-absorbing members being used to drive the Mecanum wheels to swing relative to the chassis body so that the Mecanum wheels are in full contact with the road surface or to adjust the safety surface angle of the workpiece; a lifting assembly arranged on the upper end of the chassis body and used to lift the workpiece by vertically lifting the lifting end, thereby adjusting the vertical height of the workpiece; a control system, respectively connected to the driving and rotating assembly, the lifting assembly and the plurality of suspension shock-absorbing members, for remotely realizing the walking driving control of the driving assembly, the swinging control of the suspension shock-absorbing members and the lifting and lowering control of the lifting assembly.

[0006] As a further improvement of the above technical solution:

[0007] Furthermore, the suspension shock absorber includes a suspension swing arm rotatably arranged on the lower end of the chassis body, a telescopic cylinder hinged to the free end of the suspension swing arm and the chassis body respectively, and a wheel hub spindle connected to the Mecanum wheel and arranged on the suspension swing arm.

[0008] Furthermore, there are six Mecanum wheels, which are arranged in two rows below the chassis body at intervals. The driving assembly includes four driving members, and the output ends of the four driving members are respectively connected to the Mecanum wheels located at the four corners of the chassis body.

[0009] Furthermore, the control system includes a motor driver connected to the driving assembly for controlling the operation of the driving assembly, a solenoid valve group connected to the lifting assembly and the suspension shock absorber for respectively controlling the operation of the lifting assembly and the suspension shock absorber, a travel sensor arranged on the suspension shock absorber for real-time monitoring of the travel of the suspension shock absorber, a controller and a remote control. The motor driver, the solenoid valve group, the travel sensor and the controller are arranged on the chassis body, the controller is electrically connected to the motor driver, the solenoid valve group and the travel sensor, respectively, and the remote control is wirelessly connected to the controller.

[0010] Furthermore, the control system also includes a touch screen arranged on the chassis body and connected to the controller for displaying and setting various parameters of the control system; and / or the control system also includes a limit switch arranged on the chassis body and connected to the controller for limiting the vertical limit position of the lifting assembly; and / or the control system also includes an emergency stop button switch arranged on the chassis body and connected to the controller for emergency shutdown in dangerous situations; and / or the control system also includes a safety edge contact switch arranged on the chassis body and connected to the controller for emergency shutdown in the event of a collision during walking; and / or the control system also includes an audible and visual alarm light arranged on the chassis body and connected to the controller for alarm reminders.

[0011] Furthermore, the walking chassis also includes a power battery pack for providing electrical energy, an on-board charger connected to the power battery pack for replenishing electrical energy for the power battery pack, and a hydraulic pump station respectively connected to the suspension shock absorber and the lifting assembly for providing hydraulic energy to the suspension shock absorber and the lifting assembly respectively. The power battery pack, the on-board charger and the hydraulic pump station are arranged on the chassis body.

[0012] Furthermore, the lifting assembly includes a scissor lift mechanism arranged on the upper end of the chassis body, a working platform arranged on the free end of the scissor lift mechanism, and a lifting cylinder arranged on the upper end of the chassis body and having a movable end connected to the free end of the scissor lift mechanism.

[0013] Furthermore, the driving assembly includes a plurality of driving parts, and the driving parts include a driving motor connected to the control system and a reducer respectively connected to the output end of the driving motor and the Mecanum wheel.

[0014] According to another aspect of the present invention, a control method for an assembly lift is provided, which is used to control the above-mentioned assembly lift, and includes the following steps: S1, placing the workpiece to be assembled on the lifting end of the lifting assembly; S2, the control system controls the walking drive of the driving assembly, and at the same time controls the swing of the suspension shock absorber until the workpiece is moved to the target position; S3, the driving assembly stops working, and the suspension shock absorber maintains the current state; S4, after the control system controls the lifting of the lifting assembly, the workpiece is moved to the assembly position, and then the suspension shock absorber fine-tunes the installation surface angle of the workpiece to make the workpiece in the best assembly posture.

[0015] As a further improvement of the above technical solution:

[0016] Furthermore, the control system performs the following specific steps for controlling the driving component to travel: A1, obtaining the linear velocity and angular velocity of the traveling chassis; A2, calculating the velocity of each Mecanum wheel axis position according to the linear velocity and angular velocity of the traveling chassis; A3, calculating the velocity of each Mecanum wheel roller according to the velocity of each Mecanum wheel axis position; A4, calculating the velocity of each Mecanum wheel according to the velocity of each Mecanum wheel roller; A5, calculating the target rotational speed of the driving component according to the velocity of each Mecanum wheel; A6, the control system controls the rotational speed of the driving component according to the target rotational speed of the driving component.

[0017] The present invention has the following beneficial effects:

[0018] The assembly lifting vehicle of the present invention is equipped with a suspension shock absorbing assembly, a traveling wheel set, a driving assembly and a lifting assembly on a chassis body in a traveling chassis. After a workpiece is placed on the lifting assembly, the traveling driving control of the driving assembly is remotely realized through a control system, so that the driving assembly drives the Mecanum wheel to rotate, thereby driving the chassis body to travel, thereby realizing the transportation of the workpiece; during the transportation process, the swing control of the suspension shock absorbing component is remotely realized through the control system, so that when passing through complex road conditions, the corresponding Mecanum wheels are driven to swing relative to the chassis body through multiple suspension shock absorbing components, so that the Mecanum wheels are fully in contact with the road surface, thereby ensuring the smooth operation of the whole vehicle; after the transportation to the target position, the lifting control of the lifting assembly is remotely realized through the control system, so that the lifting end of the lifting assembly is vertically lifted to lift the workpiece, thereby adjusting the vertical position of the workpiece. height, thereby lifting the workpiece to the assembly position; during assembly, the installation angle of the workpiece is adjusted by the suspension shock absorber, and the multiple Mecanum wheels ensure that the whole vehicle can move flexibly in all directions in a limited space, so as to realize the rapid installation of the workpiece; compared with the prior art, this solution uses a control system for remote control to flexibly and easily transfer the workpiece to a limited space and quickly lift the workpiece to the corresponding assembly position. Workers do not need to enter the limited space to operate, which reduces safety risks, reduces labor intensity, and improves assembly efficiency. In addition, each Mecanum wheel is provided with a corresponding suspension shock absorber to ensure that each Mecanum wheel is in full contact with the road surface during the transfer process, ensuring that the whole vehicle runs smoothly under complex road conditions such as uneven, grooved, and tracked roads, avoiding the drop and bump of workpieces, and having strong practicality, suitable for wide promotion and application.

[0019] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 It is a structural schematic diagram of an assembly lift vehicle according to a preferred embodiment of the present invention;

[0022] Figure 2 It is a structural schematic diagram of an assembly lift vehicle according to a preferred embodiment of the present invention;

[0023] Figure 3 It is a structural schematic diagram of a suspension shock-absorbing component in an assembly lift vehicle according to a preferred embodiment of the present invention;

[0024] Figure 4 is a control schematic diagram of a control system in an assembly lift vehicle according to a preferred embodiment of the present invention;

[0025] Figure 5 It is a flowchart of the travel drive control in the control method of the assembly lift vehicle in the preferred embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the speed of the driving wheel in the control method of the assembly lifting vehicle in the preferred embodiment of the present invention;

[0027] Figure 7 is a control flow chart of swing control in a control method of an assembly lift vehicle in a preferred embodiment of the present invention;

[0028] Figure 8 It is a control flow chart of a control method for an assembly lift vehicle according to a preferred embodiment of the present invention.

[0029] Legend:

[0030] 100. Walking chassis; 110. Chassis body; 120. Suspension shock absorber; 121. Suspension swing arm; 122. Telescopic cylinder; 123. Hub spindle; 124. Slewing bearing; 130. Mecanum wheel; 141. Drive motor; 142. Reducer; 150. Power battery pack; 160. On-board charger; 170. Hydraulic pump station; 200. Lifting assembly; 210. Scissor lift mechanism; 220. Working platform; 230. Lifting cylinder; 300. Control system; 301. Controller; 302. Remote controller; 303. Motor driver; 304. Solenoid valve group; 305. Travel sensor; 306. Inclinometer; 307. Touch screen; 308. Limit switch; 309. Emergency stop button switch; 310. Safety edge switch; 311. Sound and light alarm light. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0032] like Figure 1-Figure 4 As shown, the assembly lifting vehicle of this embodiment includes: a walking chassis 100, the walking chassis 100 includes a chassis body 110, a suspension shock absorbing assembly, a walking wheel group and a driving and rotating assembly, the suspension shock absorbing assembly includes a plurality of suspension shock absorbing members 120 arranged on the lower end of the chassis body 110, the walking wheel group includes a plurality of Mecanum wheels 130, the Mecanum wheels 130 are rotatably arranged on the suspension shock absorbing members 120, the driving and rotating assembly is arranged on the chassis body 110 and the output end Mecanum wheel 130 is connected to drive the Mecanum wheel 130 to rotate, and the Mecanum wheel 130 and the suspension shock absorbing member are connected to the chassis body 110. The suspension dampers 120 are arranged in a one-to-one correspondence, and the suspension dampers 120 are used to drive the Mecanum wheels 130 to swing relative to the chassis body 110 so that the Mecanum wheels 130 are fully in contact with the road surface; the lifting assembly 200 is arranged on the upper end of the chassis body 110, and is used to lift the workpiece by vertically lifting the lifting end, thereby adjusting the vertical height of the workpiece; the control system 300 is respectively connected to the driving assembly, the lifting assembly 200 and the plurality of suspension dampers 120, and is used to remotely realize the walking driving control of the driving assembly, the swing control of the suspension damper 120 and the lifting control of the lifting assembly 200.

[0033] like Figure 1-Figure 4As shown, specifically, the assembly lifting vehicle of the present invention installs a suspension shock absorbing assembly, a walking wheel group, a driving assembly and a lifting assembly 200 on the chassis body 110 of the walking chassis 100. After the workpiece is placed on the lifting assembly 200, the walking driving control of the driving assembly is remotely realized through the control system 300, so that the Mecanum wheel 130 is driven to rotate through the driving assembly, thereby driving the chassis body 110 to walk, thereby realizing the transportation of the workpiece; during the transportation process, the swing control of the suspension shock absorbing member 120 is remotely realized through the control system 300, so that when passing through complex road conditions, the corresponding Mecanum wheels 130 are driven to swing relative to the chassis body 110 through multiple suspension shock absorbing members 120, so that the Mecanum wheels 130 are fully in contact with the road surface, thereby ensuring the smooth operation of the whole vehicle; after being transported to the target position, the lifting control of the lifting assembly 200 is remotely realized through the control system 300, so that the lifting end of the lifting assembly 200 is vertically lifted to lift the workpiece, thereby adjusting the vertical height of the workpiece. , thereby lifting the workpiece to the assembly position; during assembly, the installation angle of the workpiece is adjusted by the suspension shock absorber 120, and the multiple Mecanum wheels 130 are used to ensure that the whole vehicle can move flexibly in all directions in a limited space, so as to achieve rapid installation of the workpiece; compared with the prior art, the present solution is remotely controlled by the control system 300, so as to flexibly and easily transfer the workpiece to the limited space, and quickly lift the workpiece to the corresponding assembly position, and at the same time, the Mecanum wheels 130 are used to achieve omnidirectional flexible movement in a limited space, and workers do not need to enter the limited space to operate, which reduces the safety risk, reduces the labor intensity, and improves the assembly efficiency. It is suitable for assembling workpieces in a limited space, and each Mecanum wheel 130 is correspondingly provided with a suspension shock absorber 120 to ensure that each Mecanum wheel 130 is in full contact with the road surface during the transportation process, so as to ensure that the whole vehicle runs smoothly under complex road conditions such as uneven, grooved, and tracked roads, and avoid the falling and bumping of workpieces. It has strong practicality and is suitable for wide promotion and application.

[0034] like Figure 3As shown, in this embodiment, the suspension shock absorber 120 includes a suspension swing arm 121 rotatably arranged on the lower end of the chassis body 110, a telescopic oil cylinder 122 hinged to the free end of the suspension swing arm 121 and the chassis body 110, and a hub spindle 123 connected to the Mecanum wheel 130 and arranged on the suspension swing arm 121. Specifically, the Mecanum wheel 130 is installed on the suspension swing arm 121 through the hub spindle 123, and the telescopic oil cylinder 122 is extended and retracted to drive the suspension swing arm 121 to swing relative to the chassis body 110, thereby driving the Mecanum wheel 130 to swing relative to the chassis body 110, so that the Mecanum wheel 130 is fully in contact with the road surface. Optionally, the suspension shock absorber 120 also includes a slewing bearing 124 arranged on the suspension swing arm 121 and a pin shaft passing through the slewing bearing 124 and connected to the chassis body 110. The suspension swing arm 121 is rotatably arranged on the lower end of the chassis body 110 through the slewing bearing 124 and the pin shaft.

[0035] like Figure 2 As shown, in this embodiment, the number of Mecanum wheels 130 is six, which are arranged in two rows below the chassis body 110 at intervals, and the driving assembly includes four driving members, and the output ends of the four driving members are respectively connected to the Mecanum wheels 130 located at the four corners of the chassis body 110. Specifically, the action wheel group adopts a structural layout of "four active + two driven" six Mecanum wheels 130. The Mecanum wheels 130 located at the four corners of the chassis body 110 are active wheels, which are independently driven by four driving members, and the two middle Mecanum wheels 130 are driven wheels. The two driven wheels mainly play the role of sharing the load, so as to increase the load while ensuring omnidirectional movement and without increasing the height of the whole vehicle, so that larger and heavier workpieces can be transported, which is particularly suitable for the assembly of workpieces in limited space.

[0036] Optionally, the Mecanum wheels 130 can be divided into type A wheels and type B wheels that are mirror images of each other according to their structures. In one embodiment, the six Mecanum wheels 130 are arranged in a BAABAB manner in a clockwise direction, that is, the two front wheels and the two middle wheels are type B and type A from left to right, respectively, and the two rear wheels are type A and type B from left to right, respectively, and the projection of each wheel on the ground presents an "inward-eight" shape.

[0037] like Figure 4As shown, in this embodiment, the control system 300 includes a motor driver 303 connected to the driving component for controlling the operation of the driving component, a solenoid valve group 304 connected to the lifting component 200 and the suspension shock absorber 120 for controlling the operation of the lifting component 200 and the suspension shock absorber 120, respectively, a travel sensor 305 arranged on the suspension shock absorber 120 for real-time monitoring of the travel of the suspension shock absorber 120, a controller 301 and a remote control 302. The motor driver 303, the solenoid valve group 304, the travel sensor 305 and the controller 301 are arranged on the chassis body 110, the controller 301 is electrically connected to the motor driver 303, the solenoid valve group 304 and the travel sensor 305, respectively, and the remote control 302 is wirelessly connected to the controller 301.

[0038] like Figure 4 As shown, specifically, the remote controller 302 receives the worker's command signal and transmits the command signal to the controller 301. The controller 301 controls the motor driver 303, the solenoid valve group 304 and the stroke sensor 305 to cooperate with the workpiece according to the command signal, and then controls the driving component to work through the motor driver 303 to realize the walking drive control of the driving component, and controls the lifting component 200 and the suspension shock absorber 120 to work respectively through the solenoid valve group 304, so as to realize the lifting control of the lifting component 200 and the swing control of the suspension shock absorber 120, and monitors the stroke of the suspension shock absorber 120 in real time through the stroke sensor 305, so as to adjust the height of the Mecanum wheel 130 from the chassis in real time to ensure that each Mecanum wheel 130 is in contact with the ground, thereby ensuring that the whole vehicle can run smoothly.

[0039] like Figure 4 As shown, in this embodiment, the control system 300 also includes a touch screen 307 disposed on the chassis body 110 and connected to the controller 301 for displaying and setting various parameters of the control system 300. Specifically, the various parameters of the control system 300 are displayed and set through the touch screen 307 to facilitate control of the entire vehicle.

[0040] like Figure 4 As shown, in this embodiment, the control system 300 also includes a limit switch 308 arranged on the chassis body 110 and connected to the controller 301 for limiting the vertical limit position of the lifting assembly 200. Specifically, the remote controller 302 transmits a command signal to the controller 301, thereby controlling the lifting assembly 200 to move up and down. When the lifting end of the lifting assembly 200 reaches the limit position, it will contact the limit switch 308. At this time, whether the lifting assembly 200 receives a control command or not, it will stop working immediately, thereby improving the safety of workpiece assembly.

[0041] like Figure 4As shown, in this embodiment, the control system 300 also includes an emergency stop button switch 309 for emergency shutdown in dangerous situations, which is arranged on the chassis body 110 and connected to the controller 301. Specifically, when the vehicle encounters a dangerous situation during operation, the emergency stop button switch 309 can be actively triggered to achieve emergency shutdown.

[0042] like Figure 4 As shown, in this embodiment, the control system 300 also includes a safety edge contact switch 310 for emergency stop when a collision occurs during travel, which is arranged on the chassis body 110 and connected to the controller 301. Specifically, when the vehicle collides with a person or an object during travel, the safety edge contact switch 310 will be immediately triggered to achieve emergency stop.

[0043] like Figure 4 As shown, in this embodiment, the control system 300 also includes an inclinometer 306 centrally arranged on the chassis body 110 and connected to the controller 301, so as to detect whether the whole vehicle is tilted by tilting, thereby cooperating with the controller 301 to quickly realize the swing control of the suspension shock absorber 120.

[0044] like Figure 4 As shown, in this embodiment, the control system 300 also includes an audible and visual alarm lamp 311 for alarm reminder, which is arranged on the chassis body 110 and connected to the controller 301. Specifically, when the whole vehicle stops in an emergency, the audible and visual alarm lamp 311 issues an alarm reminder to achieve safety protection of the whole vehicle during operation.

[0045] like Figure 2 As shown, in this embodiment, the walking chassis 100 further includes a power battery pack 150 for providing electric energy, an on-board charger 160 connected to the power battery pack 150 for replenishing electric energy for the power battery pack 150, and a hydraulic pump station 170 connected to the suspension shock absorber 120 and the lifting assembly 200 for providing hydraulic energy for the suspension shock absorber 120 and the lifting assembly 200, respectively. The power battery pack 150, the on-board charger 160 and the hydraulic pump station 170 are arranged on the chassis body 110. Specifically, the power battery pack 150 provides electric energy for the whole vehicle, and the on-board charger 160 replenishes electric energy for the power battery pack 150 to ensure that the control system 300 can work normally, and then the hydraulic pump station 170 provides hydraulic energy for the suspension shock absorber 120 and the lifting assembly 200, respectively, to achieve the swing control of the suspended shock absorber and the lifting control of the lifting assembly 200.

[0046] like Figure 1As shown, in this embodiment, the lifting assembly 200 includes a scissor lift mechanism 210 arranged on the upper end of the chassis body 110, a work platform 220 arranged on the free end of the scissor lift mechanism 210, and a lifting cylinder 230 arranged on the upper end of the chassis body 110 and having a movable end connected to the free end of the scissor lift mechanism 210. Specifically, after the workpiece is placed on the work platform 220, the piston end of the lifting cylinder 230 is lifted and lowered to drive the free end of the scissor lift mechanism 210 to lift and lower vertically, thereby driving the work platform 220 to lift and lower vertically, so as to adjust the vertical height of the workpiece. Optionally, an electromagnetic ball valve, a pipeline explosion-proof valve, an electromagnetic reversing valve, a speed regulating valve and a speed regulating valve are arranged on the control oil circuit of the lifting cylinder 230, which can not only realize the stable lifting and locking of the work platform 220, but also adjust the lifting speed.

[0047] like Figure 2 As shown, in this embodiment, the driving assembly includes a plurality of driving parts, and the driving parts include a driving motor 141 connected to the control system 300 and a reducer 142 respectively connected to the output end of the driving motor 141 and the Mecanum wheel 130. Specifically, after receiving the control command, the driving motor 141 works to transmit power to the Mecanum wheel 130 through the reducer 142, thereby driving the Mecanum wheel 130 to rotate, thereby realizing the walking of the whole vehicle.

[0048] like Figure 4 As shown, in this embodiment, the controller 301 is respectively connected to the remote control 302, the sound and light alarm light 311, the limit switch 308, the travel sensor 305, the emergency stop button switch 309, the inclinometer 306, the safety edge contact switch 310, the motor driver 303, the solenoid valve group 304 and the touch screen 307, the motor driver 303 is respectively connected to the drive motor 141 and the hydraulic pump station 170, and the solenoid valve group 304 is respectively connected to the telescopic cylinder 122 and the lifting cylinder 230.

[0049] like Figure 8 As shown, the control method of the assembly lift vehicle of the present embodiment is used to control the above-mentioned assembly lift vehicle, and includes the following steps: S1, placing the workpiece to be assembled on the lifting end of the lifting assembly 200; S2, the control system 300 controls the walking drive of the driving assembly, and at the same time controls the swing of the suspension shock absorber 120 until the workpiece is moved to the target position; S3, the driving assembly stops working, and the suspension shock absorber 120 maintains the current state; S4, after the control system 300 controls the lifting of the lifting assembly 200, the workpiece is moved to the assembly position, and then the suspension shock absorber 120 performs fine adjustment of the installation surface angle of the workpiece to make the workpiece in the best assembly posture.

[0050] like Figure 8As shown, specifically, first, the workpiece to be assembled is placed on the lifting end of the lifting assembly 200, and the whole vehicle is started. The worker sends control instructions through the remote control 302 to realize the whole vehicle's forward, backward, left, right, left turn on the spot, right turn on the spot, left front, right front, left rear, right rear, left turn around the center of the front axle, right turn around the center of the front axle, left turn around the center of the rear axle, right turn around the center of the rear axle, etc. During the walking process, the suspension shock absorber 120 is adjusted in real time to make each Mecanum wheel 130 in close contact with the ground, thereby ensuring the smooth operation of the whole vehicle. If the emergency stop button or the safety edge contact switch 310 is touched during transportation, the whole vehicle will stop running immediately. When the vehicle transports the workpiece to the designated position, the remote control 302 can be switched to the lifting mode. The lifting and lowering of the working platform 220 can be controlled by turning the handle. When the handle is released at the designated position, the working platform 220 will immediately stop lifting and lock. When the installation surface angle of the workpiece needs to be adjusted, the telescopic cylinder 122 of the suspension shock absorber 120 can be manually controlled by the remote control 302 to adjust the angle so that the workpiece is in the best assembly posture, thereby improving assembly efficiency.

[0051] like Figure 5 As shown, in this embodiment, the specific steps of the control system 300 for controlling the driving component to travel are as follows: A1, obtaining the linear velocity and angular velocity of the traveling chassis 100; A2, calculating the speed of the axis position of each Mecanum wheel 130 according to the linear velocity and angular velocity of the traveling chassis 100; A3, calculating the speed of each Mecanum wheel 130 roller according to the speed of each Mecanum wheel 130 axis position; A4, calculating the speed of each Mecanum wheel 130 according to the speed of each Mecanum wheel 130 roller; A5, calculating the target speed of the driving component according to the speed of each Mecanum wheel 130; A6, according to the target speed of the driving component, the control system 300 controls the speed of the driving component.

[0052] like Figure 7As shown, in this embodiment, six telescopic cylinders 122 are arranged in groups of two, so that three pairs of valve groups are used to control the operation of the three telescopic cylinders 122. The stroke sensor 305 is arranged on the telescopic cylinder 122. The solenoid valve group 304 includes multiple rising solenoid valves and multiple falling solenoid valves. The rising solenoid valves, the falling solenoid valves and each group of telescopic cylinders 122 are arranged in a one-to-one correspondence. When performing swing control of multiple suspension shock absorbers 120, the monitoring data of the stroke sensor 305 in the telescopic cylinder 122 is first collected by the controller 301 to calculate the average stroke of each group of telescopic cylinders 122, and to determine whether the average stroke of each group of telescopic cylinders 122 is equal to half of the total stroke. If they are equal, there is no need to perform swing adjustment. As long as one group is not equal, the oil pump motor in the hydraulic pump station 170 is started, and each group is collected in real time. The monitoring values ​​of the stroke sensors 305 in the telescopic cylinders 122 are respectively calculated, and the average values ​​of the strokes of the two telescopic cylinders 122 in each group are calculated. When the average value is less than half of the total stroke of the telescopic cylinders 122, the ascending solenoid valve of the group is opened and the descending solenoid valve is closed. When the average value is greater than half of the total stroke of the telescopic cylinders 122, the descending solenoid valve of the group is opened and the ascending solenoid valve is closed. When the average value is equal to half of the total stroke of the telescopic cylinders 122, the ascending solenoid valve and the descending solenoid valve are closed until all the three groups of telescopic cylinders 122 are adjusted. Finally, the oil pump motor in the hydraulic pump station 170 is stopped, so that the walking chassis 100 can adjust the height of the Mecanum wheel 130 from the chassis body 110 in real time during the walking process, so as to ensure that each Mecanum wheel 130 is in contact with the road surface, thereby ensuring that the whole vehicle can run smoothly. After the lifting assembly 200 completes lifting the workpiece, when the angle of the workpiece mounting surface needs to be adjusted, a control command is sent to the controller 301 through the remote control 302 to control the rising solenoid valve and the falling solenoid valve corresponding to the group of telescopic cylinders 122 to be operated through the command signal until the adjustment of the mounting surface angle is completed.

[0053] In this embodiment, the specific steps of A1 are as follows:

[0054] The linear velocity and angular velocity of the walking chassis 100 are obtained by the remote controller 302, and the left and right sides of the walking chassis 100 are taken as the X axis and the front and back sides are taken as the Y axis to decompose the movement of the walking chassis 100 into v tx 、v ty , Among them, v tx Indicates the speed of the X-axis movement, with rightward direction being positive; v ty Indicates the speed of Y-axis movement, with forward direction being positive; Indicates the angular velocity of the Yaw axis rotation, with counterclockwise being positive.

[0055] The specific steps of A2 are as follows:

[0056] definition:

[0057] is the vector pointing from the geometric center to the wheel axis;

[0058] is the velocity vector of the wheel axis;

[0059] The wheel axis is perpendicular to The velocity component in the direction of (i.e., tangential direction);

[0060]

[0061] The speed of each Mecanum wheel 130 axis position is:

[0062]

[0063] The specific steps of A3 are as follows:

[0064] Decompose the speed along the roller direction and the speed perpendicular to the roller direction The speed It will only make the roller idle and can be ignored, only the speed Only then will the traveling chassis 100 be driven to move forward, specifically:

[0065]

[0066] in, is a unit vector along the roller direction.

[0067] The specific steps of A4 are as follows:

[0068] The speed of the roller is decomposed into the X-axis and Y-axis directions. The speed diagram of the four driving wheels is as follows: Figure 6 As shown, the wheel speed is:

[0069]

[0070] a is the distance from the center of the Mecanum wheel axle 130 to the center of the chassis motion in the X-axis direction, and b is the distance from the center of the Mecanum wheel axle 130 to the center of the chassis motion in the Y-axis direction, then

[0071]

[0072] Combining the first four steps, the speeds of the four wheels can be calculated according to the motion state of the walking chassis 100:

[0073]

[0074] The specific steps of A5 are as follows:

[0075] Calculated based on the speed of each wheel and the reduction ratio of the reducer 142:

[0076]

[0077] Wherein, R represents the radius of the Mecanum wheel 130 , and i represents the reduction ratio of the reducer 142 .

[0078] Specifically, in this embodiment, the controller 301 performs PID control on the rotation speed of the driving motor 141 .

[0079] It should be understood that during PID control, the target speed of each motor is compared with the actual speed of the motor fed back by the encoder, and the deviation between the two is calculated, and the deviation is used as the controlled object for control.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An assembly lift vehicle, characterized in that: include: A walking chassis (100), the walking chassis (100) comprising a chassis body (110), a suspension shock absorbing assembly, a walking wheel group and a driving and rotating assembly, the suspension shock absorbing assembly comprising a plurality of suspension shock absorbing members (120) arranged on the lower end of the chassis body (110), the walking wheel group comprising a plurality of Mecanum wheels (130), the Mecanum wheels (130) being rotatably arranged on the suspension shock absorbing members (120), the driving and rotating assembly being arranged on the chassis body (110) and the output end Mecanum wheels (130) being connected to drive the Mecanum wheels (130) to rotate, the Mecanum wheels (130) and the suspension shock absorbing members (120) being arranged in a one-to-one correspondence, the suspension shock absorbing members (120) being used to drive the Mecanum wheels (130) to swing relative to the chassis body (110), so that the Mecanum wheels (130) are in full contact with the road surface or the safety surface angle of the workpiece is adjusted; A lifting assembly (200) is arranged on the upper end of the chassis body (110) and is used to lift the workpiece by vertically lifting the lifting end, thereby adjusting the vertical height of the workpiece; The control system (300) is respectively connected to the driving assembly, the lifting assembly (200) and the plurality of suspension shock absorbing components (120) and is used to remotely realize the walking driving control of the driving assembly, the swing control of the suspension shock absorbing component (120) and the lifting control of the lifting assembly (200).

2. The assembly lift according to claim 1, characterized in that: The suspension shock absorber (120) comprises a suspension swing arm (121) rotatably arranged on the lower end of the chassis body (110), a telescopic oil cylinder (122) respectively hinged to the free end of the suspension swing arm (121) and the chassis body (110), and a wheel hub spindle (123) connected to the Mecanum wheel (130) and arranged on the suspension swing arm (121).

3. The assembly lift vehicle according to claim 1, characterized in that: The number of Mecanum wheels (130) is six, and they are arranged in two rows at intervals below the chassis body (110). The driving assembly includes four driving members, and the output ends of the four driving members are respectively connected to the Mecanum wheels (130) located at the four corners of the chassis body (110).

4. The assembly lift according to any one of claims 1 to 3, characterized in that: The control system (300) comprises a motor driver (303) connected to the driving component for controlling the operation of the driving component, a solenoid valve group (304) connected to the lifting component (200) and the suspension shock absorber (120) for controlling the operation of the lifting component (200) and the suspension shock absorber (120) respectively, a travel sensor (305) arranged on the suspension shock absorber (120) for real-time monitoring of the travel of the suspension shock absorber (120), a controller (301) and a remote controller (302). The motor driver (303), the solenoid valve group (304), the travel sensor (305) and the controller (301) are arranged on the chassis body (110). The controller (301) is electrically connected to the motor driver (303), the solenoid valve group (304) and the travel sensor (305) respectively. The remote controller (302) is wirelessly connected to the controller (301).

5. The assembly lift vehicle according to claim 4, characterized in that: The control system (300) further comprises a touch screen (307) disposed on the chassis body (110) and connected to the controller (301) for displaying and setting various parameters of the control system (300); and / or The control system (300) further comprises a limit switch (308) arranged on the chassis body (110) and connected to the controller (301) for limiting the vertical limit position of the lifting assembly (200); and / or The control system (300) further comprises an emergency stop button switch (309) arranged on the chassis body (110) and connected to the controller (301) for emergency shutdown in dangerous situations; and / or The control system (300) further comprises a safety edge contact switch (310) arranged on the chassis body (110) and connected to the controller (301) for emergency shutdown in the event of a collision during travel; and / or The control system (300) also includes an audible and visual alarm lamp (311) arranged on the chassis body (110) and connected to the controller (301) for alarm reminder.

6. The assembly lift according to any one of claims 1 to 3, characterized in that: The walking chassis (100) further comprises a power battery pack (150) for providing electric energy, an on-board charger (160) connected to the power battery pack (150) for replenishing electric energy for the power battery pack (150), and a hydraulic pump station (170) respectively connected to the suspension shock absorber (120) and the lifting assembly (200) for providing hydraulic energy to the suspension shock absorber (120) and the lifting assembly (200). The power battery pack (150), the on-board charger (160) and the hydraulic pump station (170) are arranged on the chassis body (110).

7. The assembly lift according to any one of claims 1 to 3, characterized in that: The lifting assembly (200) comprises a scissor lift mechanism (210) arranged on the upper end of a chassis body (110), a work platform (220) arranged on the free end of the scissor lift mechanism (210), and a lifting cylinder (230) arranged on the upper end of the chassis body (110) and having a movable end connected to the free end of the scissor lift mechanism (210).

8. The assembly lift according to any one of claims 1 to 3, characterized in that: The driving assembly includes a plurality of driving parts, wherein the driving parts include a driving motor (141) connected to a control system (300) and a reducer (142) respectively connected to an output end of the driving motor (141) and a Mecanum wheel (130).

9. A control method for an assembly lift vehicle, characterized in that: Used to control the assembly lift vehicle according to any one of claims 1 to 8, comprising the following steps: S1, placing a workpiece to be assembled on a lifting end of a lifting assembly (200); S2, the control system (300) controls the driving assembly to move and controls the suspension damping member (120) to swing until the workpiece is moved to a target position; S3, the driving assembly stops working, and the suspension shock absorbing component (120) maintains the current state; S4, after the control system (300) performs lifting control on the lifting assembly (200), the workpiece is moved to the assembly position, and then the shock absorbing member (120) is suspended to fine-tune the angle of the installation surface of the workpiece, so that the workpiece is in an optimal assembly posture.

10. The control method of the assembly lift vehicle according to claim 9, characterized in that: The specific steps of the control system (300) controlling the driving assembly to drive the vehicle are as follows: A1, obtaining the linear velocity and angular velocity of the walking chassis (100); A2, calculating the speed of the axis position of each Mecanum wheel (130) according to the linear speed and angular speed of the walking chassis (100); A3, calculating the speed of each roller of the Mecanum wheel (130) according to the speed of the axis position of each Mecanum wheel (130); A4, calculating the speed of each Mecanum wheel (130) according to the speed of the roller of each Mecanum wheel (130); A 5, calculating the target rotation speed of the driving assembly according to the speed of each Mecanum wheel (130); A6. According to the target rotation speed of the driving component, the control system (300) controls the rotation speed of the driving component.

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